JP5092078B2 - Object detection device - Google Patents

Description

  The present invention relates to an object detection device for controlling opening / closing of an automatic door or a seat shutter provided in an opening of a building, and more particularly, an automatic door or a seat even though a detection target object no longer exists from a detection area. The present invention relates to an object detection device that can prevent a shutter from being kept open as much as possible.

  The sheet shutter uses a thin sheet body having flexibility to open and close the opening of the building. Because it is lighter in weight than steel shutters using metal slats, it can be opened and closed at high speeds. It is installed at the entrances and exits of factories and warehouses where trucks, forklifts, etc. frequently enter and exit. Often.

  Conventional sheet shutters include, for example, a winding shaft that is provided above the opening and winds up the sheet body, an opening / closing device that rotationally drives the winding shaft, and a guide rail that guides the sheet body that is provided at both ends of the opening. And a limit switch for detecting the rotation amount of the opening / closing machine to stop the driving of the opening / closing machine and stopping the sheet body at the upper and lower limit positions of the opening, and a controller for controlling these. Then, the sheet shutter is opened to the upper limit position in conjunction with the detection signal of the sensor that detects that a passing object has come close to the sheet shutter, and after a certain time, the sheet shutter is automatically closed to the lower limit position. It is configured.

  As a sensor for detecting a passing object, for example, infrared rays are irradiated into a detection area, and the amount of received infrared light reflected from the detection area is compared with a reference value stored in advance, and the comparison result is Examples include an infrared sensor that can determine the presence or absence of a detection target object based on the infrared sensor. Also, in order to detect passing objects and obstacles under the seat shutter closing operation so that the closing of the seat shutter can be stopped and reopened, photoelectric lowering restriction sensors are provided at both sides of the opening. In many cases, it is also provided (see, for example, Patent Document 1).

On the other hand, in the technical field of automatic door sensors, an automatic door sensor that detects the presence or absence of an object on the track of an automatic door can accurately detect an object existing in a detection area on the track. An “automatic door sensor” that can improve the reliability of the opening / closing operation has also been proposed (see, for example, Patent Document 2).
JP 2001-115761 A Japanese Patent Laid-Open No. 2002-322872

  However, for example, when the infrared sensor as described above is installed on the outdoor side of the sheet shutter at the entrance and exit of the warehouse and the outdoor ground is unpaved, a heavy truck The tire marks etc. remain clearly because the vehicle has been stopped for a long time due to parts being brought in, etc., and this causes the infrared reflected light amount from the detection area including the tire marks etc. to change greatly. It is possible that it will not return.

  As a result, the infrared sensor itself erroneously detects that there is a traffic object even after the traffic object actually ceases to exist, resulting in a situation in which the sheet shutter remains open. Can do.

  Even when such a situation occurs, the installed infrared sensor automatically stores the reference value to be compared with the amount of received infrared light reflected from the detection area when the power is turned on. With this configuration, the reference value is updated by turning the power off and then on again, so that the situation where the sheet shutter remains open can be solved.

  However, for example, when such an infrared sensor is installed at a high place or installed so that the power supply cannot be easily cut off or turned on, the countermeasure is difficult.

  In view of such a problem of the prior art, the object of the present invention is to avoid the problem that the sheet shutter or the like is left open with a simple configuration even though there is no actual passing object. An object detection device capable of accurately controlling opening and closing of a shutter or the like is provided.

The object detection device for a seat shutter according to the present invention is an object detection device for opening / closing control of an automatic door or a seat shutter, and irradiates light to a plurality of detection areas arranged in a predetermined positional relationship. A plurality of active optical sensors that receive reflected light from each of the detection areas, storage means for storing a reference of each reflected light quantity from the detection area as a reference reflected light quantity, and at least one of the detection areas In one detection area, if the difference between the reflected light amount from the detection area and the corresponding reference reflected light amount is not less than a predetermined value, the object detection signal is output and the “detection recognition” If the “state” continues for the first predetermined time or more only in the detection areas less than the predetermined number of the detection areas, the state stored in the storage means And a control means for updating the reference reflected light amount for all detection areas, said control means, said than said first predetermined time at a predetermined number or more of the detection area of the "detection and recognition state" the detection area long when continued second predetermined time or more, characterized users update the reference reflected light amount for said detection area all stored in the storage means.

According to the object detection device having such a configuration, the problem that the sheet shutter or the like remains open even though there is no actual passing object is avoided as much as possible , and it is erroneously determined that it exists. Even in such a case, it is possible to prevent the sheet shutter and the like from being kept open for an excessively long time .

Alternatively, the object detection device for a seat shutter according to the present invention is an object detection device for opening / closing control of an automatic door or a seat shutter, and at least two or more in a direction parallel to the surface of the automatic door or the seat shutter, and Light is emitted to a plurality of detection areas arranged in a matrix of at least two or more in a direction orthogonal to the surface of the automatic door or the seat shutter, and each reflected light from these detection areas is received. A plurality of active optical sensors, storage means for storing a reference of each reflected light amount from the detection area as a reference reflected light amount, and at least one detection area of the detection area, the reflected light amount from the detection area; If the difference between the reference reflected light quantity and the corresponding reference reflected light amount is not less than a predetermined value, When the detection signal is output and the “detection recognition state” continues for a first predetermined time or more only in a detection area other than “a predetermined number or more of detection areas in a specific positional relationship among the detection areas”, Control means for updating the reference reflected light amount for all of the detection areas stored in the storage means , wherein the control means is configured such that the “detection recognition state” is “a specific positional relationship in the detection areas”. In the case where “a predetermined number or more of detection areas” continues for a second predetermined time longer than the first predetermined time, the reference reflected light amount for all the detection areas stored in the storage means is updated. It is characterized by that.

Here, “a predetermined number or more of detection areas having a specific positional relationship among the detection areas” means, for example, a combination of any two or more detection areas of the detection areas, or among the detection areas. the automatic door or the combination of any two detection areas adjacent in a direction parallel to the plane of the sheet shutter, etc. it is conceivable, but not limited to.

  According to the object detection apparatus of the present invention, the problem that the sheet shutter or the like is kept open even though there is no actual traffic is avoided as much as possible.

  Embodiments of the present invention will be described below with reference to the drawings.

<First Embodiment>
FIG. 1 is a block diagram showing a configuration of an object detection apparatus 10 according to the first embodiment of the present invention. As shown in this figure, the object detection apparatus 10 is connected to a sheet shutter controller 20 that controls opening and closing of the sheet shutter.

  When the object detection device 10 detects a passing object such as a truck or a forklift, an object detection signal S1 is output, and the object detection signal S1 is connected to be input to the seat shutter controller 20. The sheet shutter controller 20 starts opening the sheet shutter in response to the output of the object detection signal S1. When the output of the object detection signal S1 is stopped, the sheet shutter controller 20 starts closing the sheet shutter, but when the object detection signal S1 is output again in the middle, the closing of the sheet shutter is stopped. Resume opening.

  The object detection device 10 includes a first sensor 1 that forms a detection area A1 closest to the sheet shutter, a second sensor 2 that forms a detection area A2 on the side farther from the sheet shutter than the detection area A1, and the detection area. A third sensor 3 that forms a detection area A3 on a side farther from the sheet shutter than A2, a fourth sensor 4 that forms a detection area A4 on a side farther from the sheet shutter than the detection area A3, a storage circuit 5, And a control circuit 6 for controlling them.

  The first sensor 4 to the fourth sensor 4 are, for example, AIR type sensors that project near infrared rays, receive near infrared rays reflected from the object, and detect the object, and existing ones can be used. . The first sensor 1 has two light receiving elements 1a and 1b, and a plurality of small detection areas for each system are alternately adjacent to each other in the detection area A1 by combining an optical system (not shown) including a split lens. (See FIG. 3), and it is possible to detect an object for each system. Similarly, the second sensor 2 to the fourth sensor 4 can detect objects in two systems in each of the detection areas A2 to A4.

  The storage circuit 5 stores a reference value of the received light amount for each system for each of the first sensor 1 to the fourth sensor 4. This reference value is the amount of light received when there is no passing object in the corresponding detection area. For example, the amount of light received when the object detection apparatus 10 is turned on may be automatically stored. Then, the amount of received light may be stored during the installation work of the object detection device 10.

  Also, especially when installed outdoors, the amount of light received without detecting an object may change little by little due to changes in the surrounding environment or changes over time. The reference value may be updated in accordance with the change to follow these changes.

  Specific examples of the memory circuit 5 include, but are not limited to, a nonvolatile memory such as an EEPROM or a flash memory.

  The control circuit 6 controls the operation of the first sensor 1 to the fourth sensor 4 and obtains the amount of received light for each system from the first sensor 1 to the fourth sensor 4. The amount of received light is compared with each reference value stored in the storage circuit 5, and if the difference is equal to or greater than a specified value, it is determined as “detection recognition state (a state in which an object is detected)”. At the same time, the object detection signal S1 is output in the “detection recognition state” in at least one detection area.

  In addition, when the “detection recognition state” continues for at least one detection area for a long time in order to avoid the problem that the sheet shutter or the like remains open even though there is no actual traffic In principle, the reference value stored in the storage circuit 5 is automatically updated.

  However, since the reference value is automatically updated despite the fact that there is a traffic object, the seat shutter may start closing immediately after that, so the detection detection state is assumed. When it is determined that there is a high possibility that a traffic object actually exists based on the number of detected areas, the positional relationship or pattern, and the duration of such a state, the memory circuit 5 The stored reference value is not updated. Details of this will be described later with reference to FIG.

  Specific examples of the control circuit 6 include, but are not limited to, a one-chip microcomputer, a PLD, and an FPGA.

  2A and 2B are schematic explanatory views of detection areas A1 to A4 formed by the object detection device 10, FIG. 2A is a side view, and FIG. 2B is a plan view. is there.

  As shown in FIG. 2A, in the closed state of the sheet shutter, a flexible thin sheet portion is provided from the lower portion of the box-shaped sheet winding portion 21 installed on the wall surface of the upper portion of the opening of a building or the like. 22 hangs down. A weight is wrapped around the lower end 22a of the sheet portion 22, and the sheet portion 22 hangs down substantially vertically downward at the normal time.

  The object detection device 10 is installed on the side surface of the sheet winding unit 21, and a detection area A1 is formed substantially vertically downward from the installation position. Further, a detection area A2, a detection area A3, and a detection area A4 are formed in order from the detection area A1 to the side farther from the shutter.

  The sheet shutter controller 20 is incorporated in the sheet take-up unit 21 and is connected to the object detection device 10 by wiring (not shown).

  FIG. 2B is a plan view seen from above, showing the positional relationship of each detection area on the ground 30. As described above, on the ground surface 30, an elongated rectangular detection area A1 is formed in the vicinity of the sheet shutter in parallel with the sheet shutter, and detection areas A2 to A4 having substantially the same shape are sequentially formed in parallel with the sheet shutter.

  FIG. 3 is an explanatory view of arrangement of small detection areas for each system in the detection areas A1 to A4 shown in FIG. In FIG. 3, the orientation shown in FIG. 3 is rotated by 90 degrees from FIG. 2B for convenience of explanation. In FIG. 2B, the sheet shutter existing on the left side is on the lower side in FIG. 3. Will exist.

  As described above, the first sensor 1 has two light receiving elements 1a and 1b, and a plurality of small detection areas for each system in the detection area A1 by combining an optical system (not shown) including a split lens. Are alternately arranged adjacent to each other. Specifically, a small detection area corresponding to the light receiving element 1a (indicated by "A" in the figure and "A group" in the following description) and a small detection area corresponding to the light receiving element 1b (in the figure). Is indicated by “B”, and in the following description, it is indicated as “B group”).

  Although there are four small detection areas in each group, there is only one light receiving element per group, and the detection area is only optically divided. For this reason, when a traffic object or the like enters the inside of any one of these small detection areas, the intrusion itself can be detected, but it cannot be identified to which of the four small detection areas it has entered.

  Similarly, in the detection area A2 adjacent in parallel to the detection area A1, a small detection area corresponding to the light receiving element 2a (indicated by “C” in the drawing and referred to as “C group” in the following description), Small detection areas corresponding to the light receiving elements 2b (indicated by “D” in the drawing and referred to as “D group” in the following description) are alternately arranged.

  Similarly, in the detection area A3 adjacent in parallel to the detection area A2, a small detection area corresponding to the light receiving element 3a (indicated as “E” in the drawing and referred to as “E group” in the following description), Small detection areas (indicated by “F” in the drawing and referred to as “F group” in the following description) corresponding to the light receiving element 3 b are alternately arranged.

  Similarly, in the detection area A4 adjacent in parallel to the detection area A3, a small detection area (indicated by “G” in the drawing and referred to as “G group” in the following description) corresponding to the light receiving element 4a, Small detection areas corresponding to the light receiving elements 4b (indicated by “H” in the drawing and referred to as “H group” in the following description) are alternately arranged.

  In this way, a small detection area in the form of a 4 × 8 matrix is formed in the vicinity of the sheet shutter, and accurate control is possible by combining the detection recognition state determination results for each of the A group to the H group. It becomes.

  FIG. 4A to FIG. 4C are explanatory diagrams of an example in which the detection recognition state is set in any two small detection areas of the A group to the H group. FIG. 5A to FIG. 5C are explanatory diagrams of an example in which the detection recognition state is set in any four small detection areas of the A group to the H group.

  As a relatively simple method for determining whether or not a passing object is actually detected, for example, determination based on the number of groups to which the small detection area determined to be in the detection recognition state belongs.

  Even if this determination may remain in the detection and recognition state accidentally due to accidental factors other than actual traffic, it may occur simultaneously in small detection areas belonging to multiple groups, and Based on the fact that the probability of continuing time is low and empirical rules.

  For example, if the detection recognition state continues in small detection areas belonging to two or more groups, there is a high possibility that a traffic object or the like actually exists, while only small detection areas belonging to one group When the detection recognition state continues, it can be determined that the possibility of erroneous detection is high. If such a determination method is adopted, it is determined that there is a traffic object or the like in any of the cases of FIGS. 4 (a) to 4 (c) and FIGS. 5 (a) to 5 (c). Will be.

  In addition, if it is determined that an object or the like is present only when the detection recognition state continues in the small detection areas belonging to more groups, the accuracy of this determination can be improved. .

  For example, in the case of FIG. 5 (a) to FIG. 5 (c), if it is determined that there is a traffic object or the like only when the detection recognition state continues in the small detection areas belonging to four or more groups. It is determined that there is a traffic object, but in the case of FIGS. 4A to 4C, it is determined that there is no traffic object.

  FIG. 6A to FIG. 6C are explanatory diagrams of an example in which any one of the detection areas A1 to A4 is in a detection recognition state in two small detection areas belonging to the detection area.

  In addition to the number of groups to which the small detection areas in the detection recognition state belong, in addition to the positional relationship of these small detection areas, more accurate determination can be made. This is because if the vehicle is a truck, a forklift or the like, the vehicle width is wide, so that it is highly likely that the vehicle will be detected simultaneously in a plurality of small detection areas adjacent in parallel to the seat shutter.

  For example, when two small detection areas of any one of the detection areas A1 to A4 are both in the detection recognition state, it may be determined that a traffic object or the like exists.

  When such a determination is employed, it is determined that there is a traffic object or the like in any of the cases of FIGS. 6 (a) to 6 (c). In addition, also in the case of FIG.4 (c) mentioned above, FIG.5 (a), and FIG.5 (b), it determines with a passing thing etc. existing similarly.

  FIG. 7 is an explanatory diagram of an example in which the detection recognition state is set in all the small detection areas of the A group to the H group.

  If the traffic to be detected is limited to large trucks etc., the vehicle width is wide and the body length is large, so it can be detected simultaneously in small detection areas belonging to many groups It is considered that the nature is high.

  Therefore, for example, it may be determined that a traffic object or the like exists only when all the small detection areas of the A group to the H group are in the detection recognition state.

  When such a determination is adopted, it is determined that there is a traffic object or the like in the case of FIG. 7, but there is a traffic object or the like in any of the cases shown in FIGS. 4 (a) to 6 (c). It will be determined that it is not.

  FIG. 8 is a flowchart showing a schematic operation of the object detection apparatus 10. Processing for realizing this operation is executed by the control circuit 6.

  First, the received light amount data of each of the two systems (A group to H group) of the first sensor 1 to the fourth sensor 4 is sequentially acquired (step S101). Steps S101 to S109 form a finite number of loops, and the process of step S101 is performed a total of 8 times (= 4 × 2). All the received light amount data can be acquired by acquiring the received light amount data eight times, one at each time.

  Next, the difference between the acquired received light amount data and the corresponding reference value stored in the storage circuit 5 is obtained, and the difference is compared with a predetermined specified value (step S102). If so, the process proceeds to step S103, and if not, the process proceeds to step S107. The received light amount data acquired at the time of power-on or installation work is stored in advance in the storage circuit 5 as a reference value.

  If the difference is larger than the specified value, the “timer set flag” is further referred to (step S103). If it is 0, the process of step S104 is performed, and if it is 1, step S104 is skipped. Also proceeds to step S105.

  In step S104, the first predetermined time T1 is set in the timer as the stationary time counter, and the “timer set flag” is set to 1.

  Next, it is determined whether the time set in the timer has already passed (step S105). If the set time has already passed, the process proceeds to step S106, and if not, the process proceeds to step S108.

  The process has proceeded to step S106, which means that the object detection state continues for a long time in any small detection area. If it is limited to a small part of the small detection area, the received light amount data in the small detection area has changed greatly due to some accidental factor, and the object does not actually exist. It is likely that there is no possibility. Therefore, in order to cancel the object detection state, each reference value stored in the storage circuit 5 is updated to a value based on the received light amount data at that time (step S106). Further, after clearing the “detection recognition flag” that stores the recognition that an actually existing object is being detected to 0, the “timer set flag” is also cleared to 0 (step S107). The process proceeds to step S109.

  On the other hand, in step S108, the “detection recognition flag” is set to 1, and then the process proceeds to step S109.

  Then, it is determined whether or not the above processing has been completed for all the two systems (A group to H group) of the first sensor 1 to the fourth sensor 4 (step S109). Returning to step S3, the above process is repeated, and if it has already been completed, the process proceeds to step S110.

  Next, the “detection recognition flag” is referred to (step S110). If the “detection recognition flag” is 1, the object detection signal S1 is output (step S111). If the “detection recognition flag” is 0, the object detection is performed. The output of the signal S1 is stopped (step S112), and in any case, the process proceeds to step S113.

  Next, a comparison is made between the number of recognized object detection states due to the difference between the received light amount data acquired in the finite number of loops described above and the reference value being greater than the specified value, and a predetermined specified number. (Step S113) Only when the recognized number is larger than the specified number, the first predetermined time T1 is set to the timer as the stationary time counter and the “timer set flag” is set to 1 (step S114).

  In the control circuit 6, the above series of processing is repeated periodically. The required time for one round is sufficiently short with respect to the time set in the timer in step S104 or step S114.

  According to the above processing, while it is determined in step S113 that the number of recognized object detection states is larger than the specified number, the time setting for the timer is updated each time through step S114. Therefore, the determination in step S105 is not “Yes”, and the output of the object detection signal S1 is continued. However, if the number of recognized object detection states is less than the specified number, the process does not go through step S114, so the time setting for the timer is not updated, and the determination in step S105 eventually changes to “Yes”. Thus, the output of the object detection signal S1 is stopped.

  With such a configuration, the problem that the sheet shutter or the like remains open even though there is no actual traffic is avoided as much as possible.

<Variation 1 of the first embodiment>
FIG. 9 is a flowchart showing a schematic operation of the object detection apparatus according to the first modification of the first embodiment of the present invention. The difference from the first embodiment is only the processes after step S107 and step S113.

  In step S107a instead of step S107, in addition to the processing performed in step S107, a “timer extension set flag” described later is also cleared to zero.

  In step S113, a comparison is made between the number recognized as the object detection state due to the difference between the received light amount data acquired in the finite number of loops described above and the reference value being greater than the specified value, and a predetermined specified number. This is the same as in the first embodiment.

  If the recognized number is larger than the specified number, the “timer extension set flag” is further referred to (step S113a). Only when the “timer extension set flag” is 0, the timer as a stationary time counter is set. The second predetermined time T2 longer than that set in step S104 is set, and the “timer extension set flag” is set to 1 (step S114a), and in any case, the process returns to step S101.

  According to the above processing, even if it is determined in step S113 that the number of recognized object detection states is larger than the specified number, the extension time setting to the timer is performed via step S114a. Only when the extension time to the timer has not been set at that time. Accordingly, the determination in step S105 eventually changes to “Yes” and the output of the object detection signal S1 is stopped. However, the time required until that time is longer than that in the first embodiment.

  With such a configuration, even when there is actually no traffic, even when it is erroneously determined that it is present, the sheet shutter or the like is prevented from being kept open for too long. It becomes possible.

<Modification 2 of the first embodiment>
FIG. 10 is a flowchart showing a schematic operation of the object detection apparatus according to the second modification of the first embodiment of the present invention. The difference from the first embodiment is only the processing after step S113.

  In step S113, a comparison is made between the number recognized as the object detection state due to the difference between the received light amount data acquired in the finite number of loops described above and the reference value being greater than the specified value, and a predetermined specified number. This is the same as in the first embodiment.

  If the recognized number is larger than the specified number, the positional relationship of the detection areas in the object detection state is further confirmed (step S113b). Specifically, for example, it is confirmed whether or not the positional relationship is as shown in FIGS. If it is such a specific positional relationship, the first predetermined time T1 is set in the timer as the stationary time counter, and the “timer set flag” is set to 1 (step S114). Return to S101.

  According to the above processing, even if it is determined in step S113 that the number of recognized object detection states is greater than the specified number, the time setting for the timer is updated via step S114. Only when the object detection state is in the detection area having a specific positional relationship. With such a configuration, it is possible to more accurately determine whether or not traffic is actually present, so the problem that the sheet shutter remains open even though there is no actual traffic, It is possible to avoid as much as possible the problem that the seat shutter starts to close despite the fact that there is actually traffic.

<Other variations>
The methods used in the above embodiments and modifications can be appropriately combined or partially replaced. For example, you may perform control which combines both the modification 1 and the modification 2 of 1st Embodiment.

  It should be noted that the present invention can be implemented in various other forms without departing from the spirit or main features thereof. Therefore, the above-mentioned embodiment is only a mere illustration in all points, and should not be interpreted limitedly. The scope of the present invention is indicated by the claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

1 is a block diagram illustrating a configuration of an object detection device 10 according to a first embodiment of the present invention. 2A and 2B are schematic explanatory views of detection areas A1 to A4 formed by the object detection device 10, FIG. 2A is a side view, and FIG. 2B is a plan view. It is arrangement | positioning explanatory drawing of the small detection area for every system | strain in detection area A1-A4 shown in FIG.2 (b). It is explanatory drawing of the example in the case of becoming a detection recognition state in any two small detection areas of A group-H group. It is explanatory drawing of the example in the case of being in a detection recognition state in any four small detection areas of A group-H group. In any detection area A1-A4, it is explanatory drawing of an example in the case where it becomes a detection recognition state in both of the small detection areas of 2 groups which belong to the detection area. It is explanatory drawing of the example in the case of becoming a detection recognition state in all the small detection areas of A group-H group. 4 is a flowchart showing a schematic operation of the object detection apparatus 10. It is a flowchart which shows schematic operation | movement of the object detection apparatus which concerns on the modification 1 of 1st Embodiment of this invention. It is a flowchart which shows schematic operation | movement of the object detection apparatus which concerns on the modification 2 of 1st Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 1st sensor 2 2nd sensor 3 3rd sensor 4 4th sensor 5 Memory circuit 6 Control circuit (control means)
DESCRIPTION OF SYMBOLS 10 Object detection apparatus 20 Sheet shutter controller 21 Sheet winding part 22 Sheet part 30 Ground

Claims (4)

An object detection device for opening / closing control of an automatic door or seat shutter,
A plurality of active photosensors that irradiate light to a plurality of detection areas arranged in a predetermined positional relationship and receive reflected light from within these detection areas;
Storage means for storing a reference of each reflected light amount from within the detection area as a reference reflected light amount;
If at least one detection area of the detection areas has a “detection recognition state” in which the difference between the reflected light amount from the detection area and the corresponding reference reflected light amount is a predetermined value or more, an object detection signal is output. In addition, when the “detection recognition state” continues for the first predetermined time or more only in the detection areas less than the predetermined number of the detection areas, the reference reflection for all the detection areas stored in the storage unit. And a control means for updating the amount of light ,
The control means is stored in the storage means when the “detection recognition state” continues for a second predetermined time longer than the first predetermined time in a predetermined number or more of the detection areas. object detection apparatus according to claim users update the reference reflected light amount for said detection area all are. An object detection device for opening / closing control of an automatic door or seat shutter,
For a plurality of detection areas arranged in a matrix form of at least two or more in a direction parallel to the surface of the automatic door or the sheet shutter and at least two or more in a direction orthogonal to the surface of the automatic door or the sheet shutter A plurality of active photosensors that irradiate light and receive respective reflected light from within these detection areas;
Storage means for storing a reference of each reflected light amount from within the detection area as a reference reflected light amount;
If at least one detection area of the detection areas has a “detection recognition state” in which the difference between the reflected light amount from the detection area and the corresponding reference reflected light amount is a predetermined value or more, an object detection signal is output. In addition, when the “detection recognition state” continues for a first predetermined time or more only in a detection area other than “a predetermined number or more of detection areas having a specific positional relationship among the detection areas”, it is stored in the storage means. And a control means for updating the reference reflected light amount for all the detection areas that are provided ,
When the “detection recognition state” continues for a second predetermined time longer than the first predetermined time in the “predetermined number of detection areas having a specific positional relationship among the detection areas”, the control means the object detection apparatus according to claim users update the reference reflected light amount for said detection area all stored in the storage means. The object detection device according to claim 2 ,
The “detection area of a predetermined number or more in a specific positional relationship among the detection areas” is a combination of any two or more detection areas of the detection areas. The object detection device according to claim 2 ,
“A predetermined number or more of detection areas having a specific positional relationship among the detection areas” refers to any two detection areas adjacent in the direction parallel to the surface of the automatic door or the seat shutter among the detection areas. An object detection apparatus characterized by being a combination of the above.

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