JP5651837B2 - Object detection device - Google Patents

Description

  The present invention relates to an object detection apparatus that detects an object, and more particularly to an apparatus that detects the position of an object in detail by forming a plurality of light projecting areas and a plurality of light receiving areas.

  An automatic door sensor, which is a conventional object detection device, will be described with reference to FIG. The automatic door sensor 2 is attached to the seamless 6 of the automatic door 4 as shown in FIG. The automatic door 4 opens and closes the door opening between the fixed walls 8 and 8 arranged at intervals by the door panels 10 and 10 of both draws, and a human body or an object is within the detection range 12 formed by the automatic door sensor 2. The door panels 10 and 10 are opened and closed depending on whether or not they exist.

  As shown in FIGS. 17A and 17B, in the automatic door sensor 2, one projector 14 is provided at the center thereof. The light projector 14 emits light, for example, by emitting infrared light in a pulse shape having a predetermined period. The light projector 14 emits light by emitting light in a plane shape having a certain length in the door opening width direction and the direction orthogonal to the door opening width direction, and having a long length in the direction orthogonal to the door opening width direction. . A lens 16 is provided as an optical element on the front surface of the projector 14. The lens 16 is, for example, a cylindrical lens. As shown in FIG. 18, the lens 16 has a predetermined length in the door opening width direction and a direction orthogonal to the door opening width direction, for example, by the light from the projector 14. The region 18 is formed on a reference surface such as a floor surface. The light projector 14 and the lens 16 constitute a light projecting unit.

  Light receivers are respectively provided on both sides of the light projecting portion in the door opening width direction. On the right side in FIG. 17A, a light receiver 22a is disposed at a position close to the door. Similarly, on the left side, a light receiver 22b is arranged at a position away from the door. The light receivers 22a and 22b have the same configuration.

  Multi-divided lenses 24a and 24b for condensing light from different positions in the door opening width direction on the same light receiver are disposed on the front surfaces of the right and left light receivers 22a and 22b, respectively. The multi-divided lenses 24a and 24b are divided into four in the door opening width direction, and focus the light reflected from the light projecting region 18 on the light receivers 22a and 22b. A light receiving area on the floor surface that generates reflected light received by each of the light receivers 22a and 22b is indicated by a circle in the light projecting area 18 of FIG.

  In the light projecting area 18, these light receiving areas correspond to the four light receiving areas 26a in a row in the door opening width direction on the side far from the door opening corresponding to the light receiver 22a, and the door opening corresponding to the light receiver 22b. It consists of four receiving areas 26b in a row in the door opening width direction on the near side. The orientation and inclination of the lenses constituting the multi-segment lenses 24a and 24b are adjusted so that the light receiving areas 26a and 26b are formed in this way.

  The light receiver 22a and the multi-divided lens 24a constitute one light-receiving unit, and the light receiver 22b and the multi-divided lens 24b constitute one light-receiving unit.

JP 2009-265017 A

  The automatic door sensor 2 described above has the following points to be improved. In the automatic door sensor 2, one projector 14 provided in the center emits infrared light in a long surface shape, and a rectangular light projection region 18 is formed on the floor surface by a lens 14 such as a cylindrical lens.

  For this reason, the infrared rays transmitted through the lens 14 are greatly spread and are also projected onto the door panel 10. Since the door panel 10 repeats the opening and closing operation at all times, the infrared light projected on the door panel 10 is irregularly reflected by the door panel 10.

  When the infrared light irregularly reflected by the door panel 10 is irradiated into the detection range 12, the light receivers 22a and 22b detect a change in the amount of light in the detection range 12, resulting in a malfunction.

  Moreover, when installing the automatic door sensor 2 in a predetermined position, it is necessary to set the detection range 12 to a predetermined position. Since the infrared rays projected by the projector 14 are greatly spread, the peripheral portion of the region where the projector 14 projects infrared rays cannot be used as the projection region 18 for detection. Therefore, since the automatic door sensor 2 is installed in a wide variety of situations, each time the automatic door sensor 2 is installed, an area that can be used as the light projecting area 18 must be selected from the area where the projector 14 projects infrared rays. There is a point that should be improved that the installation work is complicated.

Accordingly, an object of the present invention is to provide an object detection apparatus that can detect a detailed object and can be easily installed.

  Means for solving the problems in the present invention and the effects of the invention will be described below.

  An object detection apparatus according to the present invention is an object detection apparatus that projects detection light and detects an object in a detection region using reflected light of the projected detection light, and is installed on a predetermined installation surface. In the object detection device, the object detection device includes a plurality of light projecting elements and a light projecting optical system that forms a light projecting area in the detection area by a multi-divided lens, a light receiving element, and a condenser lens. One or a plurality of light receiving optical systems that form a light receiving region in the region, and in the light projecting optical system, the multi-divided lens transmits the initial light projected by each of the light projecting elements, Optically dividing an initial projection to generate a plurality of the detection lights, forming the projection area arranged along the first direction for each detection light, and in the light receiving optical system, The light receiving area is formed corresponding to one or more of the light emitting areas, Condensing lens, by receiving the reflected light from the formed light receiving regions, be condensed to the light receiving element, characterized by.

  As a result, the detection light can be condensed in each light projection area narrower than the detection area, so that the periphery of the light projection area is clarified as compared with the case where the detection light is projected on the entire detection area. Can do. Therefore, the detection area can be accurately set to the intended area. Therefore, since the detection area can be set in an area other than the area where setting is not preferable, the object can be detected accurately.

  In addition, even when a detection area is set in an area where setting is not desirable and a light projection area is set, each light projection area is smaller than when the detection light is projected over the entire detection area. Therefore, the influence on object detection can be reduced. Therefore, malfunction of the object detection device can be prevented.

  Furthermore, since a large number of light projecting regions can be formed with a small number of light projecting elements, a wide detection range can be easily obtained.

  Furthermore, since a detection area can be formed by a large number of light projection areas, detailed object detection is possible.

  Furthermore, since the periphery of the light projection area can be clarified, the range of the detection area can be clarified even if the detection area is formed by a plurality of light projection areas. Therefore, in the installation work of the object detection device, the range of the detection area can be accurately grasped, so that the installation work can be simplified.

  Furthermore, the detection area can be divided into a plurality of areas by a combination of a light projection area and a light reception area, and an object can be detected for each of the divided areas. Therefore, the object can be detected in a finer area.

  In the object detection device according to the present invention, the condensing lens is a non-dividing lens, and in the light receiving optical system, the light receiving region is arranged along a second direction perpendicular to the first direction. It is formed corresponding to one or more of the light projection areas.

  Thereby, a some light projection area | region can be formed easily and at low cost.

  In the object detection apparatus according to the present invention, the number of the light receiving elements is one.

  Thereby, it is possible to detect an object in a small area at low cost.

  The object detection device according to the present invention is characterized in that the light receiving element is plural.

  As a result, the detection area can be divided into a plurality of smaller areas by combining the light projecting area and the light receiving area, so that a more detailed object can be detected.

  In the object detection apparatus according to the present invention, in the light receiving optical system, the adjacent light receiving areas may correspond to the plurality of light projecting areas formed by the detection light emitted by a certain light projecting element. It is formed so that there is no.

  Thereby, even if the reflected light is received by the light receiving element corresponding to the adjacent light receiving region, it is possible to prevent erroneous detection.

  The object detection apparatus according to the present invention is characterized in that the light receiving elements are arranged in parallel in a direction parallel to the first direction.

  As a result, the light receiving regions can be formed in parallel in a direction parallel to the installation surface.

  The object detection apparatus according to the present invention is characterized in that the light receiving elements are arranged in parallel in the second direction.

  As a result, a light receiving region having a predetermined length in a direction perpendicular to the installation surface can be formed. Therefore, the detection range can be increased.

  In the object detection device according to the present invention, the condenser lens includes a cylindrical lens or an anamorphic lens.

  Thereby, a rectangular light-receiving region can be easily formed.

  In the object detection device according to the present invention, the condensing lens is a spherical or aspherical multi-segment lens, and the light receiving optical system is one or more of the predetermined ones arranged along the second direction. The reflected light from the light receiving area formed corresponding to the light projecting area is condensed on a predetermined one of the light receiving elements by the condenser lens.

  As a result, the light projecting area and the light receiving area can be formed in a one-to-one correspondence. Further, the sizes of the light projecting area and the light receiving area can be made almost equal. Therefore, the S / N ratio when obtaining the detection signal can be improved.

  The object detection according to the present invention is characterized in that a plurality of the light receiving elements are arranged in parallel in the first direction on the installation surface.

  Thereby, the light receiving area corresponding to the arrangement of the light projecting areas can be easily adjusted.

  The object detection apparatus according to the present invention is further characterized in that a plurality of the light receiving elements are arranged in parallel in the second direction on the installation surface.

  Thereby, the light receiving area corresponding to the arrangement of the light projecting areas can be easily adjusted.

  The object detection device according to the present invention includes, from the combination of the light projecting element and the light receiving element, the presence of the object in the detection area, the position of the object in the detection area, and the position of the object in the detection area as an object state. An object state determination unit that determines at least one of an operation and whether the object is moving in a predetermined direction;

  Thereby, the state of an object can be easily determined using a combination of a light projecting element and a light receiving element.

  An object detection device according to the present invention includes an imaging control unit that generates imaging start information for starting imaging based on the state of the object,

  Imaging means for capturing an image of a predetermined region based on the imaging start information.

  Thereby, it is possible to reliably detect the motion of the object and obtain an image based on the motion of the object at low cost.

  An object detection apparatus according to the present invention is based on vibration detection means for detecting vibration at a predetermined position, imaging control means for generating imaging start information for starting imaging based on the vibration of the position, and based on the imaging start information. Imaging means for capturing an image of a predetermined region.

  Thereby, an image can be acquired when vibration is detected at a predetermined position.

  The object detection apparatus according to the present invention includes authentication information storage means for storing authentication information of the object, and authentication control means for authenticating the object using the image and the authentication information.

  Thereby, an image can be acquired and an object can be authenticated when it goes to a predetermined direction. Therefore, for example, when the object to be authenticated is a person, the person who receives the authentication does not need to perform any special work associated with security, such as carrying an ID card. Can be improved.

  The object detection device according to the present invention is used in an automatic door system. Thereby, the irregular reflection of the detection light by the door panel can be prevented by forming the light projection area in an area other than the traveling area of the door. In addition, even if a light projection area is formed in the traveling area of the door, the light projection area is smaller than when the detection light is projected on the entire detection area, so that irregular reflection of the detection light by the door panel can be reduced. Can do. Therefore, it is possible to prevent a malfunction related to the opening / closing operation of the door panel in the automatic door system.

  In the object detection apparatus according to the present invention, the light projecting optical means further projects the detection light to the light projecting area formed in a travel area where a door panel of an automatic door travels, and the light receiving optical means. Is characterized in that the reflected light is received from the light receiving area corresponding to the light projecting area formed in the traveling area.

  Thereby, it is possible to prevent malfunction related to the opening / closing operation of the door panel in the automatic door system while including the traveling region in the detection region.

  The object detection device according to the present invention is characterized in that the object state determination means further determines the state of movement of a vehicle or a person as the object.

  Thereby, an image can be acquired based on the traffic state of a vehicle or a person. Therefore, when the traffic amount of the vehicle and the incidence of the accident are related, it is possible to efficiently acquire an image such as acquiring an image when the vehicle passes a predetermined amount or more.

  An object monitoring system according to the present invention is an object monitoring system including a plurality of object detection devices and a detection information processing device that acquires detection information from each of the object detection devices, and the plurality of object detection devices include: An object detection device according to any one of claims 1 to 11 or a combination thereof, wherein the detection information processing device includes an extended detection region in which detection regions formed by the object detection device are integrated. And generating and displaying a correspondence relationship between the detection position and / or movement direction of the object included in the detection information and the extended detection area.

  Thereby, it is possible to detect an object in the extended detection area obtained by integrating a plurality of detection areas. Accordingly, it is possible to detect an object in a wider area. In addition, detection in a desired area can be performed by appropriately selecting detection areas to be integrated.

  The object monitoring system according to the present invention further includes an imaging means for imaging the object when the object is detected.

Thereby, it is possible to easily acquire an image when an object is detected.

It is a figure which shows the outline | summary of the automatic door sensor 100 which is one Example 1 of the object detection apparatus which concerns on this invention. 2 is a diagram showing an internal structure of an automatic door sensor 100. FIG. It is a figure which shows detection area | region R100 of the automatic door sensor 100. FIG. It is a figure which shows the light projection area | region R110A-1-R110D-18 of the automatic door sensor 100. FIG. FIG. 3 is a diagram showing light receiving elements 120A to 120D of the automatic door sensor 100. 4 is a diagram for explaining a method of detecting an object in the automatic door sensor 100. FIG. It is a figure which shows the improvement point in the automatic door sensor. It is a figure which shows the internal structure of the automatic door sensor. It is a figure which shows detection area | region R200 of the automatic door sensor 200. FIG. It is a figure which shows light reception area | region R220A-1-R220D-3 of the automatic door sensor 200. FIG. It is a figure which shows light reception area | region R220A-1-R220D-3 of the automatic door sensor 200. FIG. It is a figure for demonstrating the detection method of the object in the automatic door sensor. It is a figure which shows the other Example of the automatic door sensor which concerns on this invention. It is a figure which shows the other Example of the automatic door sensor which concerns on this invention. It is a figure which shows the other Example of the automatic door sensor which concerns on this invention. It is a figure which shows the conventional automatic door sensor. It is a figure which shows the conventional automatic door sensor. It is a figure which shows the conventional automatic door sensor. 2 is a configuration diagram of the interior of the automatic door sensor 300, in which A is a plan view and B is a cross-sectional view of a P-P cross section in A. FIG. It is a figure which shows detection area | region R300 of the automatic door sensor 300. FIG. It is a figure which shows light reception area | region R320A-1-R320D-18 of the automatic door sensor 300. FIG. 2 is a configuration diagram of the inside of the automatic door sensor 400, in which A is a plan view and B is a cross-sectional view taken along the line P-P in FIG. It is a figure which shows detection area | region R400 of the automatic door sensor 400. FIG. It is a figure which shows light reception area | region R420A-1-R420D-18 of the automatic door sensor 400. FIG. It is a figure which shows the outline | summary of the automatic door sensor. 2 is an external view of an automatic door sensor 500. FIG. 2 is a diagram showing an outline of a control circuit 530. FIG. It is a flowchart which shows the door panel opening / closing process which the microcomputer 130-5 performs. It is a figure for demonstrating the outline | summary of the advancing direction prediction process of the object in the automatic door sensor. It is a flowchart which shows operation | movement of the camera control circuit 530-1. It is a figure which shows the structure of the automatic door sensor 600. FIG. It is a flowchart which shows the door panel opening / closing process which the microcomputer 130-5 performs. It is a flowchart which shows operation | movement of the camera control circuit 530-1. 1 is a diagram showing an outline of an image recording system 700. FIG. 1 is a diagram showing an overview of a state monitoring system 800. FIG. It is a figure which shows the external appearance of the state monitoring sensor. It is a figure which shows the internal structure of another automatic door sensor, A is a top view, B is sectional drawing of PP cross section in A. FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1st structure The outline | summary of the automatic door system using the automatic door sensor 100 which is one Example of the object detection apparatus based on invention is demonstrated using FIG. The automatic door system 50 includes an automatic door sensor 100, a frame 51, fixed walls 53a and 53b, door panels 55a and 55b, and a drive device (not shown). The automatic door system 50 is a so-called double door automatic door system in which the door panels 55a and 55b are opened and closed to the left and right.

  The frame 51 is installed between the fixed walls 53a and 53b. The door panels 55a and 55b open and close between the fixed walls 53a and 53b to the left and right along the invisible lines of the frame 51. Inside the frame 51, a driving device for driving the door panels 55a and 55b is incorporated.

  The automatic door sensor 100 is attached to the frame 51 invisible. At the time of attachment, the automatic front sensor 100 is installed with the back surface of the automatic door sensor 100 aligned with the installation surface, with the front of the eyeless as the installation surface.

  The automatic door sensor 100 forms a detection region R100 on a floor surface through which an object such as a person passes. When the automatic door sensor 100 determines that an object such as a human body exists in the detection region R100, the automatic door sensor 100 transmits a predetermined signal for performing an opening / closing operation of the door panels 55a and 55b to the driving device. Based on a signal from the automatic door sensor 100, the driving device performs an opening / closing process on the door panels 55a and 55b.

  In the following, the direction parallel to the invisible front surface, which is the installation surface, is the arrow a3 direction, and the normal direction perpendicular to the installation surface is the arrow a1 direction.

  The internal structure of the automatic door sensor 100 will be described with reference to FIG. A plan view of the internal structure of the automatic door sensor 100 is shown in FIG. 2A, and a PP cross section in FIG. 2A is shown in FIG. 2B. The automatic door sensor 100 includes light projecting units 110A and 110B, light receiving units 120A, 120B, 120C and 120D, and a control circuit 130.

1. Projection unit 110A, 110B
The automatic door sensor 100 has two light projecting units 110A and 110B near the center.

  The light projecting unit 110A includes a light projecting element group 111A and a multi-segment lens 113A. The light projecting unit 110A forms a light projecting optical system by the light projecting element group 111A and the multi-segment lens 113A.

  The number of light projecting element groups 111A is three in the direction of arrow a3 (direction parallel to the invisible front surface as the installation surface), and four in the direction of arrow a1 (normal direction perpendicular to the installation surface), that is, 3 × 4. It has twelve light projecting elements 111-1 to 111-12 that form a matrix. In FIG. 2, the light projecting elements 111-1 to 111-12 are represented by numbers described inside the light projecting elements.

  The multi-segment lens 113A divides infrared rays emitted from the light projecting elements 111-1 to 111-12 as initial light projections to generate a plurality of detection lights, and predetermined light projections in the detection area for each generated detection light. Concentrate on the area. The multi-segment lens 113A is divided into four in the direction of the arrow a3. The multi-segment lens 113A generates four detection lights r1, r2, r3, r4 from the initial projection by infrared rays emitted from the light projecting element 111-1, and the detection lights r1, r2, r3, r4 are different from each other. Light is condensed toward the four light projecting regions R110A-1, R110B-1, R110C-1, and R110D-1 (see FIG. 3). In the multi-segment lens 113A, the orientation and inclination of each lens are adjusted so that the detection lights r1 to r4 form a predetermined light projection area. The light projection area formed by each of the light projecting elements 111-1 to 111-18 will be described later.

  The light projecting unit 110B is the same as the light projecting unit 110A. However, the light projecting element group 111B includes six light projecting elements 111-13 to 111-18 that form a 3 × 2 matrix.

  The light projecting elements 111-1 to 111-18 are divided into two light projecting units 110 </ b> A and 110 </ b> B so that a large number of light projecting elements can be provided without increasing the thickness of the automatic door sensor 100 in the direction of the arrow a <b> 1. This is for arranging the elements.

2. Light receiving units 120A to 120D
The automatic door sensor 100 has a total of four light receiving units 120A to 120D, two at each end.

  The light receiving unit 120A includes a light receiving element 121A and a condenser lens 123A. The light receiving unit 120A forms a light receiving optical system by the light receiving element 121A and the condenser lens 123A.

  The condensing lens 123A condenses the reflected light of the detection light acquired from the predetermined light receiving area in the detection area on the light receiving element 121A. The condensing lens 123A is a non-dividing lens and is a cylindrical lens having an axis in the arrow a1 direction. The light receiving area formed by the light receiving element 121A will be described later.

  The light receiving units 120B to 120D are the same as the light receiving unit 120A.

3. Control circuit 130
The control circuit 130 causes the 18 light projecting elements 111-1 to 111-18 included in the light projecting unit 110A and the light projecting unit 110B to sequentially emit light at a predetermined cycle. In addition, when the four light receiving elements 121A to 121D of the light receiving units 120A to 120D receive the reflected infrared light, the control circuit 130 determines whether an object such as a person has entered the detection region based on the amount of received light. To do. When the control circuit 130 determines that an object has entered the detection area, the control circuit 130 generates a predetermined signal for opening and closing the door panels 55a and 55b of the automatic door 50.

Second Detection Area A detection area R100 formed by the automatic door sensor 100 will be described with reference to FIG. FIG. 3 shows a detection region R100 on the floor surface.

  The detection region R100 is a region in which the automatic door sensor 100 can detect whether an object has entered. The detection area R100 includes 72 light projection areas R110A-1 to R110A-18, R110B-1 to R110B-18, R110C-1 to R110C-18, R110D-1 to R110D-18, and four light receiving areas. Regions R120A, R120B, R120C, and R120D are formed. Hereinafter, the light projecting regions R110A-1 to R110D-18 and the light receiving regions R120A to R120D will be described.

1. Light Projection Area Light projection areas R110A-1 to R110D-18 formed by the automatic door sensor 100 will be described with reference to FIG. Each light projection area | region R110A-1-R110D-18 further condenses the detection light produced | generated by using the infrared rays which each light projection element 111-1 to 111-18 emitted via the multi-segment lens as initial projection light. Formed by. Thereby, the detection light generated from the infrared rays emitted from the light projecting elements 111-1 to 111-18 is collected as spot light, and the light projecting regions R110A-1 to R110D-18 are arranged on the floor surface. It becomes a substantially circular shape with little spread and a clear periphery.

  The light projection areas R110A-1 to R110D-18 can be divided into four light projection area groups G110A, G110B, G110C, and G110D. In the light projection area group G110A, the light projection areas R110A-1 to R110A-18 are arranged in a 3 × 6 matrix. The same applies to the other projection area groups G110B to G110D. In this way, four light projection area groups are formed on the floor surface. The infrared light emitted from one light projecting element is divided into four detection lights by the multi-segment lenses 113A and 113B. This is because the light is focused on the projection area.

  In the light projection area group G110A, the light projection areas R110A-1 to R110A-3 formed by the detection light generated from the infrared rays emitted from the light projecting elements 111-1 to 111-3 (see FIG. 2) Above, it is formed at a position overlapping the closed door panel 55a. Thus, even if the light projection areas R110A-1 to R110A-3 are formed so as to overlap the door panel 55a, each light projection area has a small circular shape with a small peripheral edge, so that the influence of irregular reflection by the door panel 55a is minimized. Can be. In addition, by forming the light projection regions R110A-1 to R110A-3 at positions overlapping with the door panel 55a, it is possible to prevent the door panels 55a and 55b from closing when an object passes between the door panels 55a and 55b. it can.

  The light projection areas R110A-4 to R110A-6 are formed in the direction of the arrow a1 with respect to the light projection areas R110A-1 to R110A-3. The same applies to the light projection regions R110A-7 to R110A-9, the light projection regions R110A-10 to R110A-12, the light projection regions R110A-13 to R110A-15, and the light projection regions R110A-16 to R110A-18. Accordingly, the light projecting regions R110A-4 to R110A-18 are formed at positions that do not overlap the door panels 55a and 55b.

  In this way, the infrared light emitted from the light projecting elements 111-4 to 111-18 is condensed into spot light, and a plurality of substantially circular light projecting areas R110A-4 to R110A-18, R110B-4 are formed in the detection area R100. By forming ~ R110B-18, R110C-4 to R110C-18, R110D-4 to R110D-18, the detection region R100 necessary for detection can be formed without irradiating the door panels 55a and 55b with infrared rays. it can. Therefore, infrared rays are not irregularly reflected by the movement of the door panels 55a and 55b, and the amount of infrared rays irradiated to the light projecting regions R110A-4 to R110A-18 can be made constant. Therefore, since the light receiving elements 121A to 121D do not detect a change in the amount of infrared rays in each light projecting region, it is possible to prevent a malfunction when opening and closing the door panels 55a and 55b in the automatic door sensor 100.

  Moreover, when installing the automatic door sensor 100, the range of the detection region R100 can be clarified. Therefore, the installation work of the automatic door sensor 100 can be simplified.

2. Light Reception Area Light reception areas R120A to R120D formed by the automatic door 100 will be described with reference to FIG. In the automatic door 100, the light receiving region R120A, the light receiving region R120B, the light receiving region R120C, and the light receiving region R120D are formed in this order from the fixed wall 53a toward the fixed wall 53b.

  The light receiving region R120A is formed on the floor surface as a rectangular shape having a predetermined length in each of the arrow a1 direction and the arrow a3 direction by a condensing lens 123A that is a cylindrical lens. The light receiving region R120A is formed corresponding to the light projecting region group G110A.

  The same applies to the light receiving regions R120B to R120D. However, the light receiving region R120B is formed corresponding to the light projecting region group G110B, the light receiving region R120C is formed corresponding to the light projecting region group G110C, and the light receiving region R120D is formed corresponding to the light projecting region group G110D.

Third Detection Example An object detection method in the automatic door 100 will be described with reference to FIG. The control circuit 130 of the automatic door 100 sequentially turns on the light projecting element 111-1, the light projecting element 111-2, the light projecting element 111-3, and emits infrared rays. Then, as for the infrared rays emitted from the light projecting element 111-1, four detection lights are generated from the infrared rays emitted from the light projecting element 111-1 by the multi-segment lens 113A, and further, the light projecting regions R110A-1 and R110B- 1, condensed to R110C-1 and R110D-1. Similarly, the light projecting elements 111-2 to 111-18 are successively condensed in a predetermined light projecting area as light is emitted.

  When an object X such as a person enters the detection area R100, the detection light condensed on the light projecting area formed at the position (intrusion position) on the floor surface where the object X has entered is reflected by the object X and enters. Reflected light is detected by a light receiving element that forms a light receiving region for detecting the position. Therefore, when the reflected light is received, the position of the object X can be detected by discriminating between the light emitting element that emits the detection light that is the source of the reflected light and the light receiving element that receives the reflected light.

In the case of FIG. 7, the light receiving element 120B receives reflected infrared light emitted when the light projecting element 111-16 is turned on, and the light receiving element 120B reflects infrared light emitted when the light emitting element 111-17 is turned on. Since the light is received, it can be determined that the object X exists at the positions of the light projecting region R110-16 and the light projecting region R110-17.

  In the automatic door sensor 100 according to the first embodiment described above, one light receiving area is associated with the light projecting areas R110A-1 to R110A-18. In this case, as shown in FIG. 7, when the object X enters a position close to the boundary between the light receiving region R120A and the light receiving region R120B, the light receiving device 120B starts to emit light from the light projecting devices 111-16 and 111-17. The reflected light of the generated detection light is received. Furthermore, since the detection light projected on the object X is reflected in various directions, the light receiving element 121A corresponding to the light receiving region R120A receives the reflected light. In this case, when the light projecting element 111-16 is turned on and emits infrared rays, the light receiving element 121B not only receives the reflected light but also the light receiving element 121A. Therefore, the automatic door sensor 100 may erroneously detect the object X ′ at the position of the light projecting region R110-16 of the light receiving element 121A even though it does not actually exist.

  Therefore, the automatic door sensor 200 in this embodiment prevents erroneous detection. In the following, the same reference numerals as those in the first embodiment are given to the same configurations as those in the first embodiment.

First Configuration Automatic door sensor 200
The internal structure of the automatic door sensor 200 will be described with reference to FIG. The automatic door sensor 200 includes light projecting units 110A and 110B, light receiving units 220A, 220B, 220C and 220D, and a control circuit 230. The light projecting units 110A and 110B are the same as the automatic door sensor 100 in the first embodiment. Therefore, detailed description is omitted.

2. Light receiving units 220A to 220D
The automatic door sensor 200 has a total of four light receiving units 220A to 220D, two at each end.

  The light receiving unit 220A includes a light receiving element group 221A and a condenser lens 223A. The light receiving unit 220A forms a light receiving optical system by the light receiving element group 221A and the condenser lens 223A.

  The light receiving element group 221 </ b> A includes six light receiving elements 221-1 to 221-6 that form three matrixes in the arrow a <b> 3 direction, two in the arrow a <b> 1 direction, and 3 × 2 matrix. In FIG. 9, the light receiving elements 221-1 to 221-6 are represented by numbers described inside each light receiving element.

  The condensing lens 223A condenses the reflected light of the detection light acquired from the predetermined light receiving area in the detection area on the light receiving elements 221-1 to 221-6. The condenser lens 223A is a non-dividing lens and is a cylindrical lens having an axis at the arrow a1. The light receiving area formed by each of the light receiving elements 221-1 to 221-6 will be described later.

  The light receiving units 220B to 220D are the same as the light receiving unit 220A. However, the light receiving element group 221B includes six light receiving elements 221-7 to 221-12, the light receiving element group 221C includes six light receiving elements 221-13 to 221-18, and the light receiving element group 221D includes six light receiving elements. 221-19 to 221-24, respectively.

3. Control circuit 230
The control circuit 230 causes the 18 light projecting elements 111-1 to 111-18 included in the light projecting unit 110A and the light projecting unit 110B to emit light sequentially at a predetermined cycle. Further, when the light receiving elements 221-1 to 121-24 of the light receiving units 220A to 220D receive the reflected light of the detection light, the control circuit 230 determines whether an object such as a person has entered the detection area based on the amount of received light. Judging. When the control circuit 230 determines that an object has entered the detection area, the control circuit 230 generates a predetermined signal for opening and closing the door panels 55a and 55b of the automatic door 50.

Second Detection Area A detection area R200 formed by the automatic door sensor 200 will be described with reference to FIG. FIG. 9 shows a detection region R200 on the floor surface. The detection area R200 is an area in which the automatic door sensor 200 can detect whether an object has entered.

  The detection region R200 includes 72 light projection regions R110A-1 to R110A-18, R110B-1 to R110B-18, R110C-1 to R110C-18, R110D-1 to R110D-18, and 12 light receptions. Regions R220A-1 to R220A-3, R220B-1 to R220B-3, R220C-1 to R220C-3, and R220D-1 to R220D-3 are formed.

  The projection areas R110A-1 to R110D-18 are the same as those in the first embodiment. Therefore, detailed description is omitted. Hereinafter, the light receiving regions R220A-1 to R220D-3 will be described.

1. Light Reception Area Light reception areas R220A-1 to R220D-3 formed by the automatic door 200 will be described with reference to FIG. In the automatic door 200, the light receiving region R220A-1, the light receiving region R220B-1, the light receiving region R220A-2, the light receiving region R220B-2, the light receiving region R220A-3, and the light receiving region R220B- from the fixed wall 53a toward the fixed wall 53b. 3, the light receiving region R220C-1, the light receiving region R220D-1, the light receiving region R220C-2, the light receiving region R220D-2, the light receiving region R220C-3, and the light receiving region R220D-3.

  The light receiving regions R220A-1 to R220D-3 can be divided into two light receiving region groups G220A and G220B. In the light receiving region group G220A, six light receiving regions R220A-1 to R220B-3 are arranged. In the other light receiving area group G220B, six light receiving areas R220C-1 to R220D-3 are arranged.

  Each of the light receiving regions R220A-1 to R220D-3 is formed on the floor surface as a rectangular shape having a predetermined length in each of the arrow a1 direction and the arrow a3 direction by a condensing lens 223A that is a cylindrical lens.

  In the light receiving area group G220A, the light receiving area R220A-1 corresponds to the light projecting area R110A- (3n + 1) (n = 0, 1, 2, 3, 4, 5, and so on) of the light projecting area group G110A. It is formed. The light receiving region R220B-1 is formed corresponding to the light projecting region R110A- (3n + 2) of the light projecting region group G110A. The light receiving region R220A-2 is formed corresponding to the light projecting region R110A- (3n + 3) of the light projecting region group G110A.

  The light receiving region R220B-2 is in the light projecting region R110B- (3n + 1) of the light projecting region group G110B, the light receiving region R220A-3 is in the light projecting region R110B- (3n + 2) of the light projecting region group G110B, and the light receiving region R220B-3 is in It is formed corresponding to each of the projection areas R110B- (3n + 3) of the projection area group G110B.

  As a result, the adjacent light receiving regions can be formed so as not to correspond to the light projecting regions formed by the detection light generated from the infrared rays emitted from the same light projecting element. For example, the light projecting region R110A-1 and the light projecting region R110B-1 formed by the detection light generated from the infrared light emitted from the light projecting element 111-1 are respectively referred to as the light receiving region R220A-1 and the light receiving region R220B-2. Correspondingly, the light receiving region R220B-1 adjacent to the light receiving region R220A-1 does not correspond to the light projecting region R110B-1. Therefore, even if an object exists near the boundary between adjacent light receiving areas, and the adjacent light receiving area receives the reflected light of the detection light generated from the infrared rays from the object, the light projection corresponding to the light projecting area where the object exists The position of the object can be determined from the combination of the element and the light receiving area, and there is no false detection.

  As shown in FIG. 11, the light receiving region R220A-1 includes a light receiving element 221-1 (see FIG. 8) in the region u close to the door panel 55a and a light receiving element 221-4 in the region d far from the door panel 55a (see FIG. 8). Respectively). As described above, in the light receiving unit 220A, the light receiving element 221-1 and the light receiving element 221-4 are arranged in parallel on the arrow a1 direction side, and one light receiving region R220A-1 is formed by the plurality of light receiving elements arranged in parallel. Thus, the length L of the light receiving region R220A-1 on the object intrusion direction side can be adjusted to a length necessary for object detection.

Third Detection Example An example of object detection in the automatic door 200 will be described with reference to FIG. The control circuit 230 of the automatic door 200 sequentially turns on the light projecting element 111-1, the light projecting element 111-2, the light projecting element 111-3, and emits infrared rays. Then, as for the infrared rays emitted from the light projecting element 111-1, four detection lights are generated from the infrared rays emitted from the light projecting element 111-1 by the multi-segment lens 113A, and further, the light projecting regions R110A-1 and R110B- 1, condensed to R110C-1 and R110D-1. Similarly, the light projecting elements 111-2 to 111-18 are successively condensed in a predetermined light projecting area as light is emitted.

  When the object X such as a person exists in the detection region R200, the detection light condensed on the light projecting region formed at the position (object position) on the floor where the object X exists is reflected by the object X, and the object Reflected light is detected by a light receiving element that forms a light receiving region for detecting the position. Therefore, when the reflected light is received, the position of the object X can be detected by discriminating between the light emitting element that generates the infrared rays of the detection light that is the source of the reflected light and the light receiving element that receives the reflected light. it can.

  In the case of FIG. 12, the light receiving elements 221-8 and 221-11 receive the reflected infrared light emitted by lighting the light projecting element 111-16 from the light receiving region R220B-2, and the light receiving elements 221-3, 221-6 receives the reflected light of the infrared rays emitted from the light emitting element 111-17 from the light receiving region R220A-3. Further, the light receiving elements 221-2 and 221-5 also receive the reflected light of the detection light generated from the infrared light emitted when the light projecting element 111-18 is turned on from the light receiving region R220A-2.

  In this case, the light receiving elements 221-8 and 221-11 receive light corresponding to the lighting of the light projecting element 111-16. Since the light receiving region R220B-2 of the light receiving elements 221-8 and 221-11 corresponds to the light projecting region R110B-16 of the light projecting element 111-16, the control circuit 230 causes the object to enter the light projecting region R110B-16. Judge that it exists.

  In response to the lighting of the light projecting element 111-17, the light receiving elements 221-3 and 221-6 receive light. Since the light receiving area R220A-3 of the light receiving elements 221-3 and 221-6 corresponds to the light projecting area R110B-17 of the light projecting element 111-17, the control circuit 230 causes the object to enter the light projecting area R110B-17. Judge that it exists.

  On the other hand, the light receiving elements 221-2 and 221-5 receive light corresponding to the lighting of the light projecting element 111-18. The light receiving area R220A-2 of the light receiving elements 221-2 and 221-5 corresponds to the light projecting area R110A-18 of the light projecting element 111-18. Therefore, the control circuit 230 does not determine that the object exists in the light projection region R110A-18.

As a result, the automatic door sensor 200 accurately detects the position of the object and prevents erroneous detection.

  In Example 2 described above, the light receiving regions R220A-1 to R220D-3 formed by the light receiving units 220A to 220D are formed along the direction of the arrow a3 that is the second direction. On the other hand, in the automatic door sensor 300 according to the present embodiment, the light receiving areas formed by the light receiving units 320A to 320D (described later) have a one-to-one correspondence with the light projecting areas.

  In the following, the same components as those in the first embodiment are denoted by the same reference numerals. Detailed description thereof is omitted.

First Configuration Automatic door sensor 300
The internal configuration of the automatic door sensor 300 will be described with reference to FIG. The automatic door sensor 300 includes light projecting units 110A and 110B, light receiving units 320A, 320B, 320C and 320D, and a control circuit 330. The light projecting units 110A and 110B are the same as the automatic door sensor 100 in the first embodiment. Therefore, detailed description is omitted.

2. Light receiving units 320A to 320D
The automatic door sensor 300 has a total of four light receiving units 320A to 320D, two at each end.

  The light receiving unit 320A includes a light receiving element group 321A and a multi-division condensing lens 323A. In the light receiving unit 320A, a light receiving optical system is formed by the light receiving element group 321A and the multi-division condensing lens 323A.

  The light receiving element group 321A includes three light receiving elements 321-1 to 321-3 that form 3 columns in the direction of arrow a3, one row in the direction of arrow a1, and 3 × 1 matrix. In FIG. 19, the light receiving elements 321-1 to 321-12 are represented by numbers described inside each light receiving element.

  The multi-division condensing lens 323A collects the reflected light of the detection light acquired from the predetermined light receiving area in the detection area on the light receiving elements 321-1 to 321-3. The multi-division condensing lens 323A is divided into six in the direction of the arrow a1. Each of the divided lenses is a spherical lens. The direction and the inclination of each of the divided lenses are adjusted so that the reflected light is condensed toward the light receiving elements 321-1 to 321-3. The light receiving area formed by each of the light receiving elements 321-1 to 321-12 will be described later.

  The light receiving units 320B to 320D are the same as the light receiving unit 320A. However, the light receiving element group 321B includes three light receiving elements 321-4 to 321-6, the light receiving element group 321C includes three light receiving elements 321-7 to 321-9, and the light receiving element group 321D includes three light receiving elements. 321-10 to 321-12, respectively.

3. Control circuit 330
The control circuit 330 causes the 18 light projecting elements 111-1 to 111-18 included in the light projecting unit 110 </ b> A and the light projecting unit 110 </ b> B to emit light sequentially in a predetermined cycle. In addition, when the twelve light receiving elements 321-1 to 321-12 of the light receiving units 320A to 320D receive infrared reflected light, the control circuit 330 determines whether an object such as a person has entered the detection area based on the amount of received light. Judge whether or not. When the control circuit 330 determines that an object has entered the detection area, the control circuit 330 generates a predetermined signal for opening and closing the door panels 55a and 55b of the automatic door 50.

Second Detection Area A detection area R300 formed by the automatic door sensor 300 will be described with reference to FIG. FIG. 20 shows a detection region R300 on the floor surface.

  The detection region R300 is a region in which the automatic door sensor 300 can detect whether an object has entered. The detection region R300 includes 72 light projection regions R110A-1 to R110A-18, R110B-1 to R110B-18, R110C-1 to R110C-18, R110D-1 to R110D-18, and 72 light receptions. Regions R320A-1 to R320A-18, R320B-1 to R320B-18, R320C-1 to R320C-18, and R320D-1 to R320D-18 are formed. Hereinafter, the light receiving regions R320A-1 to R320D-18 will be described.

1. Light Reception Area Light reception areas R320A-1 to R320D-18 formed by the automatic door sensor 300 will be described with reference to FIG. In the automatic door sensor 300, light receiving area groups G320A, G320B, G320C, and G320D are formed in order from the fixed wall 53a toward the fixed wall 53b, that is, in the direction of the arrow a3.

  In the light receiving area group G320A, light receiving area groups G320A-1 to G320A-6 are sequentially formed from the automatic door panels 55a and 55b in the direction of the arrow a1. Furthermore, light receiving regions R320A-1 to R320A-3 are formed in the light receiving region group G320A-1, and light receiving regions R320A-4 to R420A-6 are formed in the light receiving region group G320A-2, respectively.

  Each of the light receiving regions R320A-1 to R320A-18 is formed on the floor surface as a circular spot region by the multi-segment condenser lens 323A. The multi-dividing condensing lens 323A receives the reflected light received from the light receiving regions R320A-1, R320A-4, R320A-7, R320A-10, R320A-13, and R320A-16 to the light receiving element 321-1 and receives the light receiving region R320A-. 2, the reflected light received from R320A-5, R320A-8, R320A-11, R320A-14, R320A-17 to the light receiving element 321-2, the light receiving regions R320A-3, R320A-6, R320A-9, R320A- 12, the reflected light received from R320A-15 and R320A-18 is condensed on the light receiving element 321-3.

  The light receiving area group G320A-1 of the light receiving area group G320A is formed corresponding to the light projecting areas R110A-1 to R110A-3 of the light projecting area group G110A. The light receiving region group G320A-2 is formed corresponding to each of the light projecting regions R110A-4 to R110A-6.

  The same applies to the other light receiving region groups G320B to G320D.

As described above, the multi-divided condensing lenses 323A to 323D of the light receiving units 320A to 320D are formed into multi-divided spherical lenses in the same manner as the light projecting units 110A and 110B. Can be shaped spot light. In the automatic door sensor 100 according to the first embodiment and the automatic door sensor 200 according to the second embodiment, since the light projecting area is a circular area and the light receiving area is a rectangular area, there is an area that does not overlap the light projecting area. On the other hand, in the automatic door sensor 300 in the present embodiment, the light projecting area and the light receiving area are formed in a one-to-one correspondence, and the sizes of the light projecting area and the light receiving area are almost equal. Thereby, S / N ratio at the time of obtaining a detection signal can be improved.

  In the automatic door sensor 300 in Example 3 described above, a six-divided multi-division condensing lens is used. On the other hand, the automatic door sensor 400 in this embodiment uses a three-divided multi-division condensing lens. In the following, the same reference numerals as in the third embodiment are assigned to the same configurations as in the third embodiment.

First Configuration Automatic door sensor 400
The internal structure of the automatic door sensor 400 will be described with reference to FIG. The automatic door sensor 400 includes light projecting units 110A and 110B, light receiving units 420A, 420B, 420C and 420D, and a control circuit 430. The light projecting units 110A and 110B are the same as the automatic door sensor 300 in the third embodiment. Therefore, detailed description is omitted.

2. Light receiving units 420A to 420D
The automatic door sensor 400 has a total of four light receiving units 420A to 420D, two at each end.

  The light receiving unit 420A includes a light receiving element group 421A and a multi-division condensing lens 423A. The light receiving unit 420A forms a light receiving optical system by the light receiving element group 421A and the multi-division condensing lens 423A.

  The light receiving element group 421A includes six light receiving elements 421-1 to 421-6 that form a matrix of 3 rows in the direction of the arrow a3, two rows in the direction of the arrow a1, and 3 × 2. In FIG. 22, the light receiving elements 421-1 to 421-24 are represented by numbers described inside each light receiving element.

  The multi-division condensing lens 423A condenses reflected light of detection light acquired from a predetermined light receiving area in the detection area on the light receiving elements 421-1 to 421-6. The multi-segment condenser lens 423A is divided into three in the direction of the arrow a1. Each of the divided lenses is a spherical lens. In the multi-division condensing lens 423A, the direction and inclination of each of the divided lenses are adjusted so that the reflected light is condensed toward the light receiving elements 421-1 to 421-6. The light receiving area formed by each of the light receiving elements 421-1 to 421-24 will be described later.

  The light receiving units 420B to 420D are the same as the light receiving unit 420A. However, the light receiving element group 421B includes six light receiving elements 421-7 to 421-12, the light receiving element group 421C includes six light receiving elements 421-13 to 421-18, and the light receiving element group 421D includes six light receiving elements. 421-19 to 421-24, respectively.

3. Control circuit 430
The control circuit 430 causes the 18 light projecting elements 111-1 to 111-18 included in the light projecting unit 110A and the light projecting unit 110B to sequentially emit light at a predetermined cycle. In addition, when the light receiving elements 421-1 to 421-24 included in the light receiving units 420A to 420D receive the reflected light of the detection light, the control circuit 430 determines whether an object such as a person has entered the detection area based on the amount of received light. Judging. When the control circuit 430 determines that an object has entered the detection area, the control circuit 430 generates a predetermined signal for opening and closing the door panels 55a and 55b of the automatic door 50.

Second Detection Area A detection area R400 formed by the automatic door sensor 400 will be described with reference to FIG. FIG. 23 shows a detection region R400 on the floor surface. The detection region R400 is a region in which the automatic door sensor 400 can detect whether an object has entered.

  The detection region R400 includes 72 light projection regions R110A-1 to R110A-18, R110B-1 to R110B-18, R110C-1 to R110C-18, R110D-1 to R110D-18, and 72 light receptions. Regions R420A-1 to R420A-18, R420B-1 to R420B-18, R420C-1 to R420C-18, and R420D-1 to R420D-18 are formed.

  The projection areas R110A-1 to R110D-18 are the same as in the third embodiment. Therefore, detailed description is omitted. Hereinafter, the light receiving regions R420A-1 to R420D-18 will be described.

1. Light Reception Area Light reception areas R420A-1 to R420D-18 formed by the automatic door sensor 400 will be described with reference to FIG. In the automatic door sensor 400, light receiving area groups G420A, G420B, G420C, and G420D are formed in order from the fixed wall 53a toward the fixed wall 53b, that is, in the direction of the arrow a3. In the light receiving area group G420A, light receiving area groups G420A-1, G420A-2, and G420A-3 are formed in order from the automatic door panels 55a and 55b in the direction of the arrow a1. Further, the light receiving region group G420A-1 includes light receiving regions R420A-1 to R420A-6, the light receiving region group G420A-2 includes light receiving regions R420A-7 to R420A-12, and the light receiving region group G420A-3 includes light receiving regions. R420A-13 to R420A-18 are formed, respectively.

  Each of the light receiving regions R420A-1 to R420A-18 is formed on the floor surface as a circular spot region by the multi-segment condenser lens 423A. The multi-segment condenser lens 423A receives the reflected light received from the light receiving regions R420A-1, R420A-7, R420A-13 to the light receiving element 421-1 and from the light receiving regions R420A-2, R420A-8, R420A-14. The reflected light received by the light receiving element 421-2 and the light receiving areas R420A-3, R420A-9, and R420A-15 is received by the light receiving element 421-3, and received from the light receiving areas R420A-4, R420A-10, and R420A-164. The reflected light received is received by the light receiving element 421-4, the reflected light received from the light receiving areas R420A-5, R420A-11, R420A-17 is received by the light receiving element 421-5, and the light receiving areas R420A-6, R420A-12, R420A-. The reflected light received from 18 is condensed on the light receiving element 421-6.

  The light receiving area group G420A-1 of the light receiving area group G420A is formed corresponding to the light projecting areas R110A-1 to R110A-6 of the light projecting area group G110A. The light receiving area group G420A-2 is formed corresponding to the light projecting areas R110A-7 to R110A-12, and the light receiving area group G420A-3 is formed corresponding to the light projecting areas R110A-13 to R110A-18, respectively.

  The same applies to the other light receiving region groups G420B to G420D.

As described above, in the automatic door sensor 400 according to the present embodiment, the number of light receiving elements is increased and the number of divisions of the multi-divided lens is decreased as compared with the automatic door sensor 300 according to the third embodiment in forming a necessary light receiving region. ing. By reducing the number of divisions of the multi-divided lens, the area of each divided lens increases, and as a result, the amount of received light increases. Thereby, the S / N ratio of the detection signal is further improved as compared with the automatic door sensor 300 in the third embodiment.

  In the above-described second embodiment, the automatic door sensor 200 is used only for opening and closing the automatic door. The automatic door sensor 500 in this embodiment records not only the opening / closing of the automatic door, but also the state at the time of opening / closing.

  In the following, the same components as those in the second embodiment are denoted by the same reference numerals. Detailed description thereof is omitted.

First Configuration Configuration of Automatic Door Sensor 500 An outline of an automatic door sensor 500 which is an embodiment of the object detection apparatus according to the invention will be described with reference to FIG. The automatic door sensor 500 has a video camera 503 inside. In the present embodiment, the automatic door sensor 500 is applied to a so-called double door automatic door as in the second embodiment.

  Similar to the automatic door sensor 200 in the second embodiment, the automatic door sensor 500 is attached to the frame invisible 51.

  The video camera 503 images the open / closed state of the door panels 55a and 55b and the situation in which an object such as a person enters or exits. The video camera 503 starts imaging based on an imaging start signal (described later) from the automatic door sensor 500, and ends imaging based on an imaging end signal (described later).

2. Configuration of Automatic Door Sensor 500 The appearance of the automatic door sensor 500 is shown in FIG. The automatic door sensor 500 has a video camera 503 inside a housing 501. The housing 501 has a filter unit F that efficiently transmits the infrared light projected by the light projecting units 110A and 110B and the reflected light. The video camera 503 is disposed inside the housing 501 so that the outside can be imaged from a part of the filter unit F.

  The internal configuration of the automatic door sensor 500 is automatic except that the control circuit 230 in the automatic door sensor 200 in the second embodiment corresponds to the control circuit 530 and the video camera 503 connected to the control circuit 530 is disposed. The same as the door sensor 200 (see FIG. 8).

  The control circuit 530 will be described with reference to FIG. The control circuit 530 includes a light projecting circuit 130-1, a light receiving circuit 130-3, a microcomputer 130-5, a communication circuit 130-7, and a camera control circuit 530-1.

  The control circuit 530 sequentially causes the 18 light projecting elements 111-1 to 111-18 to emit light in a predetermined cycle via the light projecting circuit 130-1 and the microcomputer 130-5. Further, the control circuit 530 adjusts the period and the light receiving sensitivity of the 24 light receiving elements 221-1 to 221-24 to receive the reflected light through the light receiving circuit 130-3 and the microcomputer 130-5. Further, the control circuit 530 determines whether or not an object such as a person has entered the detection area based on the amount of light received by each light receiving element via the microcomputer 130-5, and the object is automatically moved into the detection area. If it is determined that it is moving in the direction of entering, a predetermined signal for opening and closing the door panels 55a and 55b is generated. Further, the control circuit 530 controls imaging in the video camera 503 via the camera control circuit 530-1.

  The camera control circuit 530-1 controls the start / end of imaging in the video camera 503 based on the imaging start signal / imaging end signal from the microcomputer 130-5.

  Here, since the light projecting circuit 130-1, the light receiving circuit 130-3, the microcomputer 130-5, and the communication circuit 130-7 are the same as the control circuit 130 in the second embodiment, detailed description is omitted. To do.

The door panel opening / closing process of the second microcomputer 130-5 The microcomputer 130-5 predicts the traveling direction of the object based on the light reception signals from the light receiving units 220A to 220D, and further opens the door panels 55a and 55b of the automatic door. A door panel opening / closing process for determining whether or not it is necessary is executed. The door panel opening / closing process executed by the microcomputer 130-5 will be described with reference to the flowchart shown in FIG.

  When the microcomputer 130-5 acquires the light reception signal from the light reception circuit 130-3 (S901), the microcomputer 130-5 executes a traveling direction prediction process for predicting the traveling direction of the object (S903).

  Here, the outline of the traveling direction prediction process executed by the microcomputer 130-5 will be described with reference to FIG. As shown in FIG. 28, individual detection areas r110A-1 to r110D-18 are formed in the detection area R100. Each individual detection region is formed by one light projection region and a light receiving region that receives reflected light from the light projection region. For example, the individual detection region r110A-1 is formed by one light projecting region R110A-1 and a light receiving region R220A-1 that receives reflected light from the light projecting region R110A-1. Therefore, when infrared rays are projected onto the light projecting region R110A-1 and the reflected light is received by the light receiving region R220A-1, the object is detected by the individual detection region r100A-1.

  As shown in FIG. 28A, when the microcomputer 130-5 detects the objects in the order of the individual detection areas “r110B-18” → “r110B-15” → “r110B-12”, the objects appear on the door panels 55a and 55b. Judge that you are heading. In this case, the microcomputer 130-5 transmits a door panel opening signal for opening the door panels 55a and 55b to the driving device.

  On the other hand, as shown in FIG. 28B, when the objects are detected in the order of the individual areas “r110A-10” → “r110A-11” → “r110A-12” → “r110B-10”, the microcomputer 130-5 It is determined that the object is not facing the door panels 55a and 55b. Therefore, the door panel opening signal is not transmitted to the driving device.

  In addition, the microcomputer 130-5 uses not only the order of the individual light receiving areas where the object is detected but also the detected time interval, that is, the speed of the object, for determining the traveling direction. For example, as described above, when the objects are detected in the order of the detection areas “r110A-10” → “r110A-11” → “r110A-12” → “r110B-10”, the detection time interval gradually becomes longer. In other words, if the speed of the object decreases as it approaches the vicinity of the center of the door panels 55a and 55b, it is determined that the object may be directed toward the door panels 55a and 55b. In this case, for example, when the distance to the door panels 55a and 55b becomes smaller than a predetermined value or when the moving speed becomes smaller than a predetermined speed, it is determined that the object is facing the door panels 55a and 55b. Send door panel start signal.

  As described above, the microcomputer 130-5 predicts the operation of the object in consideration of the order of the individual detection areas to be detected and the detection acquisition time interval, and controls the opening and closing of the door panels 55a and 55b. That is, the microcomputer 130-5 controls the opening and closing of the door panels 55a and 55b in consideration of the moving direction and moving speed of the object.

  Returning to FIG. 27, the microcomputer 130-5 determines whether it is necessary to open the door panels 55a and 55b based on the predicted traveling direction of the object (S905). When the microcomputer 130-5 determines that it is necessary to open the door panels 55a and 55b, the microcomputer 130-5 transmits an imaging start signal to the camera control circuit 530-1 (S907). Further, the microcomputer 130-5 transmits a door panel open signal to the drive device for the door panels 55a and 55b (S909).

Operation of Third Camera Control Circuit 530-1 The operation of the camera control circuit 530-1 will be described with reference to the flowchart shown in FIG. When the camera control circuit 530-1 acquires an imaging start signal from the microcomputer 130-5 (S1101), the camera control circuit 530-1 starts imaging using the camera (S1103).

  The camera control circuit 530-1 stores the moving image data captured from the camera in a predetermined storage device (S1105).

  Note that when the camera control circuit 530-1 acquires an imaging end signal (S1107), the camera control circuit 530-1 ends imaging (S1109).

  As described above, when the door panels 55a and 55b are opened, moving image data can be acquired only when an object enters and exits by starting imaging with a camera. That is, the moving image data can be stored only when the object enters / exits. Therefore, the amount of data to be stored can be reduced. Further, since the operation time of the camera can be limited, the power consumption can be reduced. Note that the storage amount and period of the moving image data may be freely set according to the application and the recording capacity in the apparatus, such as storing the latest one week.

Furthermore, since moving image data at the time of entry / exit of an object can be acquired, the flow line of the object at the time of entry / exit can be analyzed. For example, if it is used for a convenience store, it is possible to grasp the attributes of the invading / exiting person, such as the sex / age of the intruding / exiting person. Can be planned.

  The automatic door sensor 500 in Example 5 described above captures an image of the intrusion of an object using a video camera when the intrusion of the object can be predicted. The automatic door sensor 600 in the present embodiment performs human face authentication using a video camera when a human intrusion can be predicted. Thereby, the safety | security with respect to a person's entry / exit can be improved easily, without enforcing the operation | work of carrying the ID card for personal identification etc. with respect to the person who is going to enter / exit.

  In the following, the same components as those in the fifth embodiment are denoted by the same reference numerals. Detailed description thereof is omitted.

Configuration of First Automatic Door Sensor 600 An outline of an automatic door sensor 600, which is an embodiment of the object detection device according to the invention, will be described with reference to FIG. Similar to the automatic door sensor 500 in the fifth embodiment, the automatic door sensor 600 has a video camera 603 inside (see FIG. 25a).

  The automatic door sensor 600 has the same configuration as the automatic door sensor 500 in the fifth embodiment. However, the operation of the microcomputer 130-5 and the operation of the camera control circuit 530-1 in the control circuit 530 are different. The operation of the microcomputer 130-5 and the operation of the camera control circuit 530-1 will be described later.

  The video camera 603 is arranged so that an image can be taken in the direction of the arrow a1, which is the direction in which a person enters the room. Thereby, the image of the face of the person who enters the room can be acquired. Note that the video camera 603 uses a video camera generally used for face authentication.

Door Panel Opening / Closing Process of Second Microcomputer 130-5 The door panel opening / closing process executed by the microcomputer 130-5 in this embodiment will be described with reference to the flowchart shown in FIG.

  When the microcomputer 130-5 acquires the light reception signal from the light reception circuit 130-3 (S901), the microcomputer 130-5 executes a traveling direction prediction process for predicting the traveling direction of the object (S903).

  Then, the microcomputer 130-5 determines whether or not the door panels 55a and 55b need to be opened based on the predicted traveling direction of the object (S905). When the microcomputer 130-5 determines that it is necessary to open the door panels 55a and 55b, the microcomputer 130-5 transmits an imaging start signal to the camera control circuit 530-1 (S907).

When the microcomputer 130-5 acquires the authentication signal from the camera control circuit 530-1 (S1301), is the content of the authentication signal “authentication” indicating that face authentication has been performed on the person attempting to enter? It is determined whether or not (S1303). If the microcomputer 130-5 determines that it is “authentication”, the microcomputer 130-5 transmits a door panel open signal to the drive device of the door panels 55a and 55b (S909).
Operation of third camera control circuit 530-1

  The operation of the camera control circuit 530-1 will be described with reference to the flowchart shown in FIG. When the camera control circuit 530-1 acquires an imaging start signal from the microcomputer 130-5 (S1101), the camera control circuit 530-1 starts imaging using the video camera 603 (S1103).

  The camera control circuit 530-1 identifies a human face from the captured image data and executes face authentication processing (S1401). It should be noted that when a human face is specified from the captured image data, a face specifying technique used in a digital camera or the like is used. The face authentication process using image data uses a commonly used face authentication process.

  The camera control circuit 530-1 generates an “authentication” authentication signal when the face authentication is performed by the face authentication process for the person who is about to enter. The camera control circuit 530-1 generates an “unauthenticated” authentication signal when face authentication cannot be performed.

The camera control circuit 530-1 transmits the generated authentication signal to the control circuit 530 (S1403).

  In the above-described fifth embodiment, the automatic door sensor 500 is used to record the entry / exit state of an object in the automatic door. On the other hand, the traffic monitoring system 700 according to the present embodiment is used for recognizing a traffic state of a vehicle or a person and recording it as necessary.

  The traffic monitoring system 700 is used for recognizing and capturing the traffic state of vehicles on intersections and roads and the traffic state of people on sidewalks and shopping streets.

  An example of the usage state of the traffic monitoring system 700 is shown in FIG. FIG. 33 shows a case where the traffic monitoring system 700 recognizes and records the vehicle traffic state at an intersection. The traffic monitoring system 700 includes a vehicle detection sensor 701 and a video camera 703.

  The vehicle detection sensor 701 forms a detection region R700 on the lane through which the vehicle passes, and detects the passage of the vehicle in the detection region R700. The vehicle detection sensor 701 is installed, for example, on a support P700 that crosses over the intersection.

  The configuration of the vehicle detection sensor 701 is the same as that of the automatic door sensor 500 in the fifth embodiment. However, the size or the like of the detection area is adjusted to be suitable for detecting a vehicle on the lane.

  The video camera 703 images the traffic state of the vehicle including the presence of the vehicle at the intersection. The video camera 703 is disposed at a position where the traffic state of the vehicle at the intersection can be imaged. Note that the video camera 703 may be one that is generally used for imaging the traffic state of the vehicle.

  When the vehicle detection sensor 701 detects a passing vehicle at an intersection, the imaging is started and recorded, so that efficient imaging and recording can be performed in terms of power consumption and image recording amount.

  Further, by adjusting whether or not to capture the image based on the traffic state of the vehicle, for example, an image can be captured only when the traffic volume is high, and the captured image can be provided through the network. In addition, by starting imaging at the time of congestion, it becomes possible to investigate the cause of the congestion. For example, it is possible to determine the presence of illegal parking, the presence or absence of an accident, a natural increase in traffic, and the like from the captured image. The vehicle may be counted by counting the vehicles detected by the vehicle detection sensor 701. Whether or not they are crossed may be determined by the vehicle detection sensor 701 based on the detected vehicle movement state, for example, the vehicle does not move for a predetermined time or the movement distance is short.

The same applies to the case where the traffic monitoring system 700 is used for recognition / imaging of a human traffic state. By recognizing an abnormally crowded state, the risk of an accident such as a shogi fall can be determined in advance by starting imaging. In addition, it is possible to take an image of a criminal who runs away or to find a person who has fallen on the street.

In the fifth embodiment described above, the automatic door sensor system 500 is used to record the entry / exit state of an object in the automatic door. On the other hand, the state monitoring system 800 according to the present embodiment detects and records the state of an object such as an indoor or outdoor person.
Configuration of first state monitoring system 800

  An example in which the state monitoring system 800 is used for monitoring the state of a person in a room is shown in FIG. FIG. 34 shows a state monitoring system 800 in which four state monitoring sensors 801-1 to 801-4 and an information processing device 803 are connected via a network.

  The state monitoring sensors 801-1 to 801-4 are respectively arranged on the ceiling of the room. In addition, the state monitoring sensors 801-1 to 801-4 form detection regions R801-1 to R801-4, respectively. In addition, a plurality of light projection areas are formed in the detection area R801-1. Each detection area is formed so that the whole room can be detected without omission without overlapping each other. Further, an extended detection region R800 is formed by the detection regions R801-1 to R801-4.

  The appearance of the state monitoring sensor 801-1 is shown in FIG. The state monitoring sensor 801-1 has a cylindrical casing 801a. A filter F that transmits infrared rays is provided at one end of the housing 801a. The internal structure of the state monitoring sensor 801-1 is the same as the internal structure of the automatic door sensor 200 in the second embodiment. Therefore, as shown in FIG. 34, the light projection areas formed in the detection area R801-1 are arranged in a 6 × 12 matrix.

  The information processing device 803 acquires detection information from the state monitoring sensors 801-1 to 801-4, and executes processing for determining the presence and behavior of an object. In addition, as the information processing apparatus 803, a general personal computer in which a state monitoring program that determines the position and action of an object from detection information from a plurality of state monitoring sensors is installed can be used.

  The information processing device 803 integrates the detection areas R801-1 to R801-4 of the four state monitoring sensors 801-1 to 801-4 to generate an extended detection area R800. As shown in FIG. 34, when the detection regions R801-1 to R801-4 of the state monitoring sensors 801-1 to 801-4 each have 72 light projection regions, four detection regions R801- The extended detection area R800 obtained by integrating 1 to R801-4 has 288 projection areas. Therefore, the state monitoring system 800 can detect an object at 288 points.

  When the information processing apparatus 803 acquires detection information from the state monitoring sensors 801-1 to 801-4, the information processing apparatus 803 calculates a correspondence relationship with the extended detection region R800, and determines the presence position and movement state of the object in the extended detection region R800. to decide.

Second Form of Use of State Monitoring System 800 The state monitoring system 800 can be used for applications that require monitoring of the state of an object. In the following, a usage form of the state monitoring system 800 will be exemplified and described.

1. Security Use By forming a detection area in the entire room as described above, the state monitoring system 800 can detect an object regardless of where the object is present in the room or where the object moves. Therefore, if the state monitoring system 800 is used in a general household, it is possible to reliably detect a suspicious person who has entered the absence home. In addition, if an imaging / recording function by a video camera is added to the state monitoring system 800, an image when a suspicious person enters can be recorded. Similarly, it is possible to detect a movement of stopping in front of an important base such as a safe or a movement that affects the front in the same manner as in the sixth embodiment. Further, as in the seventh embodiment, a function for authenticating the person can be added. If a state monitoring sensor 801 is installed indoors and outdoors so that information can be collected in the information processing apparatus 803 via a network, a larger area can be monitored. The information collected and judged by the information processing device 803 communicates with the management company's server according to the settings and contents, and the management company and the security company can send personnel to the site as needed. .

2. Use of watch for elderly people By locating the state monitoring sensor 801 so as to form a detection area in the entire area of the room or house, for example, the location of the person being watched can be specified anywhere in the action range can do. In particular, the state monitoring system 800 is effective as a system for watching an elderly person or a deaf person living alone.

  The information processing device 803 uses the detection result obtained from each state monitoring sensor 801 to determine the presence position and behavior of the person being watched over. As shown in FIG. 34, the information processing device 803 displays a drawing and a photograph showing the arrangement of buildings and objects in the enlargement detection area R800 on the display, and further superimposes them to superimpose the light projection area and the monitoring target determined by itself. The position X is displayed. Thereby, the position and action of the person being watched over can be easily grasped via the qualification.

  In addition, information can be set in the detection area by setting a long-stay area such as a sofa or bed in front of a TV, a short-stay area such as a kitchen or toilet, a passage area such as a corridor, and a prohibited area where access is prohibited. The processing device 803 can make the following determination. For example, when the person being watched over stays in the long-stay area exceeds a predetermined time (for example, 12 hours), it can be determined that the condition has deteriorated and a warning can be issued. Further, when the time in the short stay area exceeds a predetermined time (for example, 1 hour), it can be determined that it cannot move for some reason (for example, back pain), and a warning can be issued. Further, when the vehicle stops in the passage area, it can be determined that it cannot move for some reason (for example, myocardial infarction), and a warning can be issued. Further, when an attempt is made to enter the prohibited area, a warning can be issued immediately.

  As described above, the state monitoring system 800 can monitor an object in the extended detection area in which the detection areas are integrated. Human sensors (heat ray sensors) and image processing sensors have been used for conventional security applications and watching applications, but these sensors have a problem of malfunction and have been used only for some applications. However, it can be used in various scenes by detecting the presence of an object and detecting the motion of an object using near infrared rays.

  Further, since the image processing sensor always captures an image, there is a problem of privacy infringement. However, since the state monitoring system 800 detects the presence and movement of an object without acquiring an image, the problem of privacy violation does not occur. In the state monitoring system 800, an image recording function can be added by adding a video camera as necessary, so that the user can configure the system according to the usage scene.

[Other Examples]
(1) Condensing lenses 123A to D and 223A to D: In the first and second embodiments, the condensing lenses 123A to D and 223A to D are cylindrical lenses, but are reflected from a light receiving region having a rectangular shape. As long as light can be condensed on the light receiving element, it is not limited to the example. For example, an anamorphic lens, a toric lens, an optical system using a hologram, a slit, or a reflective mirror may be used.

  (2) Light-Emitting Element: In Example 1 and Example 2 described above, a plurality of light-emitting elements are arranged in a matrix. However, the light-emitting element is not limited to the illustrated example as long as a plurality of light emitting regions can be formed.

  Moreover, although the light emitting elements 111-1 to 111-18 are separately arranged in the two light projecting units 110A and 110B, the arrangement of the light emitting elements is limited as long as the light projecting area can be formed at a predetermined position. Not. For example, as shown in FIG. 13, the light emitting elements 111-1 to 111-18 may be arranged in one light projecting unit 110 </ b> C. Further, the light emitting elements 111-1 to 111-18 may be divided into three or more light projecting units.

  (3) Light receiving element: In the first and second embodiments described above, a plurality of light receiving areas are formed using a plurality of light receiving elements, but a light receiving area is formed corresponding to a light projecting area formed by the light emitting elements. If possible, it is not limited to the examples.

  (4) Position of light projecting unit and light receiving unit: In the above-described first and second embodiments, each light projecting unit and each light receiving unit are arranged in parallel along the arrow a3 direction. As long as the light projecting area and the light receiving area can be formed at the positions, the arrangement is not limited to the example. For example, as shown in FIG. 14, the light receiving units 220A to 220D and the light projecting units 110A and 110B may be arranged in two stages.

  Furthermore, each light projecting unit and each light receiving unit may be arranged in series along the direction of the arrow a1.

  Furthermore, as shown in FIG. 15, the light receiving units 220 </ b> A to 220 </ b> D may be disposed near the center, and the light projecting units 110 </ b> A and 110 </ b> B may be disposed at both ends.

  (5) Multi-divided lenses 113A and 113B: In the above-described first and second embodiments, the multi-divided lenses 113A and 113B are four-divided lenses, but a plurality of detection lights are emitted from the infrared rays emitted from the light projecting element. As long as it can be generated, it is not limited to the example. For example, it may be divided into three and five.

  (6) Formation direction of light receiving region: In the above-described second embodiment, the light receiving region R220A-1 corresponds to the light projecting region R110A- (3n + 1) of the light projecting region group G110A, and the light receiving region R220B-1 is projected. The light receiving region R220A-2 is formed corresponding to the light projecting region R110A- (3n + 3) of the light projecting region group G110A, corresponding to the light projecting region R110A- (3n + 2) of the region group G110A. That is, each light receiving region is formed corresponding to a light projecting region obtained by dividing a matrix-shaped light projecting region formed on the floor surface in a direction perpendicular to the installation surface, but corresponds to a plurality of the light projecting regions. The light receiving region is not limited to the illustrated example. For example, the matrix-shaped light projecting region may be divided in a direction parallel to the installation surface, and the light receiving region may be formed corresponding to the light projecting region included in each divided region.

  (7) Arrangement of light projecting area and light receiving area: In the above-described first and second embodiments, the light projecting area has a spot-like circular shape and the light receiving area has a rectangular shape, but is not limited to the example. For example, the light receiving area may be a spot-like circular shape, and the light projecting area may be a rectangular shape. In this case, the light projecting elements 111-1 to 111-18 in FIG. 8 may be disposed as light receiving elements, and the light receiving elements 221-1 to 221-24 may be disposed as light projecting elements.

  (8) Formation of a plurality of light receiving regions: In the above-described fourth embodiment, the multi-divided multi-division condensing lens 423A and the two light receiving elements 421- disposed along the direction of the arrow a1 that is the second direction. 1, 421-4 were used to form six light receiving regions R420A-1, R420A-4, R420A-7, R420A-10, R420A-13, and R420A-16 along the arrow a1 direction. As long as a plurality of light receiving regions can be formed, the present invention is not limited to the example. For example, the light receiving region may be formed by a two-divided multi-divided condensing lens and three light receiving elements arranged along the direction of the arrow a1.

  (9) Application place of automatic door sensor: In the first embodiment and the second embodiment described above, both the automatic door sensor 100 and the automatic door sensor 200 are used in an automatic door system. However, the present invention is not limited to the example as long as it can detect an object in the detection area. For example, it can be used as a security sensor that detects the entry / exit of a person as an object, and a traffic counting sensor used when counting the number of objects / persons entering / leaving the room.

  (10) Motion prediction: In the above-described fifth embodiment, the microcomputer 130-5 predicts the motion of the object in consideration of the order of the individual detection areas to be detected, the detection time interval of detection, and the like. However, the present invention is not limited to the example as long as the motion of the object is predicted from the detection state in the individual detection region.

  (11) Imaging area of video camera: In the above-described fifth embodiment, the video camera 503 captures an image of the vicinity of the door panels 55a and 55b. However, as long as an image of a predetermined area is acquired, the video camera 503 is limited to the illustrated example. Not. For example, you may make it acquire the image of another channel | path, an area | region, etc. different from the automatic door in which the automatic door sensor 500 is arrange | positioned.

  Similarly, in the image acquisition system 700 according to the seventh embodiment described above, images of roads and areas that are different from the road on which the vehicle detection sensor 701 detects the vehicle may be acquired.

  (12) Arrangement position of object detection sensor and video camera: In the above-described fifth and sixth embodiments, the automatic door sensor 500 is arranged on the blind 51 of the frame of the automatic door. It is not limited to the example as long as it can be detected. For example, it may be arranged on the ceiling or the like.

  In the fifth and sixth embodiments described above, the video camera is arranged in the casing of the automatic door sensor. However, the video camera may be arranged separately from the automatic door sensor. In that case, the video camera may be arranged on the ceiling.

  The same applies to the indoor and outdoor state monitoring sensor 801 in the eighth embodiment. By adding a video camera to the state monitoring sensor 801, an image can be taken and recorded only when an object is detected and when an abnormality occurs. That is, during normal times, images are not taken or recorded from the viewpoint of privacy protection. Similarly, it is possible to detect a violent movement such as when a convulsion occurs, or a movement that affects the front of a certain place troubled by locking the key.

  Further, in the vehicle detection sensor 701 according to the seventh embodiment, the video camera 703 may be disposed in the housing of the vehicle detection sensor 701.

  (13) Type of imaging: In each of the fifth to eighth embodiments described above, each video camera captures a moving image. However, a still image may be captured. Moreover, you may make it produce | generate a still image from a moving image.

  (14) Start of imaging: In the above-described fifth embodiment, when the operation of the detected object is determined and it is determined that the object is moving toward the door panel of the automatic door, the imaging by the video camera is started. However, the present invention is not limited to the example as long as imaging starts based on the detection of the object. For example, imaging may be started when an object is detected for the first time in the detection region R100, that is, when an object enters the detection region R100.

  Further, when an object enters a predetermined area of the detection area R100, imaging may be started.

  (15) Number of state monitoring sensors 801: In the above-described eighth embodiment, the state monitoring system 800 is configured using the four state monitoring sensors 801. However, an extended detection region is formed using a plurality of state monitoring sensors 801. However, the present invention is not limited to the example as long as it can target a predetermined monitoring area. That is, if the entire house, the entire apartment, or the entire shopping center is to be monitored, the state monitoring system 800 may be configured using a plurality of state monitoring sensors 801 corresponding thereto.

  (16) Impact Detection: In the above-described fifth embodiment, a sensor that detects vibration due to impact may be added when there is a strong impact such as a person hitting the door panel of the automatic door. As a result, it is possible to store still image data or moving image data during travel when there is an impact. The stored still image / video data can be used as evidence in the event of an accident. Note that a sensor for detecting vibration may be arranged in the housing of the automatic door sensor 500.

  (17) Multi-divided condensing lens: In Example 3 described above, a plurality of light projecting regions R110A-1 and R110A- are arranged along the arrow a3 direction using the six-divided condensing lens 323A in the arrow a1 direction. 4, from light receiving regions R320A-1, R320A-4, R320A-7, R320A-10, R320A-13, R320A-16 formed corresponding to R110A-7, R110A-10, R110A-13, R110A-16 Is reflected on the light receiving element 321-1, but the reflected light from the light receiving area formed corresponding to one or more predetermined light projecting areas arranged along the arrow a3 direction, The present invention is not limited to the examples as long as the light can be condensed on one predetermined light receiving element.

  For example, as shown in FIG. 36, multi-division condensing lenses 923A to 923D divided in a matrix may be used. In this case, the number of light receiving elements in each of the light receiving units 920A to 920D may be appropriately adjusted according to the number of divisions in the divided condensing lenses 923A to 923D and the number of light projecting areas to be formed. For example, as shown in FIG. 36, when a light receiving area corresponding to 18 light projecting areas is formed by one light receiving unit, it is divided into a 3 × 6 matrix, that is, multi-divided light collection divided into 18 parts. If a lens is used, the number of light receiving elements in each light receiving unit is one.

If a light receiving area corresponding to 18 light projecting areas is formed by one light receiving unit and divided into a 3 × 3 matrix, that is, a multi-division condensing lens divided into nine is used, There are two light receiving elements in the light receiving unit. In this case, the two light receiving elements may be arranged in parallel in the arrow a1 direction.

The object detection apparatus according to the present invention can be used as a sensor for opening / closing an automatic door and for acquiring an image in an automatic door system.

DESCRIPTION OF SYMBOLS 100 ... Automatic door sensor 110A, B ... Projection unit 111-1-18 ... Projection element 113A, B ... Multi-segment lens 120A-D ... Light receiving unit 121-A to D: Light receiving element 123A to D: Condensing lens R100: Detection area R110A-1 to R110D-18: Light projection area R120A D ... Light receiving area 200 ... Automatic door sensor 220A-D ... Light receiving unit 221-1-24 ... Light receiving element 223A-D ... Condensing lens R200 ... Detection area R220A-1 to R220D-3 ... Light receiving area 300 ... Automatic door sensor 320A to D ... Light receiving unit 321-1 to 12 ... Light receiving element 323A to D ······ Condensing lens R300 ··· Detection region R320A-1 to R320D-18 ··· Light receiving region 400 ··· Automatic door sensor 420A to D ··· Light receiving unit 421-1 -24... Light receiving element 423A to D... Condensing lens R400... Detection area R420A-1 to R420D-18. 501... Housing 530... Control circuit 530-1 .. Camera control circuit 503... Video camera 600... Automatic door sensor 603. 700: Traffic monitoring system 701: Vehicle detection sensor 703: Video camera 800 ... Status monitoring system 801-4: Status monitoring sensor 80 ----- information processing apparatus 900 ..... automatic door sensor 920A～D ----- light receiving unit 923A～D ..... converging lens

Claims (13)

An object detection device that projects detection light and detects an object in a detection region using reflected light of the projected detection light, the object detection device installed on a predetermined installation surface,
The object detection device includes:
A plurality of light projecting elements, and a light projecting optical system that forms a light projecting region in the detection region by a multi-segment lens;
A light receiving element, and one or a plurality of light receiving optical systems that form a light receiving region in the detection region by a condenser lens;
Have
In the light projecting optical system,
The multi-division lens optically divides the initial projection to generate a plurality of detection lights, and generates a plurality of detection lights, and the first direction for each detection light. Forming the light projecting area arranged along
In the light receiving optical system,
The light receiving region is formed corresponding to one or more of the light projecting regions,
The condensing lens receives the reflected light from the formed light receiving region, condenses the light receiving element,
The condenser lens is
A non-dividing lens,
In the light receiving optical system,
The light receiving region is formed corresponding to one or more light projecting regions arranged along a second direction perpendicular to the first direction,
The light receiving element is
A plurality of the condenser lenses are installed.
In the light receiving optical system,
The adjacent light receiving regions are formed so as not to correspond to the plurality of light projecting regions formed by the detection light emitted by a certain light projecting element;
An object detection device characterized by. In the object detection apparatus according to claim 1,
The light receiving elements are arranged in parallel in the first direction on the installation surface;
An object detection device characterized by. In the object detection device according to claim 1 or 2,
The light receiving elements are arranged in parallel in the second direction;
An object detection device characterized by. In any one of the object detection apparatuses according to claims 1 to 3,
The condenser lens is
Be a cylindrical lens or an anamorphic lens,
An object detection device characterized by. In any one of the object detection apparatuses according to claims 1 to 4,
From the combination of the light projecting element and the light receiving element, the presence of the object in the detection area, the position of the object in the detection area, the action of the object in the detection area, or the object as a state of the object is predetermined. An object state determination means for determining at least one of the movements toward the direction;
An object detection apparatus having In the object detection apparatus according to claim 5,
Imaging control means for generating imaging start information for starting imaging based on the state of the object;
Imaging means for capturing an image of a predetermined area based on the imaging start information;
An object detection apparatus having In any one of the object detection apparatuses according to claims 1 to 4,
Vibration detecting means for detecting vibration at a predetermined position;
Imaging control means for generating imaging start information for starting imaging based on the vibration at the predetermined position ;
Imaging means for capturing an image of a predetermined area based on the imaging start information;
An object detection apparatus having The object detection apparatus according to claim 6, further comprising:
Authentication information storage means for storing authentication information of the object;
Authentication control means for authenticating the object using the image and the authentication information;
An object detection apparatus having In any one of the object detection devices according to claims 1 to 8,
Used in automatic door systems,
An object detection device characterized by. In the object detection device according to claim 9,
The multi-segment lens further includes:
The detection light is projected to the light projection area formed in the travel area where the door panel of the automatic door travels,
The condenser lens is
Receiving the reflected light from the light receiving region corresponding to the light projecting region formed in the traveling region;
An object detection device characterized by. In any of the object detection apparatuses according to claims 5 to 8,
The object state determination means further includes:
Determining the state of motion of the vehicle or person that is the object;
An object detection device characterized by. A plurality of object detection devices that project detection light, detect an object in a detection region using reflected light of the projected detection light, and are installed on a predetermined installation surface, and An object monitoring system having a detection information processing device that acquires detection information from each of the object detection devices,
The object detection device includes:
A plurality of light projecting elements, and a light projecting optical system that forms a light projecting region in the detection region by a multi-segment lens;
A light receiving element, and one or a plurality of light receiving optical systems that form a light receiving region in the detection region by a condenser lens;
Have
In the light projecting optical system,
The multi-division lens optically divides the initial projection to generate a plurality of detection lights, and generates a plurality of detection lights, and the first direction for each detection light. Forming the light projecting area arranged along
In the light receiving optical system,
The light receiving region is formed corresponding to one or more of the light projecting regions,
The condensing lens receives the reflected light from the formed light receiving region, condenses the light receiving element,
The condenser lens is
A non-dividing lens,
In the light receiving optical system,
The light receiving region is formed corresponding to one or more light projecting regions arranged along a second direction perpendicular to the first direction,
The light receiving element is
A plurality of the condenser lenses are installed.
In the light receiving optical system,
The adjacent light receiving regions are formed so as not to correspond to the plurality of light projecting regions formed by the detection light emitted by a certain light projecting element;
Features
The detection information processing apparatus includes:
An extended detection area is formed by integrating the detection areas formed by the object detection device, and a correspondence relationship between the detection position and / or moving direction of the object included in the detection information and the extended detection area is calculated. And display,
An object monitoring system. The object monitoring system according to claim 12, further comprising:
When the object is detected, an imaging means for imaging the object,
An object monitoring system.

Images