JP6851841B2 - Automatic door system and control method of automatic door system - Google Patents

Description

The present invention relates to an automatic door system and a control method for the automatic door system.

The automatic door sensor used for the automatic door is required to set an appropriate detection area in order to ensure safety. Conventionally, various techniques for setting the detection area of the automatic door sensor have been proposed. For example, Patent Document 1 discloses a technique for improving the safety of a doorway by setting a detection area on the doorway.

Japanese Unexamined Patent Publication No. 2003-3750

For the detection by the automatic door sensor, a detection means (predetermined sensor or detection algorithm) corresponding to the detection area of the automatic door sensor was used. Specifically, the automatic door sensor that detects a passerby and detects the activation area for opening the door has used a detection means for opening the door while reducing unnecessary opening and closing. On the other hand, as an automatic door sensor that detects a protected area for protecting a passerby such as on a doorway, a detection means for monitoring a stop of a passerby or the like has been used.

However, when one automatic door sensor detects both the protected area and the activated area, a part of the protected area must be used as the activated area. In this case, the detection means used for detecting the protected area is used. It will be used to detect the activation area. By detecting the activation area using the detection means used for detecting the protection area, there is a problem that erroneous detection occurs due to the influence of the automatic door and its installation environment, and unnecessary opening and closing tends to increase.

The present invention has been made in consideration of the above points, and provides an automatic door system and a control method for the automatic door system, which can achieve both reduction of unnecessary opening and closing of the door and improvement of safety. With the goal.

The present invention includes a control means for driving and controlling the door based on the detection result of a person or an object in the detection area, and the control means is used when the door is in a closed position in a special detection area that is a part of the detection area. Uses the detection result of the activation detecting means for detecting a person or an object for driving control of the door, and when the door is in a position other than the closed position, protection is easier to detect a person or an object than the activation detecting means. This is an automatic door system that uses the detection result of the detection means for driving the door.

In the automatic door system according to the present invention, the front detection area further has an activation detection area for detecting only by the activation detection means, and the special detection area is located closer to the door than the activation detection area. It may be arranged.

The automatic door system according to the present invention further includes doorway detection means for detecting a person or an object on the movement path of the door, and the detection area is detected by the doorway detection means and the protection detection means. The control means has two special detection areas, and when the door is in the fully open position in the second special detection area, the detection result by the protective detection means is used for driving control of the door, and the door is fully opened. When it is located at a position other than the position, the detection result by the doorway detection means may be used for the drive control of the door.

The automatic door system according to the present invention further includes fixed wall side detecting means for detecting a person or an object in the vicinity of the fixed wall portion of the door, and the detection area is detected by the fixed wall side detecting means and the protective detecting means. The control means has a third special detection area for performing the above, and when the door is moving in the fully open direction in the third special detection area, the control means controls the drive of the door based on the detection result by the fixed wall side detection means. The detection result by the protective detection means may be used for the drive control of the door except when the door is moving in the fully open direction.

In the detection by the protective detection means in the automatic door system according to the present invention, the stationary body detection time from the detection of a person or an object to the determination of the detected person or object as a stationary body and exclusion from the detection target is , It may be longer than the stationary body detection time in the detection by the activation detection means.

In the detection by the protective detection means of the automatic door sensor according to the present invention, the stationary body detection time from the detection of a person or an object to the determination of the detected person or object as a stationary body and exclusion from the detection target is determined. It may be longer than the stationary body detection time in the detection by the activation detection means.

In the present invention, when the door is in the closed position in the special detection area which is a part of the detection area for detecting a person or an object, the detection is performed by the activation detection means for detecting the person or the object, and the result is obtained. When the door is used for driving control of the door and the door is in a position other than the closed position, the special detection area is detected by a protective detection means that is easier to detect a person or an object than the activation detection means. It is a control method of an automatic door system that uses the result for driving control of the door.

According to the present invention, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time.

It is a block diagram which shows the automatic door system by this embodiment. It is a bird's-eye view which shows the automatic door system by this embodiment. It is a conceptual diagram which shows the detection algorithm in the automatic door system by this embodiment. It is a flowchart which shows the switching of the detection algorithm according to the door state in the operation example of the automatic door system by this embodiment. It is a flowchart which shows the activation detection control in the operation example of the automatic door system by this embodiment. FIG. 6A is a flowchart showing an example of protection detection control in the operation example of the automatic door system according to the present embodiment, and FIG. 6B is a flowchart showing another example of protection detection control. It is a flowchart which shows the reading of the control parameter in the operation example of the automatic door system by this embodiment. It is a flowchart which shows the detection / background update control in the operation example of the automatic door system by this embodiment. It is explanatory drawing for demonstrating the detection / background update control in the operation example of the automatic door system by this Embodiment. It is a flowchart which shows the 1st mode control in the operation example of the automatic door system by this embodiment. It is a flowchart which shows the 2nd mode control in the operation example of the automatic door system by this Embodiment. It is a flowchart which shows the 3rd mode control in the operation example of the automatic door system by this embodiment. It is a flowchart which shows the exit invalidation control in the operation example of the automatic door system by this embodiment. It is explanatory drawing for demonstrating exit invalidation control in the operation example of the automatic door system by this Embodiment. It is a flowchart which shows the crossing invalidation control in the operation example of the automatic door system by this embodiment. It is explanatory drawing for demonstrating the crossing invalidation control in the operation example of the automatic door system by this Embodiment. It is a flowchart which shows the detection determination in the operation example of the automatic door system by this embodiment. It is a block diagram which shows the automatic door system by the 1st modification of this embodiment. It is a block diagram which shows the automatic door system by the 2nd modification of this embodiment. It is a block diagram which shows the automatic door system by the 3rd modification of this embodiment.

Hereinafter, the automatic door system according to the embodiment of the present invention will be described in detail with reference to the drawings. The embodiments shown below are examples of the embodiments of the present invention, and the present invention is not construed as being limited to these embodiments. Further, in the drawings referred to in the present embodiment, the same parts or parts having similar functions are designated by the same reference numerals or similar reference numerals, and the repeated description thereof will be omitted. Further, the dimensional ratio of the drawing may differ from the actual ratio for convenience of explanation, and a part of the configuration may be omitted from the drawing.

FIG. 1 is a diagram showing an automatic door system 1 according to the present embodiment. FIG. 2 is a bird's-eye view showing the automatic door system 1 according to the present embodiment. As shown in FIG. 1, the automatic door system 1 includes an automatic door device 2 and an automatic door sensor 3. The automatic door system 1 detects a passerby who intends to pass through the door 21 shown in FIG. 2 by the automatic door sensor 3, and opens the door 21 in order to pass the passerby in response to the detection of the automatic door sensor 3.

(Automatic door device 2)
The automatic door device 2 includes a door 21, a motor 22, and a door control unit 23, which is an example of the door control means. The motor 22 is supplied with electric power of a power source (not shown) to generate a rotational force for automatically opening and closing the door 21. The rotational force of the motor 22 is transmitted to the door 21 as a translational force in the opening / closing direction d1 shown in FIG. 2 via a power transmission member such as a pulley or a timing belt (not shown). In the example of FIG. 2, the two doors 21 are draw-type sliding doors. The mode of the door 21 is not limited to the example of FIG. 2, and for example, doors of various modes such as a single-pull type sliding door, a hinged door, a folding door, and a glide door may be adopted.

The door control unit 23 is connected to the motor 22 and the automatic door sensor 3. The door control unit 23 controls the drive of the motor 22 by controlling the power supply based on the signals or information acquired from the automatic door sensor 3 and the motor 22. By controlling the drive of the motor 22, the door control unit 23 controls the drive of the door 21. The drive control of the motor 22 is the control of at least one of the presence / absence of drive of the motor 22, the drive speed, the drive torque, and the rotation direction, or a combination thereof.

For example, the door control unit 23 receives an open signal from the automatic door sensor 3 according to the detection of a passerby or an object in the effective detection area described later. The door control unit 23 controls to drive the door 21 in the opening direction (hereinafter, also referred to as open drive control) in response to the input of the open signal.

(Automatic door sensor 3)
As shown in FIG. 2, in order to detect a passerby of the door 21, the automatic door sensor 3 is located at the center of the transom light 24, more specifically, at the boundary between the two doors 21 in the fully closed state. It is provided above. The automatic door sensor 3 may be provided at a place other than the transom light 24 such as the ceiling.

As shown in FIG. 1, the automatic door sensor 3 includes a detection unit 31 and a sensor control unit 32. The detection unit 31 and the sensor control unit 32 are examples of detection means. The sensor control unit 32 is connected to the detection unit 31 and the door control unit 23. The sensor control unit 32 is composed of hardware such as a CPU, ROM, and RAM, for example. At least a part of the sensor control unit 32 may be configured by software. The detection unit 31 has a light emitting unit 311 and a light receiving unit 312.

The sensor control unit 32 has an effective detection area. As shown in FIG. 2, the effective detection area is set for detecting a passerby or the like of the door 21 in the detection area 5 which is an area on the floor surface 6 that can be detected by using the automatic door sensor 3. At least a part of the area.

The light projecting unit 311 has a plurality of light projecting elements (not shown). The light projecting unit 311 projects, that is, irradiates the detection area 5 with pulsed near-infrared light from each of the plurality of light projecting elements. The light receiving unit 312 has a plurality of light receiving elements (not shown) that optically correspond to each of the plurality of light emitting elements of the light emitting unit 311. The light receiving unit 312 receives the near-infrared light projected onto the detection area 5 from each of the plurality of light emitting elements of the light emitting unit 311 by each of the plurality of light receiving elements, and the light receiving element receives the near infrared light for each light receiving element. Detects the amount of light received. The light receiving unit 312 outputs the detected light receiving amount to the sensor control unit 32 as a detection signal having a signal value corresponding to the light receiving amount. The light projecting unit 311 and the light receiving unit 312 may project and receive light other than near-infrared light.

In the example of FIG. 2, the detection area 5 is composed of a plurality of small detection areas 51 arranged at intervals in the opening / closing direction d1 of the door 21 and the front-rear direction d2 orthogonal to the opening / closing direction d1 in front of the two doors 21. ing. Specifically, in FIG. 2, there are a total of 72 small detection areas 51 in 6 rows × 12.

Each small detection area 51 corresponds to an irradiation spot of near-infrared light that is projected from each of the plurality of light projecting elements of the light projecting unit 311 and is received by the plurality of light receiving elements of the light receiving unit 312. ..

The effective detection area in the example of FIG. 2 is composed of at least one small detection area 51 out of a plurality of small detection areas 51. In the example of FIG. 2, each small detection area 51 has a circular shape. In this case, the diameter of the small detection area 51 on the floor surface 6 can be set to an arbitrary value between 10 cm and 30 cm, for example. The small detection area 51 may have a shape other than a circular shape such as an elliptical shape, a rectangular shape, and a polygonal shape.

There is no particular limitation on which of the plurality of small detection areas 51 the small detection area 51 is set as the effective detection area. For example, the effective detection area may be set in advance before the start of use of the automatic door system 1. Further, the effective detection area may be variable according to the door position and the like.

The sensor control unit 32 causes all the light projecting elements of the light projecting unit 311 to project near-infrared light toward the corresponding small detection area 51. Then, the sensor control unit 32 causes all the light receiving elements of the light receiving unit 312 to receive the reflected light of the near infrared light from each small detection area 51. Then, the sensor control unit 32 extracts the detection signal of the effective detection area from the detection signals of each small detection area 51 input from the light receiving unit 312.

Then, the sensor control unit 32 detects a passerby or the like according to the activation detection algorithm or the protection detection algorithm described later based on the extracted detection signal of the effective detection area. In detecting a passerby or the like, the sensor control unit 32 stores, for example, the signal value (that is, the amount of received light) of the detection signal in the effective detection area immediately after the power of the automatic door system 1 is turned on as a reference value, and stores the reference value. A passerby or the like may be detected based on the amount of change in the signal value with respect to. When a passerby in the effective detection area is detected, the sensor control unit 32 outputs an open signal to the door control unit 23 of the automatic door device 2 to control the detection result in the effective detection area by opening the door 21. Used for.

Further, the sensor control unit 32 acquires a position signal indicating the position of the door 21 from the motor 22, and based on the acquired position signal, protects the detection algorithm applied to the special detection area 51A described later with the activation detection algorithm. Switch between with the detection algorithm. The specific mode of the position signal is not particularly limited as long as it can detect the position of the door 21. For example, the position signal is generated based on the phase of the Hall element of the motor 22. The position signal may be a signal based on a rotary encoder that detects the rotation of the motor 22 or a linear encoder provided to detect the open / closed position of the door 21. Further, it may be acquired via the door control unit instead of being acquired directly from the motor 22.

Note that the sensor control unit 32 may cause only the light projecting elements corresponding to the effective detection area to project the light, instead of projecting the near infrared light to all the light projecting elements of the light projecting unit 311. In this case, the entire small detection area 51 to which the near-infrared light is projected becomes the effective detection area. Power consumption can be reduced by projecting light only on the light projecting element corresponding to the effective detection area. In addition, the life of the light projecting element can be extended.

Further, the effective detection area may be set in the door control unit 23, and the door control unit 23 may function as the detection means. In this case, the sensor control unit 32 may output the detection signals of all the small detection areas 51 input from the light receiving unit 312 to the door control unit 23. Then, the door control unit 23 uses the activation detection algorithm or protection described later based on the detection signal of the valid detection area set in advance among the detection signals of all the small detection areas 51 input from the sensor control unit 32. Passersby may be detected according to the detection algorithm.

(Detection algorithm corresponding to detection area 5)
As shown in FIG. 2, the sensor control unit 32 has a special detection area 51A (special detection area) as a part of a plurality of small detection areas 51 constituting the detection area 5. When the door 21 is in the closed position in the special detection area 51A, the detection by the activation detection algorithm for detecting a person or an object is performed, and the detection result by the activation detection algorithm is used for the drive control of the door 21. Further, in the special detection area 51A, when the door 21 is in a position other than the closed position, the detection is performed by the protection detection algorithm that is easier to detect a person or an object than the activation detection algorithm, and the detection result by the protection detection algorithm is activated. It is used for driving control of the door 21 instead of the detection result by the detection algorithm.

The activation detection algorithm is, for example, a detection algorithm for detecting a passerby or the like and opening (that is, activating) the door 21. The activation detection algorithm is a detection algorithm that focuses on reducing malfunction of the door 21 due to false detection of the automatic door sensor 3 based on the influence of the structure of the automatic door system 1 and the installation environment of the automatic door system 1. The activation detection algorithm is a process in which the sensitivity of the automatic door sensor 3 is relatively low, that is, as a reference value or algorithm for determining that a person or an object exists from the signal value (physical value) detected by the automatic door sensor 3. Use something that makes it relatively difficult to determine that a person or object exists. Such algorithms include those that prevent false positives due to snowfall and those that prevent false positives due to insects flying around the automatic door sensor 3. The activation detection algorithm is suitable for reducing unnecessary opening and closing of the door 21.
In this embodiment, the detection unit 31 and the sensor control unit 32 that executes the activation detection algorithm constitute the activation detection means.

The protection detection algorithm detects, for example, a passerby who stops near the door 21 or an object existing near the door 21 and protects the passerby or the object from a collision with the door 21 such as being pinched by the closing door 21. This is a detection algorithm that focuses on that. The protection detection algorithm is a process in which the sensitivity of the automatic door sensor 3 is relatively high, that is, as a reference value or algorithm for determining that a person or an object exists from the signal value (physical value) detected by the automatic door sensor 3. Use something that makes it easier to determine that a person or object is relatively present. The protective detection algorithm is suitable for improving safety.
In this embodiment, the detection unit 31 and the sensor control unit 32 that executes the protection detection algorithm constitute the protection detection means.

The activation detection algorithm and the protection detection algorithm are stored in the sensor control unit 32 that executes the detection of a passerby.

The sensor control unit 32 detects in the special detection area 51A by at least one of the activation detection algorithm and the protection detection algorithm, and uses one of the activation detection algorithm and the protection detection algorithm according to the open / closed state of the door 21. The detection result is used for drive control of the door 21.

Specifically, when the door 21 is in the closed position, the sensor control unit 32 detects in the special detection area 51A set in the effective detection area only by the activation detection algorithm, and the door 21 is in the closed position. When there is other than, the detection may be switched to the detection by only the protection detection algorithm in the same special detection area 51A.

In this case, when the door 21 is in the closed position, the sensor control unit 32 outputs an open signal to the door control unit 23 according to the detection result by the activation detection algorithm in the special detection area 51A. The door control unit 23 drives and controls the door 21 based on the detection result of the activation detection algorithm. Further, when the door 21 is located at a position other than the closed position, the sensor control unit 32 outputs an open signal to the door control unit 23 according to the detection result by the protection detection algorithm in the special detection area 51A. The door control unit 23 drives and controls the door 21 based on the detection result by the protection detection algorithm. For example, when the door 21 closes from the fully open state, the sensor control unit 32 outputs an open signal to the closed door 21 when a passerby or the like is detected in the special detection area 51A by the protection detection algorithm. Prevents passersby from getting caught. When the door 21 closes, the sensor control unit 32 stops the output of the closing signal (that is, the closing operation of the door 21) when a passerby or the like is detected in the special detection area 51A by the protection detection algorithm. It may be possible to prevent a passerby or the like from being caught in the door 21 by stopping the door 21.

Alternatively, when the door 21 is in the closed position, the sensor control unit 32 detects in the special detection area 51A set in the effective detection area by both the activation and protection detection algorithms, and detects the activation. Only the detection result by the algorithm may be output to the door control unit 23. The door control unit 23 drives and controls the door 21 based on this detection result. Further, when the door 21 is in a position other than the closed position, the sensor control unit 32 uses a detection algorithm for both activation and protection in the special detection area 51A, which is the same detection area as when the door 21 is in the closed position. The detection may be performed and only the detection result by the protection detection algorithm may be output to the door control unit 23. The door control unit 23 drives and controls the door 21 based on this detection result.

When the door control unit 23 executes the detection of a passerby, the activation detection algorithm and the protection detection algorithm may be stored in the door control unit 23. In this case, when the door 21 is in the closed position, the door control unit 23 detects a passerby or the like by the activation detection algorithm in the special detection area 51A set in the effective detection area, and detects the passerby or the like. The door 21 may be controlled to be opened according to the above conditions. Further, when the door 21 is in a position other than the closed position, the sensor control unit 32 detects a passerby by the protection detection algorithm in the special detection area 51A set in the effective detection area, and responds to the detection of the passerby. The door 21 may be open-driven and controlled.

By having the special detection area 51A, when the door 21 is closed, the detection result by the activation detection algorithm that lowers the sensitivity of the sensor 3 can be used for the drive control of the door 21, and the door 21 is opened. At this time, the detection result by the protection detection algorithm that increases the sensitivity of the sensor 3 can be used for the drive control of the door 21. As a result, it is possible to reduce unnecessary opening and closing of the door 21 and improve safety at the same time.

The standard requires that the detection area to which the protective detection algorithm is applied be within 200 mm in front of the door 21. Therefore, as shown in FIG. 2, the special detection area 51A is a small detection area 51A in the second and third rows when viewed from the door 21. By setting the small detection area 51A in the second and third rows as the special detection area 51A, the standard can be satisfied and the safety in the vicinity of the door 21 can be further improved. The number of columns in the small detection area set as the special detection area 51A can be arbitrarily changed according to the size of the small detection area 51.

Further, as shown in FIG. 2, the sensor control unit 32 uses only the activation detection algorithm as a small detection area 51B other than the special detection area 51A among the plurality of small detection areas 51 constituting the detection area 5. It may have an activation detection area 51B in which the detection is performed by. The activation detection area 51B may be a detection area in which detection is performed by both the activation detection algorithm and the protection detection algorithm, and only the detection result by the activation detection algorithm is used for the drive control of the door 21. The special detection area 51A may be arranged at a position closer to the door 21 than the activation detection area 51B. In the example of FIG. 2, the activation detection area 51B is a small detection area 51B in the fourth to sixth rows. By arranging the activation detection area 51B at a position away from the door 21, which is less likely to cause a passerby to stop, false detection in the detection area 5 away from the door 21 can be effectively reduced.

In the small detection area 51C in the first row, when the door 5 is in the closed position, detection is performed only by the activation detection algorithm, and when the door 5 is open, the door 5 is mistaken as a passerby. It may be an invalid area so as not to be detected. The term "invalid" includes the meaning of not treating the signal as a valid signal even if it is detected and the meaning of stopping the detection operation so as not to detect it (hereinafter, the same applies).

Further, the sensor control unit 32 detects as a part of the small detection areas 51 other than the special detection area 51A and the activation detection area 51B among the plurality of small detection areas 51 constituting the detection area 5 by only the protection detection algorithm. May have a protection detection area where For example, the small detection area 51C in the first row may be used as the protection detection area. Even when the small detection area 51C in the first row is used as the protection detection area, when the door 21 is moving, the small detection area in the first row is detected so as not to be erroneously detected as a passerby or the like. The small detection area 51 corresponding to the position where the door 21 exists in the area 51C may be invalidated or the sensitivity may be lower than the activation detection area 51B (making it difficult for the door 21 to be erroneously detected). Such a detection algorithm is referred to as a doorway detection algorithm in this embodiment. In this case, the special detection area 51C constitutes the second special detection area, and the detection unit 31 and the sensor control unit 32 that executes the doorway detection algorithm constitute the doorway detection means. When the small detection area 51C in the first row is used as the protection detection area, the special detection area 51A is arranged between the activation detection area 51B and the protection detection area 51C. In this case, the small detection area 51 where the detection by the activation detection algorithm is performed or the small detection area 51 where the detection is performed by the protection detection algorithm can be expanded according to the switching of the detection algorithm in the special detection area 51A. As a result, it is possible to more effectively achieve both reduction of unnecessary opening and closing of the door 21 and improvement of safety.

FIG. 3 is a conceptual diagram showing a detection algorithm in the automatic door system 1 according to the present embodiment. As shown in FIG. 3, in the detection by the protection detection algorithm, the stationary body from the detection of the person or the object to the detection of the detected person or the object as a stationary body (that is, the background) and excluding it from the detection target. The detection time may be longer than the stationary body detection time in the detection by the activation detection algorithm. The specific mode of the stationary body detection time is not particularly limited. For example, the stationary body detection time in the activation detection algorithm may be 5 seconds, and the stationary body detection time in the protection detection algorithm may be 30 seconds. By making the stationary body detection time in the protection detection algorithm longer than the stationary body detection time in the activation detection algorithm, when the door 21 is open, it is possible to detect a long stop, which improves safety. Can be done. Further, when the door 21 is closed, the influence of disturbance can be suppressed, so that unnecessary opening and closing of the door 21 can be prevented.

Further, as shown in FIG. 3, the activation detection algorithm is an algorithm using a time filter known in the field of signal processing, and may have a first mode for detecting a person or an object. .. At this time, the protection detection algorithm does not have the first mode. The first mode is a mode in which the sensitivity of the automatic door sensor 3 is lowered in the time direction. Since the activation detection algorithm has the first mode and the protection detection algorithm does not have the first mode, the safety is reduced while preventing unnecessary opening and closing of the door 21 in a situation where there is a change in the time direction. Can be suppressed.

Further, as shown in FIG. 3, the activation detection algorithm is an algorithm using a spatial filter known in the field of signal processing, and may have a second mode for detecting a person or an object. .. At this time, the protection detection algorithm does not have the second mode. The second mode is a mode in which the sensitivity of the automatic door sensor 3 is lowered in the spatial direction. Since the activation detection algorithm has the second mode and the protection detection algorithm does not have the second mode, the safety is reduced while preventing unnecessary opening and closing of the door 21 under a variable situation in the space. Can be suppressed.

Further, as shown in FIG. 3, the activation detection algorithm has a third detection condition that the change is equal to or higher than a threshold value set higher than a predetermined threshold value for detecting a person or an object. It may have a mode. At this time, the protection detection algorithm does not have a third mode. The third mode is a mode in which the originally set value of the detection sensitivity of the automatic door sensor 3 is uniformly blunted. Since the activation detection algorithm has a third mode and the protection detection algorithm does not have the third mode, the door 21 can be opened and closed unnecessarily due to the change in the mounting position of the automatic door sensor 3 due to the influence of the operation of the door 21. While preventing it, it is possible to suppress a decrease in safety.

Further, the sensor control unit 32 detects an exit side detection area (hereinafter, also referred to as an exit side activation detection area) in which detection is performed only by the activation detection algorithm, and an exit side detection in which detection is performed by the protection detection algorithm. It may have an area (hereinafter, also referred to as a protection detection area on the exit side). In this case, the sensor control unit 32 may perform exit invalidation control that invalidates the activation detection area on the exit side when the protection detection area on the exit side is not detected. By performing exit invalidation control, it is possible to suppress a decrease in safety while minimizing the opening time of the door 21.

Further, even if the sensor control unit 32 performs crossing invalidation control for invalidating the activation detection area 51B when it is detected in the activation detection area 51B that a person or an object is moving only in the direction along the door 21. Good. The "direction along the door 21" may be the opening / closing direction d1 in FIG. 2, or is a direction in which the angle formed by the opening / closing direction d1 is within the threshold value (that is, a direction substantially the same as the opening / closing direction d1). May be good. By performing the crossing invalidation control, it is possible to more effectively prevent unnecessary opening and closing of the door 21 and suppress a decrease in safety.

Further, the activation detection algorithm and the protection detection algorithm are not limited to one type each, and may have a plurality of types. When using multiple types of protection detection algorithms, it is necessary to operate multiple protection detection algorithms in parallel even if the protection detection algorithms are switched according to changes in the door position, door control status, or sensor control status. You may choose the one.

Further, the sensor control unit 32 switches from the activation detection algorithm to the protection detection algorithm when the door 21 starts the open operation, when the door 21 is fully opened, and when the door 21 starts the open operation. It may be performed at any point in the middle of the process from the time when the door is fully opened.

(Operation example)
Next, an operation example of the automatic door system 1 will be described. FIG. 4 is a flowchart showing switching of the detection algorithm according to the door state in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 4 is repeated as needed.

As shown in FIG. 4, first, the sensor control unit 32 determines the door state indicating the open / closed state of the door 21 based on the position signal input from the motor 22 (step S1). When the door state is the fully closed state, the sensor control unit 32 executes activation detection control, which is an example of detection by the activation detection algorithm, in the special detection area 51A (step S2A). Even when the door state is in the open operation, the sensor control unit 32 executes the protection detection control in the special detection area 51A (step S2B). In the activation detection area 51B, activation detection control is always executed.

On the other hand, when the door 21 is in the fully open state, the sensor control unit 32 executes protection detection control, which is an example of detection by the protection detection algorithm, in the special detection area 51A (step S2C). Further, even when the door 21 is in the closed operation, the sensor control unit 32 executes the protection detection control in the special detection area 51A (step S2D). In the protection detection area, protection detection control is always executed.

FIG. 5 is a flowchart showing activation detection control in the operation example of the automatic door system 1 according to the present embodiment. FIG. 6A is a flowchart showing an example of protection detection control in the operation example of the automatic door system 1 according to the present embodiment. FIG. 6B is a flowchart showing another example of protection detection control. The flowcharts of FIGS. 5, 6 (a) and 6 (b) are repeated as necessary.

(Startup detection control: S2A, S2B)
When executing the activation detection control (step S2A, step S2B), first, the sensor control unit 32 reads the control parameters described in the activation detection algorithm as shown in FIG. 5 (step S21). FIG. 7 is a flowchart showing the reading of control parameters in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 7 is repeated as needed.

(Reading of control parameters: S21)
In reading the control parameter (step S21), first, the sensor control unit 32 reads the set value of the sensitivity parameter as shown in FIG. 7 (step S211). The sensitivity parameter setting value described in the activation detection algorithm is equal to or less than the sensitivity parameter setting value described in the protection detection algorithm.

After reading the set value of the sensitivity parameter, the sensor control unit 32 reads the set value of the stationary body detection time (step S212). The stationary body detection time setting value described in the activation detection algorithm is shorter than the stationary body detection time setting value described in the protection detection algorithm.

After reading the set value of the stationary body detection time, the sensor control unit 32 reads the set value of the time filter (step S213). The set value of the time filter is a parameter related to the presence / absence of the first mode. When the activation detection algorithm has the first mode and the protection detection algorithm does not have the first mode, the time filter setting value described in the activation detection algorithm is the time filter described in the protection detection algorithm. More than the set value of.

After reading the set value of the time filter, the sensor control unit 32 reads the set value of the spatial filter (step S214). The set value of the spatial filter is a parameter relating to the presence / absence of the second mode. The set value of the spatial filter described in the activation detection algorithm having the second mode is larger than the set value of the spatial filter described in the protective detection algorithm having no second mode.

After reading the set value of the spatial filter, the sensor control unit 32 reads the set value of the change amount threshold value (step S215). The change amount threshold value is a parameter relating to the presence / absence of the third mode, and indicates the threshold value of the change amount of the received light amount for determining that a passerby has been detected. When the activation detection algorithm has the third mode and the protection detection algorithm does not have the third mode, the change amount threshold set value described in the activation detection algorithm is the change described in the protection detection algorithm. It is higher than the set value of the quantity threshold.

(Detection / background update control: S22)
After reading the control parameters, the sensor control unit 32 performs detection control and background update control as shown in FIG. 5 (step S22). FIG. 8 is a flowchart showing detection / background update control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 8 is repeated as needed.

In the detection / background update control, first, the sensor control unit 32 determines that a passerby has been detected based on the light receiving amount storage value stored in advance and the sensitivity parameter read in step S211 of FIG. The increase side threshold value and the decrease side threshold value of the light reception amount based on the light reception amount storage value for the purpose are calculated (step S221).

FIG. 9 is an explanatory diagram for explaining the detection / background update control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 9 is repeated as needed. FIG. 9 shows the correspondence between the light receiving amount shown in the detection signal of the small detection area 51, the light receiving amount storage value, the sensitivity parameter, the increasing side threshold value, the decreasing side threshold value, and the state of the detection flag. ing. As shown in FIG. 9, the sensitivity parameter meter has a light receiving amount on the increasing side or the decreasing side with respect to the light receiving amount storage value (reference value) acquired at a predetermined time such as immediately after the power of the automatic door system 1 is turned on. Is the amount of change in the amount of light received, which indicates whether the detection state is reached if is changed.

In the example of FIG. 9, the increasing side threshold value is obtained by adding the sensitivity parameter to the received light amount storage value. If the light receiving amount is equal to or greater than the increase side threshold value, the sensor control unit 32 turns on the detection flag and enters the passerby detection state when the light receiving amount changes within the stationary body detection time described later. .. Further, in the example of FIG. 9, the reduction side threshold value is obtained by subtracting the sensitivity parameter from the received light amount storage value. The sensor control unit 32 turns on the detection flag to set the detection state of a passerby even when the received light amount is equal to or less than the decrease side threshold value and the received light amount changes within the stationary body detection time described later. Become. On the other hand, when the received light amount is larger than the decreasing side threshold value and smaller than the increasing side threshold value, the sensor control unit 32 turns off the detection flag and enters a passerby non-detection state. The detection flag is set, for example, in the storage area of the door control unit 23.

After calculating the increase side threshold value and the decrease side threshold value, as shown in FIG. 8, the sensor control unit 32 determines whether or not the received light amount indicated in the detection signal is equal to or more than the increase side threshold value or less than or equal to the decrease side threshold value. (Step S222).

When the received light amount is not equal to or more than the increasing side threshold value or not equal to or less than the decreasing side threshold value (step S222: N), the sensor control unit 32 turns off the detection flag (step S223).

On the other hand, when the received light amount is equal to or more than the increasing side threshold value or equal to or lower than the decreasing side threshold value (step S222: Y), the sensor control unit 32 has the stationary body in which the received light amount indicated in the detection signal is read in step S212 of FIG. It is determined whether or not there is a change during the detection time or longer (step S224).

When the amount of received light changes within the stationary body detection time (step S224: N), the sensor control unit 32 turns on the detection flag (step S225).

On the other hand, when there is no change in the amount of received light during the stationary body detection time or longer (step S224: Y), the sensor control unit 32 turns off the detection flag (step S226).

After turning off the detection flag, the sensor control unit 32 updates the received light amount storage value to the current received light amount (step S227).

(First mode control: S23)
After performing the detection / background update control, the sensor control unit 32 performs the first mode control (step S23) as shown in FIG. FIG. 10 is a flowchart showing the first mode control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 10 is repeated as needed.

In the first mode control, first, as shown in FIG. 10, the sensor control unit 32 determines whether or not the detection flag is turned on (step S231).

When the detection flag is not turned on (step S231: N), the sensor control unit 32 ends the first mode control with the detection flag turned off.

On the other hand, when the detection flag is turned on (step S231: Y), the sensor control unit 32 determines whether or not the first mode control setting is valid, for example, based on the description information of the activation detection algorithm (step S231: Y). Step S232).

When the first mode control setting is not valid (step S232: N), the sensor control unit 32 ends the first mode control with the detection flag turned on.

On the other hand, when the first mode control setting is valid (step S232: Y), the sensor control unit 32 determines whether or not the detection state is maintained even if the time filter is applied to the detection signal (step S233). ).

When the detection state is not maintained when the time filter is applied to the detection signal (step S233: N), the sensor control unit 32 turns off the detection flag (step S234).

On the other hand, when the detection state can be maintained even if the time filter is applied to the detection signal (step S233: Y), the sensor control unit 32 ends the first mode control with the detection flag turned on.

(Second mode control: S24)
After performing the first mode control, as shown in FIG. 5, the sensor control unit 32 performs the second mode control (step S24). FIG. 11 is a flowchart showing the second mode control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 11 is repeated as needed.

In the second mode control, first, as shown in FIG. 11, the sensor control unit 32 determines whether or not the detection flag is turned on (step S241).

When the detection flag is not turned on (step S241: N), the sensor control unit 32 ends the second mode control with the detection flag turned off.

On the other hand, when the detection flag is turned on (step S241: Y), the sensor control unit 32 determines whether or not the second mode control setting is valid, for example, based on the description information of the activation detection algorithm (step S241: Y). Step S242).

When the second mode control setting is not valid (step S242: N), the sensor control unit 32 ends the second mode control with the detection flag turned on.

On the other hand, when the second mode control setting is valid (step S242: Y), the sensor control unit 32 determines whether or not the detection state is maintained even if the spatial filter is applied to the detection signal (step S243). ).

When the detection state is not maintained when the spatial filter is applied to the detection signal (step S243: N), the sensor control unit 32 turns off the detection flag (step S244).

On the other hand, when the detection state can be maintained even if the spatial filter is applied to the detection signal (step S243: Y), the sensor control unit 32 ends the second mode control with the detection flag turned on.

(Third mode control: S25)
After performing the second mode control, as shown in FIG. 5, the sensor control unit 32 performs the third mode control (step S25). FIG. 12 is a flowchart showing a third mode control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 12 is repeated as needed.

In the third mode control, first, as shown in FIG. 12, the sensor control unit 32 determines whether or not the detection flag is turned on (step S251).

When the detection flag is not turned on (step S251: N), the sensor control unit 32 ends the third mode control with the detection flag turned off.

On the other hand, when the detection flag is turned on (step S251: Y), the sensor control unit 32 determines whether or not the third mode control setting is valid, for example, based on the description information of the activation detection algorithm (step S251: Y). Step S252).

When the third mode control setting is not valid (step S252: N), the sensor control unit 32 ends the third mode control with the detection flag turned on.

On the other hand, when the third mode control setting is valid (step S252: Y), the sensor control unit 32 shows that the amount of change in the amount of received light indicated in the detection signal is equal to or greater than the amount of change threshold read in step S215 of FIG. (Step S253).

When the change amount of the received light amount indicated in the detection signal is not equal to or more than the read change amount threshold value (step S253: N), the sensor control unit 32 turns off the detection flag (step S254).

On the other hand, when the change amount of the received light amount indicated in the detection signal is equal to or more than the read change amount threshold value (step S253: Y), the sensor control unit 32 ends the third mode control with the detection flag turned on.

(Exit invalidation control: S26)
After performing the third mode control, as shown in FIG. 5, the sensor control unit 32 performs exit invalidation control (step S26). FIG. 13 is a flowchart showing exit invalidation control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 13 is repeated as needed.

In the exit invalidation control, first, as shown in FIG. 13, the sensor control unit 32 determines whether or not the detection flag is turned on (step S261).

When the detection flag is not turned on (step S261: N), the sensor control unit 32 ends the exit invalidation control with the detection flag turned off.

On the other hand, when the detection flag is turned on (step S261: Y), the sensor control unit 32 determines, for example, whether or not the exit invalidation control setting is valid based on the description information of the activation detection algorithm (step). S262).

When the exit invalidation control setting is not valid (step S262: N), the sensor control unit 32 ends the exit invalidation control with the detection flag turned on.

FIG. 14 is an explanatory diagram for explaining exit invalidation control in the operation example of the automatic door system 1 according to the present embodiment. When the exit invalidity control setting is valid (step S262: Y in FIG. 13), the sensor control unit 32 has the exit side of the small detection areas 52 set on the exit side of the door 21 as shown in FIG. Based on the detection signal from the protection detection area 52A of the above, it is determined whether or not the protection detection area 52A on the exit side is in the non-detection state (step S263). FIG. 14 shows a state in which a passerby has passed through the opening of the door 21 and then moved in a direction away from the door 21 (in the direction of the arrow in FIG. 14) from the protection detection area 52A on the exit side. In the case of the example of FIG. 14, the protection detection area 52A on the exit side is in the non-detection state.

When the protection detection area 52A on the exit side is in the non-detection state (step S263: Y), the sensor control unit 32 turns off the detection flag (step S264).

On the other hand, when the protection detection area 52A on the exit side is not in the non-detection state (step S263: N), the sensor control unit 32 ends the exit invalidation control with the detection flag turned on.

(Cross-crossing invalid control: S27)
After performing the exit invalidation control, as shown in FIG. 5, the sensor control unit 32 performs the crossing invalidation control (step S27). FIG. 15 is a flowchart showing crossing invalidation control in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 15 is repeated as needed.

In the crossing invalidation control, first, as shown in FIG. 15, the sensor control unit 32 determines whether or not the detection flag is turned on (step S271).

When the detection flag is not turned on (step S271: N), the sensor control unit 32 ends the crossing invalidation control with the detection flag turned off.

On the other hand, when the detection flag is turned on (step S271: Y), the sensor control unit 32 determines whether or not the crossing invalidation control setting is valid based on, for example, the description information of the activation detection algorithm (step S271: Y). S272).

When the crossing invalidation control setting is not valid (step S272: N), the sensor control unit 32 ends the crossing invalidation control with the detection flag turned on.

FIG. 16 is an explanatory diagram for explaining crossing invalidation control in the operation example of the automatic door system 1 according to the present embodiment. When the crossing invalidity control setting is valid (step S272: Y), the sensor control unit 32 is as shown by the arrow in FIG. 16 based on the movement vector of the passerby obtained from the change of the small detection area 51 in the detection state. In addition, it is determined whether or not the passerby is moving only in the direction across the front of the door 21 (that is, the direction along the door 21) (step S273).

When the passerby is moving only in the direction across the front of the door 21 (step S273: Y), the sensor control unit 32 turns off the detection flag (step S274).

On the other hand, when the passerby has not moved in the direction of crossing the front of the door 21 (step S273: Y), the sensor control unit 32 ends the crossing invalidation control with the detection flag turned on.

(Detection judgment: S28)
After performing the crossing invalidation control, as shown in FIG. 5, the sensor control unit 32 makes a detection determination (step S28). FIG. 17 is a flowchart showing a detection determination in the operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 17 is repeated as needed.

In the detection determination, first, as shown in FIG. 17, the sensor control unit 32 determines whether or not the detection flag is turned on (step S281).

When the detection flag is not turned on (step S281: N), the sensor control unit 32 determines that the passerby is not detected (step S282).

On the other hand, when the detection flag is turned on (step S281: Y), the sensor control unit 32 determines that a passerby has been detected (step S283).

As described above, the activation detection control (S2A, S2B) is performed. In the start detection control, the order of each step shown in steps S22 to S27 of FIG. 5 may be changed. In addition, some steps may be omitted.

(Protection detection control: S2C, S2D)
On the other hand, when the protection detection control is executed (step S2C, step S2D), the sensor control unit 32 executes each step shown in FIG. 6A or FIG. 6B. The protection detection control shown in FIG. 6A includes a first mode control (step S23), a second mode control (step S24), and a third mode control (step S25) with respect to the activation detection control of FIG. The exit invalidation control (step S26) and the crossing invalidation control (step S27) are not executed. However, even in the protection detection control, any combination of the first mode control, the second mode control, the third mode control, the exit invalidation control, and the crossing invalidation control is considered in relation to the safety to be ensured and the reduction of unnecessary opening and closing. May be executed. Further, the sensor control unit 32 selects what kind of protection detection algorithm is used depending on whether the door state determined in step S1 of FIG. 4 is in the fully open state or in the closed operation. You may. That is, the sensor control unit 32 may change the protection detection algorithm used for detection according to the door position.

According to the present embodiment, in the same special detection area 51A, when the door 21 is in the closed position, the detection is performed by the activation detection algorithm, and when the door 21 is in a position other than the closed position, the detection is performed by the protection detection algorithm. be able to. As a result, when the door 21 is in the closed position, it is possible to prevent the door 21 from being unnecessarily opened and closed due to false detection by the protection detection algorithm. Further, when the door 21 is located at a position other than the closed position, it is possible to prevent the safety in the vicinity of the door 21 from being impaired due to the detection failure by the activation detection algorithm. Therefore, according to the present embodiment, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time.

(First modification)
Next, a first modification for performing detection based on the captured image will be described. FIG. 18 is a block diagram showing an automatic door system 1 according to a first modification of the present embodiment. As shown in FIG. 18, the automatic door sensor 3 of the first modification has an image pickup unit 313 as an example of a detection unit instead of the light emitting unit 311 and the light receiving unit 312. The image pickup unit 313 is, for example, a CCD or CMOS camera having sensitivity in the visible light region. The image pickup unit 313 may be an infrared camera having sensitivity in the infrared region.

The imaging unit 313 images the detection area 5 and outputs a detection signal indicating the captured image of the detection area 5 to the sensor control unit 32. The sensor control unit 32 detects a passerby or the like based on the detection signal input from the image pickup unit 313, and outputs an open signal to the door control unit 23 in response to the detection of the passerby or the like. Even in the first modification, the door control unit 23 may detect a passerby or the like.

Also in the first modification, the sensor control unit 32 uses the detection result of the activation detection algorithm for the drive control of the door 21 when the door 21 is in the closed position for the same special detection area 51A, and the door 21 When the position is other than the closed position, the detection result by the protection detection algorithm is switched to the detection result by the activation detection algorithm and used for the drive control of the door 21. As a result, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time. Further, according to the first modification, since a passerby or the like can be detected with high accuracy based on the captured image, it is possible to more effectively reduce unnecessary opening and closing of the door and improve safety.

(Second modification)
Next, a second modified example of performing detection based on the Doppler effect of radio waves will be described. FIG. 19 is a block diagram showing an automatic door system 1 according to a second modification of the present embodiment. As shown in FIG. 19, the automatic door sensor 3 of the second modification has a radio wave transmission / reception unit 314 as an example of the detection unit. The radio wave transmission / reception unit 314 transmits a radio wave to the detection area 5, and detects an interference wave between the transmitted radio wave and a reflected wave from a passerby or the like existing in the detection area 5. Then, the radio wave transmission / reception unit 34 outputs a detection signal indicating an interference wave to the sensor control unit 32. The sensor control unit 32 detects a passerby based on the detection signal input from the radio wave transmission / reception unit 34, and outputs an open signal to the door control unit 23 in response to the detection of the passerby or the like. In the second modification, the door control unit 23 may detect a passerby.

Also in the second modification, the sensor control unit 32 uses the detection result of the activation detection algorithm for the drive control of the door 21 when the door 21 is in the closed position for the same special detection area 51A, and the door 21 When the position is other than the closed position, the detection result by the protection detection algorithm is switched to the detection result by the activation detection algorithm and used for the drive control of the door 21. As a result, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time.

The automatic door sensor 3 may use an ultrasonic wave or a distance measuring sensor instead of the above-mentioned infrared rays, images, and radio waves.

(Third variant)
Next, a third modification will be described. FIG. 20 is a block diagram showing an automatic door system 1 according to a third modification of the present embodiment. As shown in FIG. 20, the automatic door sensor 3 of the third modification uses two types of detection results, that is, the detection result by the activation detection algorithm and the detection result by the protection detection algorithm, as detection signals for the door control unit 23. It is the one to output. Upon receiving the two types of detection signals, the door control unit 23 determines which detection result is used for control or which detection result is not used, depending on the position of the door 21 and other conditions. For example, even if it is determined that there is no person or object according to the detection result by the activation detection algorithm, if it is determined that there is a person or object according to the detection result by the protection detection algorithm. The door 21 can be closed at a lower speed than usual.

Also in the third modification, the door control unit 32 uses the detection result of the activation detection algorithm for the drive control of the door 21 when the door 21 is in the closed position for the same special detection area 51A, and the door 21 When the position is other than the closed position, the detection result by the protection detection algorithm is switched to the detection result by the activation detection algorithm and used for the drive control of the door 21. As a result, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time.

The embodiment of the present invention is not limited to the individual embodiments described above. For example, instead of using the activation detection algorithm and the protection detection algorithm, the activation is physically separate but the detection areas overlap. Sensor and protection sensor may be used. In this case, the function of the activation sensor to detect a person or an object is equivalent to the activation detection algorithm, and the function of the protection sensor to detect a person or an object is equivalent to the protection detection algorithm.

Aspects of the present invention are not limited to the individual embodiments described above, but also include various modifications that can be conceived by those skilled in the art, and the effects of the present invention are not limited to the contents described above. That is, various additions, changes and partial deletions are possible without departing from the conceptual idea and purpose of the present invention derived from the contents defined in the claims and their equivalents.

1 Automatic door system, 23 door control unit (control means), 3 automatic door sensor, 31 detection unit, 32 sensor control unit (control means), 51A special detection area

Claims (6)

It is equipped with a control means that drives and controls the door according to the detection result of a person or an object in the detection area.
When the door is in the closed position in the special detection area which is a part of the detection area, the control means uses the detection result by the activation detection means for detecting a person or an object for the drive control of the door. When the door is in a position other than the closed position, the detection result by the protective detection means that is easier to detect a person or an object than the activation detection means is used for the drive control of the door.
Automatic door system. The detection area further has an activation detection area for detecting only by the activation detection means, and the special detection area is arranged at a position closer to the door than the activation detection area.
The automatic door system according to claim 1. A doorway detection means for detecting a person or an object on the movement path of the door is further provided, and the detection area has a doorway detection means and a second special detection area for detection by the protection detection means.
In the second special detection area, the control means uses the detection result of the protective detection means for driving control of the door when the door is in the fully open position, and when the door is in a position other than the fully open position, the doorway The detection result by the detection means is used for the drive control of the door.
The automatic door system according to any one of claims 1 and 2. A fixed wall side detecting means for detecting a person or an object in the vicinity of the fixed wall portion of the door is further provided, and the detection area includes a third special detection area for detecting by the fixed wall side detecting means and the protective detecting means. Have and
When the door is moving in the fully open direction in the third special detection area, the control means uses the detection result by the fixed wall side detection means for the drive control of the door, and the door moves in the fully open direction. Except when it is, the detection result by the protective detection means is used for the drive control of the door.
The automatic door system according to any one of claims 1 to 3. In the detection by the protective detection means, the stationary body detection time from the detection of a person or an object to the determination of the detected person or object as a stationary body and exclusion from the detection target is determined by the activation detection means. The automatic door system according to any one of claims 1 to 4, which is longer than the stationary body detection time in detection. In the special detection area that is a part of the detection area that detects a person or an object, when the door is in the closed position, the detection is performed by the activation detection means that detects the person or the object, and the result is the drive of the door. Used for control,
When the door is in a position other than the closed position, detection is performed by a protective detection means that is easier to detect a person or an object than the activation detection means in the special detection area, and the result is used for driving control of the door. How to control the automatic door system.

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