JP6963931B2 - How to control automatic door sensors, automatic door systems and automatic door sensors - Google Patents

Description

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

Conventionally, as a technique related to an automatic door, a technique for determining whether the door is moving or a person is moving based on the reflection level when the door is closed from a fully open position has been proposed (for example, Patent Document 1). reference).

Japanese Unexamined Patent Publication No. 2003-3750

However, conventionally, it has been possible to detect with a high sensor detection ability only at the fully open position of the door. In particular, in the past, it was not possible to set a detection area with high detection capability when the door was temporarily stopped.

The present invention has been made in consideration of the above points, and controls of an automatic door sensor, an automatic door system, and an automatic door sensor that can detect a door position with a high sensor detection ability even when the door position is other than the fully open position. The purpose is to provide a method.

In the present invention, based on the acquisition means for acquiring the stop position of the door and the acquired stop position, at least a part of the door moves toward the door traveling direction when the door is stopped after the door is stopped. An automatic door sensor comprising a setting means for setting a protection detection area in at least a part of a planned movement area.

In the automatic door sensor according to the present invention, the door is a sliding door, and the planned movement area is an area between the doors of the sliding door or an area between the door and an adjacent structure on the door side, and the setting. The means may set the protection detection area in at least a part of the area between the door ends of the sliding door, or at least a part of the area between the door end and the adjacent structure on the door end side.

In the automatic door sensor according to the present invention, the door is a hinged door, and the planned movement area has a fan shape shown in the planned movement locus of the hinged door when the hinged door moves from the stop position to the planned movement stop position. The protection detection area may be set in at least a part of the fan-shaped region.

In the automatic door sensor according to the present invention, the door is a folding door, and the planned movement area is shown in the planned movement locus of the folding door when the folding door moves from the stop position to the planned movement stop position. The protection detection area may be set in at least a part of the triangular area.

In the automatic door sensor according to the present invention, the door is a revolving door having a plurality of doors that rotate inside a tubular casing provided with an entrance / exit, and the planned movement area is a plurality of the casings adjacent to the entrance / exit. Of the end of the door, the end of the door on the opposite side of the rotation direction of the door and the end of the casing on the opposite side of the rotation direction of the door of the nearest door in the direction opposite to the rotation direction of the door. The area between the door and the setting means protects at least a part of the area between the end of the casing on the opposite side of the rotation direction of the door and the door of the nearest door. The detection area may be set.

In the automatic door sensor according to the present invention, the door is a glide door, and the planned movement area is shown in the planned movement locus of the glide door when the glide door moves from the stop position to the planned movement stop position. The protection detection area may be set in at least a part of the area indicated by the planned movement locus of the glide door.

In the automatic door sensor according to the present invention, the door is a sliding door, and the planned movement area is an area between the doors of the sliding door or an area between the door and an adjacent structure on the door side, and the setting. The means sets the protection detection area in at least a part of the planned movement area, and sets the second in at least a part of the sliding door peripheral area adjacent to the planned moving area in the direction perpendicular to the surface of the sliding door. A protection detection area may be set.

In the automatic door sensor according to the present invention, the door is a hinged door, and the planned movement area has a fan shape shown in the planned movement locus of the hinged door when the hinged door moves from the stop position to the scheduled movement stop position. The setting means sets the protection detection area in at least a part of the planned movement area, and intersects the planned movement area with the door traveling direction when the door is stopped. At least a part of at least one of the areas around the second hinged door adjacent to the adjacent first hinged door peripheral area and the planned moving area in the direction opposite to the door traveling direction when the door is stopped. A second protection detection area may be set.

In the automatic door sensor according to the present invention, the door is a folding door, and the planned movement area is shown in the planned movement locus of the folding door when the folding door moves from the stop position to the planned movement stop position. The setting means sets the protection detection area in at least a part of the planned movement area, and folds adjacent to the planned movement area in the direction opposite to the door traveling direction when the door is stopped. A second protection detection area may be set in at least a part of the area around the door.

In the automatic door sensor according to the present invention, the door is a rotary door having a plurality of doors that rotate inside a tubular casing provided with an entrance / exit, and the planned movement area is the said of the casing adjacent to the entrance / exit. The nearest door in the direction opposite to the direction of rotation of the door with respect to the end of the plurality of ends on the side opposite to the direction of rotation of the door and the end of the casing on the side opposite to the direction of rotation of the door. The first setting means sets the protection detection area in at least a part of the planned movement area, and is adjacent to the planned movement area inside the casing. A second protection detection area is set in at least a part of at least one of the areas around the rotary door and the area around the second rotary door that is adjacent to the planned movement area outside the casing and the area around the rotary door. May be good.

In the automatic door sensor according to the present invention, the door is a glide door, and the planned movement area is shown in the planned movement locus of the glide door when the glide door moves from the stop position to the planned movement stop position. The setting means sets the protection detection area in at least a part of the planned movement area, and glide adjacent to the planned movement area in the direction opposite to the door traveling direction when the door is stopped. A second protection detection area may be set in the area around the door.

In the automatic door sensor according to the present invention, the acquisition means acquires the position information of the door and the stop information indicating that the door has stopped from the door controller that drives and controls the door, and obtains the acquired position information and the stop information indicating that the door has stopped. The stop position may be acquired based on the stop information.

In the automatic door sensor according to the present invention, the acquisition means may determine the position of the door indicated in the position information acquired when the stop information is acquired as the stop position.

In the automatic door sensor according to the present invention, the acquisition means may acquire the position information of the door from the limit switch provided on the rail of the door, and acquire the stop position based on the acquired position information. ..

The automatic door sensor according to the present invention further includes an image pickup means for imaging the detection area, and the acquisition means may acquire the stop position based on the image of the door included in the image captured in the detection area.

In the automatic door sensor according to the present invention, the setting means is at least a part of the planned movement area from the stop position to the closing direction as the protection detection area when the door traveling direction when the door is stopped is the closing direction. The protection detection area is set in the above, and as the protection detection area when the door traveling direction when the door is stopped is the open direction, the protection is provided in at least a part of the planned movement area from the stop position to the open direction. The detection area may be set.

The present invention stores a storage unit in which a stop position of a door and a protection detection area to be set when the door is stopped at the stop position are stored in association with each other, and the door is stored when the door is stopped. Based on the position information of the door acquired from the door controller for drive control, the stop position is acquired, the protection detection area corresponding to the acquired stop position is read from the storage unit, and the read is performed. An automatic door sensor comprising a sensor controller that sets a protection detection area in at least a portion of the area between the door ends of the door at the stop position.

In the automatic door sensor according to the present invention, the sensor controller sets the protection detection area when the door stops at the stop position stored in the storage unit, while the stop stored in the storage unit. It is not necessary to set the protection detection area when the door stops at a position other than the position.

In the present invention, based on the acquisition means for acquiring the stop position of the door and the acquired stop position, at least a part of the door moves toward the door traveling direction when the door is stopped after the door is stopped. It is an automatic door system including a setting means for setting a protection detection area in at least a part of a planned movement area.

In the automatic door system according to the present invention, a door controller for driving and controlling the door is further provided, and the setting means sets the protection detection area when the door is stopped at the stop position stored in advance, while the protection detection area is set. The door controller does not set the protection detection area when the door stops at a position other than the stop position stored in advance, and the door controller sets the door when the protection detection area corresponding to the stop position is not set. After the door is stopped, the door may be driven in the direction of travel of the door when the door is stopped at a lower speed than before the door is stopped.

The present invention acquires a stop position of a door, and based on the acquired stop position, at least a part of the door may move toward the door traveling direction when the door is stopped after the door is stopped. This is a control method for an automatic door sensor that sets a protection detection area in at least a part of a planned movement area.

According to the present invention, even when the position of the door is other than the fully open position, it can be detected with a high detection ability of the sensor.

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 flowchart which shows the operation example of the automatic door system by this embodiment. It is a top view which shows the setting example of the protection detection area in the sliding door of a draw type in the operation example of the automatic door system by this Embodiment. It is a top view which shows the setting example of the protection detection area in the single pull type sliding door in the operation example of the automatic door system by this embodiment. It is a top view which shows the setting example of the protection detection area in a hinged door in the operation example of the automatic door system by 1st modification of this Embodiment. It is a top view which shows the setting example of the protection detection area in a folding door in the operation example of the automatic door system by the 2nd modification of this embodiment. It is a top view which shows the setting example of the protection detection area in a revolving door in the operation example of the automatic door system by the 3rd modification of this Embodiment. It is a top view which shows the setting example of the protection detection area in the glide door in the operation example of the automatic door system by the 4th modification of this embodiment. It is a top view which shows the setting example of the 2nd protection detection area in the sliding door of the draw type in the operation example of the automatic door system by the 5th modification of this embodiment. It is a top view which shows the setting example of the 2nd protection detection area in the single pull type sliding door in the operation example of the automatic door system by the 5th modification of this embodiment. It is a top view which shows the setting example of the 2nd protection detection area in a hinged door in the operation example of the automatic door system by 6th modification of this Embodiment. It is a top view which shows the setting example of the 2nd protection detection area in the folding door in the operation example of the automatic door system by 7th modification of this Embodiment. It is a top view which shows the setting example of the 2nd protection detection area in the revolving door in the operation example of the automatic door system by 8th modification of this Embodiment. It is a top view which shows the setting example of the 2nd protection detection area in the glide door in the operation example of the automatic door system by the 9th modification of this embodiment. It is a block diagram which shows the automatic door system by the tenth modification of this embodiment. It is a block diagram which shows the automatic door system by the eleventh 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 is a system in which a passerby who intends to pass through the door 21 shown in FIG. 2 is detected by the automatic door sensor 3, and the door 21 is opened in order to pass the passerby in response to the detection of the automatic door sensor 3. Is. Hereinafter, the components of the automatic door system 1 will be described in detail.

(Automatic door device 2)
As shown in FIG. 1, the automatic door device 2 includes a door 21, a motor 22, and a door control unit 23, which is an example of a door controller. The motor 22 generates a rotational force for automatically opening and closing the door 21 by electric power supplied from a power source (not shown). 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 sliding doors of a draw type. 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, a revolving 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 outputting the drive signal to the motor 22 based on the signal or information acquired from the automatic door sensor 3 and the motor 22. 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 of two or more thereof.

The specific mode of the door control unit 23 is not particularly limited as long as it can communicate with the sensor control unit 32. For example, the door control unit 23 outputs a PWM (Pulse Width Modulation) signal, a CPU that controls the drive speed of the motor 22 by the duty ratio of the PWM signal, and four semiconductor switches (for example, on / off control by the PWM signal). An H-bridge circuit connected to the motor 22 and an H-bridge circuit connected to the motor 22 as an arm), and a current signal for forward rotation or reverse rotation (that is, a current signal for forward rotation or reverse rotation) to the motor 22 depending on the ON state of the semiconductor switch. It may be provided with a DC power source to which a drive signal) is applied.

An open signal corresponding to the detection of a passerby in the effective detection area, which will be described later, is input to the door control unit 23 from the automatic door sensor 3. The door control unit 23 controls the drive of the motor 22 (hereinafter, also referred to as open drive control) for driving the door 21 in the open direction 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 in the center of the transom light 24, more specifically, above the boundary between the two fully closed doors 21. It is provided in. 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, a sensor control unit 32 which is an example of an acquisition means, a setting means, or a sensor controller, and a storage unit 33. The detection unit 31 has a light emitting unit 311 and a light receiving unit 312. The sensor control unit 32 is connected to the detection unit 31, the storage unit 33, and the door control unit 23. The sensor control unit 32 is composed of hardware such as a CPU (that is, a processor), for example. At least a part of the sensor control unit 32 may be configured by software. The storage unit 33 may be composed of a ROM, a RAM, a hard disk, or the like.

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

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 projecting elements of the light projecting 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 based on the extracted detection signal of the effective detection area.

In order to detect a passerby, the sensor control unit 32 determines the reference value of the signal value (that is, the amount of received light) of the detection signal in the effective detection area and the amount of change in the signal value with respect to the reference value for determining the presence or absence of detection. The threshold value and the threshold value are stored in the storage unit 33. Here, the threshold value is the sensitivity of the automatic door sensor 3, and the lower the threshold value, the higher the sensitivity of the automatic door sensor 3. When the signal value is equal to or greater than the threshold value, the sensor control unit 32 determines that a passerby has been detected and outputs an open signal.

Further, the sensor control unit 32 initially sets the reference value immediately after the power of the automatic door system 1 is turned on, and then updates the reference value each time when no change in the signal value is shown for a certain period of time.

Further, the sensor control unit 32 makes the threshold value of the signal value of the detection signal different according to the effective detection area. For example, the sensor control unit 32 uses an effective detection area (hereinafter, protection) for protecting a person from being pressed by the door 21 rather than a threshold value of the effective detection area (hereinafter, also referred to as an activation detection area) used for activating the door 21. Lower the threshold value (also called the detection area). In other words, the sensor control unit 32 makes the sensor in the protection detection area more sensitive than the activation detection area.

In the present embodiment, the sensor control unit 32 acquires the stop position of the door 21 (hereinafter, also referred to as the door stop position). Then, based on the acquired door stop position, the sensor control unit 32 is scheduled to move at least a part of the door 21 in the door traveling direction when the door 21 is stopped after the door 21 is stopped. Set a protection detection area in at least a part of the planned area. The specific mode of the planned movement area will be described later. By setting a protection detection area in at least a part of the planned movement area, it is possible to detect a passerby with a high sensor detection ability even when the door position is not fully open.

The sensor control unit 32 may set the effective detection area other than the protection detection area to the activation detection area.

Further, in the example of FIG. 1, the sensor control unit 32 acquires a position signal indicating the position information of the door 21 from the door control unit 23 that drives and controls the door 21. Further, the sensor control unit 32 acquires stop information indicating that the door 21 has stopped from the door control unit 23. Then, the sensor control unit 32 acquires the door stop position based on the position signal (that is, the position information) and the stop information acquired from the door control unit 23 when the door 21 is stopped. Specifically, the sensor control unit 32 determines the position of the door 21 indicated by the position signal acquired when the stop information is acquired as the door stop position. By acquiring the door stop position based on the position signal and the stop information, it is possible to easily acquire an accurate door stop position. Further, by determining the position of the door 21 indicated by the position signal acquired when the stop information is acquired as the door stop position, the door stop position can be acquired more easily.

The sensor control unit 32 may receive the position signal and the stop information by communication with the door control unit 23. In this case, the communication may be CAN communication having excellent noise resistance.

The specific mode of the position signal is not particularly limited as long as it is a signal indicating the position information of the door 21. For example, the motor 22 is a brushless motor, and the position signal may be a signal generated based on the phase of the Hall element of the brushless motor. Alternatively, the position signal may be a signal based on a rotary encoder that detects the rotation of the motor 22, or a signal based on a linear encoder provided to detect the open / closed position of the door 21. Alternatively, the position signal may be a position signal from a limit switch provided on the rail of the door 21. With these configurations, the door stop position can be acquired by utilizing the existing configuration, so that an increase in cost can be suppressed.

The stop information is output from the door control unit 23 to the sensor control unit 32 when the door control unit 23 determines that the door 21 has stopped. For example, if the position signal obtained from the motor 22 does not change even after a certain period of time, the door control unit 23 may determine that the door 21 has stopped and output stop information. The specific mode in which the door 21 is stopped is not particularly limited. For example, the door 21 may be stopped as an operation different from the normal operation, or may be stopped according to a predetermined operation mode.

Alternatively, the door control unit 23 may determine that the door 21 has stopped and output stop information when the drive signal (that is, current or voltage) value output to the motor 22 becomes substantially zero. ..

Alternatively, the door control unit 23 has stopped the door 21 (that is, a safety stop) as a predetermined safety process when the stop switch for stopping the door 21 is turned on or when an abnormality such as a human collision occurs. When is detected, it may be determined that the door 21 has stopped and the stop information may be output.

Here, when the door 21 is stopped due to a collision of a person, the actual door stop position when the door is stopped may deviate from the calculated door stop position acquired based on the position signal. Therefore, when the door 21 abnormally stops due to a human collision, the sensor control unit 32 estimates the deviation of the actual door stop position from the calculated door stop position as a setting of the protection detection area based on the door stop position. It is preferable to adjust the protection detection area.

Further, in the example of FIG. 1, the storage unit 33 has a door stop position and a protection detection area to be set when the door 21 stops at the door stop position by recording work (that is, learning) performed in advance. Are stored in association with each other. When the door 21 is stopped, the door control unit 23 acquires the door stop position based on the position signal acquired from the door control unit 23, and stores the protection detection area corresponding to the acquired door stop position from the storage unit 33. Read. Then, the door control unit 23 sets the read protection detection area to at least a part of the planned movement area. As a result, the protection detection area can be quickly set according to the door stop position.

The specific mode of the door stop position and the protection detection area stored in the storage unit 33 is not particularly limited. For example, the storage unit 33 may store two door stop positions, a fully open position and a half open position, and may store two patterns of protection detection areas corresponding to each of the fully open position and the half open position. In this case, even when the position of the door 21 is a half-open position other than the fully-open position, a passerby can be detected with a high sensor detection ability by the protection detection area set in the planned movement area according to the half-open position. can.

Alternatively, the storage unit 33 may store a plurality of door stop positions at predetermined intervals such as 100 mm, and may store a plurality of patterns of protection detection areas corresponding to each of the door stop positions. In this case, since the variation of the door stop position other than the fully open position can be increased, even when the door 21 is stopped due to a cause other than the door 21 being stopped according to a predetermined operation mode such as the half-open mode. A protection detection area can be set according to the door stop position, and a passerby can be detected with a high sensor detection ability after the door is stopped.

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 door control unit 23 may function as an acquisition means and a setting means, and the protection detection area may be set in the door control unit 23. In this case, the sensor control unit 32 outputs the detection signals of all the small detection areas 51 input from the light receiving unit 312 to the door control unit 23, and the door control unit 23 outputs the detection signals input from the sensor control unit 32. Of the detection signals of the area 51, a passerby may be detected based on the detection signal of the protection detection area set in advance.

(Operation example)
Next, an operation example of the automatic door system 1 will be described. FIG. 3 is a flowchart showing an operation example of the automatic door system 1 according to the present embodiment. The flowchart of FIG. 3 is repeated as needed.

As shown in FIG. 3, first, the sensor control unit 32 acquires the position information indicated by the position signal by receiving the position signal from the door control unit 23 by communicating with the door control unit 23 (step S1). ..

After acquiring the position information, the sensor control unit 32 determines whether or not the door 21 has stopped based on whether or not the stop information has been acquired from the door control unit 23 (step S2).

When the door 21 is stopped (step S2: Yes), the sensor control unit 32 acquires the position of the door 21 when the door 21 is stopped (that is, when the position signal and the stop information are acquired) as the door stop position. (Step S3). On the other hand, when the door 21 is not stopped (step S2: No), the sensor control unit 32 acquires new position information by communicating with the door control unit 23 (step S1).

After acquiring the door stop position, the sensor control unit 32 reads the protection detection area corresponding to the door stop position from the storage unit 33 (step S4).

After reading the protection detection area, the sensor control unit 32 sets the read protection detection area to at least a part of the planned movement area (step S5). If there is no protection detection area corresponding to the door stop position in the storage unit 33, the sensor control unit 32 does not have to set the protection detection area in the planned movement area 7. That is, the sensor control unit 32 sets a protection detection area when the door 21 stops at a stop position stored in advance, and on the other hand, sets a protection detection area when the door 21 stops at a stop position other than the storage position stored in advance. It does not have to be set. When the protection detection area is not set, the door control unit 23 may drive the door 21 at a low speed toward the door traveling direction when the door 21 is stopped. That is, when the protection detection area according to the stop position is not set, the door control unit 23 moves the door in the direction of travel of the door when the door 21 is stopped at a lower speed than before the stop of the door 21 after the door 21 is stopped. 21 may be driven. As a result, it is possible to detect with a higher detection capability than before while suppressing memory consumption.

As described above, according to the present embodiment, by setting the protection detection area in at least a part of the planned movement area, a passerby is detected with a high sensor detection ability even when the door position is not fully open. can do.

FIG. 4 is a plan view showing a setting example of the protection detection area 50A in the sliding door of the draw type shown in FIG. 2 in the operation example of the automatic door system 1 according to the present embodiment. As shown in FIG. 4, in the planned movement area 7 of the sliding door of the draw type, the door tip 21a of the door 21 is scheduled to move toward the door traveling direction ds when the door 21 is stopped after the door 21 is stopped. It becomes the area 7. That is, the planned movement area 7 in the sliding door of the sliding door is the area 7 between the door tips 21a of the two doors 21 of the sliding door. The door stop position in the example of FIG. 4 may be a half-open position according to a preset half-open mode, or may be a stop position due to an abnormal stop.

In the example of FIG. 4, the sensor control unit 32 sets the small detection area 51 group corresponding to the area 7 between the door tips 21a of the sliding door on the doorway as the protection detection area 50A. As shown in FIG. 4, the protection detection area 50A may have a portion that does not overlap with the planned movement area 7 as long as it includes at least a part of the planned movement area 7.

According to the example of FIG. 4, in the sliding door of the draw type, even when the position of the door 21 is other than the fully open position, it can be detected by the protection detection area 50A with a high detection ability of the sensor. In addition, when a passerby enters between the doors 21a of the sliding door of the draw type after the door is stopped and is stopped, the closing operation after the door is stopped is prohibited, so that one or both of the doors 21a can be passed. It is possible to prevent people from colliding with each other and ensure the safety of passers-by.

In the example of FIG. 4, since the door traveling direction ds when the door 21 is stopped is the closing direction, the sensor control unit 32 detects protection in the planned movement area 7 from the door tip 21a to the closing direction at the door stop position. Area 50A is set. On the other hand, when the door traveling direction ds when the door 21 is stopped is the opening direction, the sensor control unit 32 has the protection detection area 50A in the planned movement area 7 from the door tail 21b to the opening direction at the door stop position. It may be set. As a result, the protection detection area 50A can be set in the area corresponding to the movement of the door 21.

FIG. 5 is a plan view showing a setting example of the protection detection area 50A in the single sliding door in the operation example of the automatic door system 1 according to the present embodiment. As shown in FIG. 5, in the planned movement area 7 of the single-pull type sliding door, the door tip 21a of the door 21 is scheduled to move toward the door traveling direction ds when the door 21 is stopped after the door 21 is stopped. Area 7 However, unlike the pull-type sliding door, the planned movement area 7 in the single-pull type sliding door is the area 7 between the door tip 21a of one door 21 and the adjacent structure 8 on the door tip 21a side.

In the example of FIG. 5, the sensor control unit 32 divides the small detection area 51 group corresponding to the area 7 between the door tip 21a of the sliding door door 21 and the adjacent structure 8 on the door tip 21a side into the protection detection area 50A. Set as. According to the example of FIG. 5, in the single-pull type sliding door, even when the position of the door 21 is other than the fully open position, it can be detected by the protection detection area 50A with a high sensor detection ability. Further, when a passerby enters between the door tip 21a of the single-pull type sliding door and the adjacent structure 8 after the door is stopped and the door is stopped, the closing operation after the door is stopped is prohibited, so that the door tip 21a It is possible to prevent the passersby from colliding with each other and ensure the safety of the passersby.

(First modification)
Next, a first modification in which the door 21 is a hinged door will be described. FIG. 6 is a plan view showing a setting example of the protection detection area 50A in the hinged door in the operation example of the automatic door system 1 according to the first modification of the present embodiment.

As shown in FIG. 6, the planned movement area 7 of the hinged door is two fan-shaped regions shown in the planned movement locus of the hinged door when the hinged door moves from the door stop position to the preset planned movement stop position. It is 7. In the example of FIG. 6, the door stop position is indicated by the solid door 21. Further, the planned movement stop position is indicated by the door 21 of the alternate long and short dash line. In the example of FIG. 6, the planned movement stop position is a fully closed position. The hinged door may have a position other than the fully closed position as the planned movement stop position.

In the example of FIG. 6, the sensor control unit 32 sets the protection detection area 50A in the fan-shaped area 7. Specifically, the sensor control unit 32 sets the small detection area 51 group corresponding to the fan-shaped region 7 as the protection detection area 50A. According to the example of FIG. 6, in the hinged door, even when the position of the door 21 is other than the fully open position, it can be detected by the protection detection area 50A with a high sensor detection ability. Further, when a passerby enters the fan-shaped area 7 after the door is stopped and is stopped, the rotation of the door 21 in the door traveling direction when the door 21 is stopped after the door is stopped is prohibited. It is possible to prevent a passerby from colliding with the moving door 21 and ensure the safety of the passerby.

Although the double door is illustrated in FIG. 6, the first modification can be applied to the single door.

(Second modification)
Next, a second modification in which the door 21 is a folding door will be described. FIG. 7 is a plan view showing a setting example of the protection detection area 50A in the folding door in the operation example of the automatic door system 1 according to the second modification of the present embodiment.

As shown in FIG. 7, the planned movement area 7 of the folding door has a triangular shape shown in the planned movement locus of the folding door when the folding door moves from the door stop position to the preset planned movement stop position. Area 7. In the example of FIG. 7, the door stop position is indicated by the solid door 21. Further, the planned movement stop position is indicated by the door 21 of the alternate long and short dash line. In the example of FIG. 7, the planned movement stop position is a fully closed position. The folding door may be set at a position other than the fully closed position as the planned movement stop position.

In the example of FIG. 7, the sensor control unit 32 sets the protection detection area 50A in the triangular area 7. Specifically, the sensor control unit 32 sets the small detection area 51 group corresponding to the triangular region 7 as the protection detection area 50A. According to the example of FIG. 7, in the folding door, even when the position of the door 21 is other than the fully open position, it can be detected by the protection detection area 50A with a high sensor detection ability. Further, when a passerby enters the triangular area 7 after the door is stopped and is stopped, the door 21 can be moved to the door 21 by prohibiting the movement of the door 21 in the door traveling direction when the door 21 is stopped after the door is stopped. It is possible to prevent the passersby from colliding and ensure the safety of the passersby. Further, when the door traveling direction when the door 21 is stopped is the closing direction, it is possible to prevent the body and fingers of a passerby from being caught in the folded door 21.

Although FIG. 7 illustrates a two-door folding door, the second modification can also be applied to a four-door folding door. Further, the second modification is applicable not only to a two-sheet door or a four-sheet door but also to an arbitrary plurality of folding doors.

(Third variant)
Next, a third modification in which the door 21 is a revolving door will be described. FIG. 8 is a plan view showing a setting example of the protection detection area 50A in the revolving door in the operation example of the automatic door system 1 according to the third modification of the present embodiment.

In the example of FIG. 8, the revolving door has a plurality of doors 21 (that is, doors) that rotate inside a cylindrical casing 9 provided with an entrance / exit 91. In the example of FIG. 8, the plurality of doors 21 are arranged radially with a predetermined angular interval in the circumferential direction about the rotation shaft 20 provided concentrically of the casing 9. The door tips 21a and 21Aa of each door 21 are located near the inside of the inner peripheral surface of the casing 9 or near the inside of the doorway 91.

As shown in FIG. 8, the planned movement area 7 in the revolving door is the end of the plurality of ends of the casing 9 adjacent to the doorway 91 on the opposite side of the rotation direction ds of the door 21 when the door 21 is stopped. The region 7 between the 9a and the door tip 21Aa of the nearest door 21A in the direction opposite to the rotation direction ds of the door 21 with respect to the end portion 9a of the casing 9 among the plurality of doors 21. More specifically, in the example of FIG. 8, the casing 9 has two arc-shaped wall portions 92 on the left and right in FIG. 8 divided by the two upper and lower entrances and exits 91 in FIG. The planned movement area 7 includes an end portion 9a of the arc-shaped wall portion 92 on the right side on the opposite side of the rotation direction ds of the door 21 when the door 21 is stopped, and the door 21 with respect to the end portion 9a. It is a region 7 between the door tip 21Aa of the nearest door 21A in the direction opposite to the rotation direction ds of. In FIG. 8, the planned movement area 7 between the end portion 9a of the right wall portion 92 and the door tip 21Aa is illustrated, but the planned movement area 7 is the end portion 9a of the left wall portion 92. It can also be an area between the door 21 and the door end.

In the example of FIG. 8, the sensor control unit 32 is between the end portion 9a of the casing 9 and the door tip 21Aa of the nearest door 21A in the direction opposite to the rotation direction ds when the door 21 is stopped with respect to the end portion 9a. The protection detection area 50A is set in the area 7. Specifically, the sensor control unit 32 sets the small detection area 51 group corresponding to the area 7 between the end portion 9a of the casing 9 and the door end 21Aa as the protection detection area 50A. According to the example of FIG. 8, in the revolving door, even when the position of the door 21 is other than the fully open position, it can be detected by the protection detection area 50A with a high sensor detection ability. Further, when a passerby enters the area 7 between the end portion 9a of the casing 9 and the door tip 21Aa after the door is stopped and stops, the door 21 in the rotation direction when the door 21 is stopped after the door is stopped. By prohibiting the rotation, it is possible to prevent a passerby from colliding with the door end 21Aa and ensure the safety of the passerby.

Although the three-door revolving door is illustrated in FIG. 8, the third modification can also be applied to the two-door, four-door, oval, and two-axis revolving doors. be.

(Fourth modification)
Next, a fourth modification in which the door 21 is a glide door will be described. FIG. 9 is a plan view showing a setting example of the protection detection area 50A in the glide door in the operation example of the automatic door system 1 according to the fourth modification of the present embodiment.

As shown in FIG. 9, the planned movement area 7 in the glide door 21 is a substantially triangular shape shown in the planned movement locus of the glide door when the glide door moves from the door stop position to the preset planned movement stop position. Region 7 of the shape. In the example of FIG. 9, the door stop position is indicated by the solid door 21. Further, the planned movement stop position is indicated by the door 21 of the alternate long and short dash line. In the example of FIG. 9, the planned movement stop position is a fully closed position. The glide door may be set at a position other than the fully closed position as the planned movement stop position.

In the example of FIG. 9, the sensor control unit 32 sets the protection detection area 50A in the area 7 shown in the planned movement locus of the glide door. Specifically, the sensor control unit 32 sets the small detection area 51 group corresponding to the area 7 shown in the planned movement locus of the glide door as the protection detection area 50A. According to the example of FIG. 9, in the glide door, even when the position of the door 21 is other than the fully open position, it can be detected by the protection detection area 50A with a high sensor detection ability. Further, when a passerby enters the planned movement area 7 of the glide door after the door is stopped and is stopped, the door 21 is prohibited from moving in the direction of travel of the door when the door 21 is stopped after the door is stopped. It is possible to prevent the passerby from colliding with the 21 and ensure the safety of the passerby.

The fourth modification is also applicable to the slide glide door.

(Fifth variant)
Next, a fifth modification in which the second protection detection area 50B is set around the sliding door will be described. FIG. 10 is a plan view showing a setting example of the second protection detection area 50B in the sliding door of the draw type in the operation example of the automatic door system 1 according to the fifth modification of the present embodiment.

In FIG. 4, an example in which the protection detection area 50A is set in the planned movement area 7 of the sliding door of the sliding type has been described. On the other hand, in the example of FIG. 10, in addition to setting the protection detection area 50A in the planned movement area 7 of the sliding door, the second protection detection area 50B is set in the sliding door peripheral area 71.

As shown in FIG. 10, the sliding door peripheral area 71 is an area adjacent to the planned movement area 7 in the direction perpendicular to the surface S of the sliding door. The sensor control unit 32 sets the small detection area 51 group corresponding to the sliding door peripheral area 71 as the second protection detection area 50B.

In the example of FIG. 10, the small detection area 51 group in the first row belongs to both the planned movement area 7 and the sliding door peripheral area 71. In this case, the small detection area 51 group in the first row may be set as the protection detection area 50A.

According to the example of FIG. 10, in the sliding door of the sliding type, not only between the door tips 21a but also around the sliding door can be detected by the second protection detection area 50B with a high detection ability of the sensor. Further, by detecting a passerby who is about to enter between the door ends 21a of the sliding door after the door is stopped and prohibiting the closing operation, the safety of the passerby can be more effectively ensured.

FIG. 11 is a plan view showing a setting example of the second protection detection area 50B in the single-pull type sliding door in the operation example of the automatic door system 1 according to the fifth modification of the present embodiment.

In the example of FIG. 11, the sensor control unit 32 sets the second protection detection area 50B in the sliding door peripheral area 71 of the single-sliding type sliding door. Specifically, the sensor control unit 32 sets the small detection area 51 group corresponding to the sliding door peripheral area 71 of the single-sliding door as the second protection detection area 50B. According to the example of FIG. 11, even in the vicinity of the single-pull type sliding door, the detection ability of the sensor can be detected by the second protection detection area 50B.

(Sixth variant)
Next, a sixth modification in which the second protection detection area 50B is set around the hinged door will be described. FIG. 12 is a plan view showing a setting example of the second protection detection area 50B in the hinged door in the operation example of the automatic door system 1 according to the sixth modification of the present embodiment.

In FIG. 6, an example in which the protection detection area 50A is set in the planned movement area 7 of the hinged door has been described. On the other hand, in the example of FIG. 12, in addition to setting the protection detection area 50A in the planned movement area 7 of the hinged door, the second protection is provided in the first hinged door peripheral area 72A and the second hinged door peripheral area 72B. The detection area 50B is set.

The first hinged door peripheral area 72A is an area 72A adjacent to the planned movement area 7 in the direction dc intersecting the door traveling direction ds when the door 21 is stopped. The second hinged door peripheral area 72B is an area 72B adjacent to the planned movement area 7 in the direction opposite to the door traveling direction ds when the door 21 is stopped.

The sensor control unit 32 sets the small detection area 51 group corresponding to each of the first hinged door peripheral area 72A and the second hinged door peripheral area 72B as the second protection detection area 50B.

According to the example of FIG. 12, even in the vicinity of the hinged door, the detection capability of the sensor can be detected by the second protection detection area 50B.

Specifically, the second protection detection area 50B set in the first hinged door peripheral area 72A can detect a passerby existing between the door ends 21a of the two doors 21 of the hinged door.

Further, when the hinged door tries to move from the door stop position to the traveling direction ds at the time of stopping by the second protection detection area 50B set in the second hinged door peripheral area 72B, it is within the planned movement area 7 or the first. When a person is detected in the hinged door peripheral area 72A and the vehicle must move in the opposite direction of the traveling direction ds at the time of stopping, the detection accuracy on the opposite direction side can be ensured. Further, by detecting a passerby who is about to enter the planned movement area 7 of the hinged door after the door is stopped and prohibiting the closing operation, the safety of the passerby can be more effectively ensured.

(7th variant)
Next, a seventh modification in which the second protection detection area 50B is set around the folding door will be described. FIG. 13 is a plan view showing a setting example of the second protection detection area 50B in the folding door in the operation example of the automatic door system 1 according to the seventh modification of the present embodiment.

In FIG. 7, an example in which the protection detection area 50A is set in the planned movement area 7 of the folding door has been described. On the other hand, in the example of FIG. 13, in addition to setting the protection detection area 50A in the planned movement area 7 of the folding door, the second protection detection area 50B is set in the folding door peripheral area 73.

As shown in FIG. 13, the folding door peripheral area 73 is an area 73 adjacent to the planned movement area 7 in the direction opposite to the door traveling direction ds when the door 21 is stopped.

The sensor control unit 32 sets the small detection area 51 group corresponding to the folding door peripheral area 73 as the second protection detection area 50B.

According to the example of FIG. 13, even in the vicinity of the folding door, the detection ability of the sensor can be detected by the second protection detection area 50B. Specifically, when the folding door tries to move from the door stop position to the traveling direction ds at the time of stopping, it moves in the opposite direction of the traveling direction ds at the time of stopping due to the detection of a person in the planned movement area 7. When it becomes necessary, the detection accuracy on the opposite side can be ensured.

(8th variant)
Next, an eighth modification in which the second protection detection area 50B is set around the revolving door will be described. FIG. 14 is a plan view showing a setting example of the second protection detection area 50B in the revolving door in the operation example of the automatic door system 1 according to the eighth modification of the present embodiment.

In FIG. 8, an example in which the protection detection area 50A is set in the planned movement area 7 of the revolving door has been described. On the other hand, in the example of FIG. 14, in addition to setting the protection detection area 50A in the planned movement area 7 of the revolving door, the first revolving door peripheral area 74A and the second revolving door peripheral area 74B are the first. Set the protection detection area 50B of 2.

As shown in FIG. 14, the first revolving door peripheral region 74A is a region 74A inside the casing 9 adjacent to the planned movement region 7. The second revolving door peripheral region 74B is a region 74B outside the casing 9 and adjacent to the planned movement region 7.

The sensor control unit 32 sets the small detection area 51 group corresponding to each of the first revolving door peripheral area 74A and the second revolving door peripheral area 74B as the second protection detection area 50B.

According to the example of FIG. 14, even in the vicinity of the revolving door, the detection ability of the sensor can be detected by the second protection detection area 50B. Further, by detecting a passerby who is about to enter the planned movement area 7 of the revolving door after the door is stopped and prohibiting the closing operation, the safety of the passerby can be more effectively ensured.

(9th variant)
Next, a ninth modification in which the second protection detection area 50B is set around the glide door will be described. FIG. 15 is a plan view showing a setting example of the second protection detection area 50B in the glide door in the operation example of the automatic door system 1 according to the ninth modification of the present embodiment.

In FIG. 9, an example in which the protection detection area 50A is set in the planned movement area 7 of the glide door has been described. On the other hand, in the example of FIG. 15, in addition to setting the protection detection area 50A in the planned movement area 7 of the glide door, the second protection detection area 50B is set in the glide door peripheral area 75.

As shown in FIG. 15, the glide door peripheral area 75 is an area 75 adjacent to the planned movement area 7 in the direction opposite to the door traveling direction ds when the door 21 is stopped.

The sensor control unit 32 sets the small detection area 51 group corresponding to the glide door peripheral area 75 as the second protection detection area 50B.

According to the example of FIG. 15, even in the vicinity of the glide door, the detection capability of the sensor can be detected by the second protection detection area 50B. Specifically, when the glide door tries to move from the door stop position to the traveling direction ds at the time of stopping, it moves in the opposite direction of the traveling direction ds at the time of stopping due to the detection of a person in the planned movement area 7. When it becomes necessary, the detection accuracy on the opposite side can be ensured.

(10th variant)
Next, a tenth modification that performs detection based on the captured image will be described. FIG. 16 is a block diagram showing an automatic door system 1 according to a tenth modification of the present embodiment. As shown in FIG. 16, the automatic door sensor 3 of the tenth 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 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. Even in the tenth modification, the door control unit 23 may detect a passerby.

According to the tenth modification, the sensor control unit 32 recognizes the position of the door 21 reflected in the captured image based on the captured image of the imaging unit 313, and is based on the recognized position of the door 21. , The door stop position can be obtained. As a result, the movement of the door 21 can be directly detected, so that the door stop position can be acquired more accurately.

(11th variant)
Next, an eleventh modification in which the protection detection area is set on the automatic door device 2 side will be described. FIG. 17 is a block diagram showing an automatic door system 1 according to an eleventh modification of the present embodiment. So far, an example has been described in which a storage unit 33 is provided on the automatic door sensor 3 side, and the sensor control unit 32 sets a protection detection area corresponding to the door stop position stored in the storage unit 33.

On the other hand, in the example of FIG. 17, the storage unit 33 is provided on the automatic door device 2 side. Further, in the example of FIG. 17, the door control unit 23 functions as an acquisition means and a setting means, and corresponds to the door stop position stored in the storage unit 33 based on the door stop position acquired based on the position signal. Set the protection detection area. Then, the door control unit 23 receives the detection information from the detection information transmission unit 34 for transmitting the detection information of the detection unit 31 provided in the automatic door sensor 3, and is in the protection detection area based on the received detection information. When a passerby is detected, for example, the door 21 is controlled not to be closed.

According to the eleventh modification, since the protection detection area setting function can be provided on the automatic door device 2 side, the configuration of the automatic door sensor 3 is simplified and the cost, size and weight of the automatic door sensor 3 are reduced. be able to.

When the door control unit 23 sets the protection detection area, the door control unit 23 (setting means) sets the protection detection area when the door 21 stops at the door stop position stored in the storage unit 33 in advance. On the other hand, it is not necessary to set the protection detection area when the door 21 is stopped at a position other than the door stop position stored in the storage unit 33 in advance. When the protection detection area corresponding to the door stop position is not set, after the door 21 is stopped, the door control unit 23 moves toward the door traveling direction when the door 21 is stopped at a lower speed than before the door 21 is stopped. May be driven. According to such a configuration, it is possible to detect with a higher detection capability than before while suppressing memory consumption.

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.

It is also possible to combine or replace a part of the configuration described in the embodiment including the above-described modification. Further, it is also possible to apply only a part of the configuration described in the embodiment including the above-described modification. In these cases, in addition to those specified herein, they have unique configurations derived from their respective configurations.

1 Automatic door system, 3 Automatic door sensor, 32 Sensor control unit, 33 Storage unit

Claims (11)

An acquisition method for acquiring the stop position of the door,
A setting means for setting a protection detection area in at least a part of a planned movement area where at least a part of the door is scheduled to move after the door is stopped based on the acquired stop position is provided. The door is a revolving door having a plurality of doors that rotate inside a cylindrical casing provided with an entrance / exit.
The planned movement area is located at the end of the plurality of ends of the casing adjacent to the doorway on the opposite side of the rotation direction of the door and the end of the casing on the opposite direction of the rotation direction of the door. On the other hand, it is an area between the door tip of the nearest door in the direction opposite to the rotation direction of the door.
The setting means sets the protection detection area in at least a portion of the region between the door end of the reverse-side end portion and the nearest door in the rotational direction of the door in the casing, automatic door sensor. An acquisition method for acquiring the stop position of the door,
A setting means for setting a protection detection area in at least a part of a planned movement area where at least a part of the door is scheduled to move after the door is stopped based on the acquired stop position is provided. The door is a sliding door
The planned movement area is an area between the doors of the sliding door or an area between the door and the adjacent structure on the door side.
The setting means is
The protection detection area is set in at least a part of the planned movement area, and a second protection detection area is set in at least a part of the area around the sliding door adjacent to the planned movement area in the direction perpendicular to the surface of the sliding door. to set, automatic door sensor. An acquisition method for acquiring the stop position of the door,
A setting means for setting a protection detection area in at least a part of a planned movement area where at least a part of the door is scheduled to move after the door is stopped based on the acquired stop position is provided. The door is a hinged door
The planned movement area is a fan-shaped area shown in the planned movement locus of the hinged door when the hinged door moves from the stop position to the planned movement stop position.
The setting means is
Set the protection detection area in at least a portion of said moving prediction region, and, on at least a portion of-out opening that Sessu next door to the moving prediction region door peripheral region, sets a second protection detection area , automatic door sensor. An acquisition method for acquiring the stop position of the door,
A setting means for setting a protection detection area in at least a part of a planned movement area where at least a part of the door is scheduled to move after the door is stopped based on the acquired stop position is provided. The door is a folding door
The planned movement area is an area shown in the planned movement locus of the folding door when the folding door moves from the stopped position to the planned moving stop position.
The setting means is
Set the protection detection area in at least a portion of said moving prediction region, and, at least a portion of the folding door peripheral region adjacent the leading Stories moving prediction area, sets a second protection detection area automatic door sensor .. An acquisition method for acquiring the stop position of the door,
A setting means for setting a protection detection area in at least a part of a planned movement area where at least a part of the door is scheduled to move after the door is stopped based on the acquired stop position is provided. The door is a revolving door having a plurality of doors that rotate inside a cylindrical casing provided with an entrance / exit.
The planned movement area is located at the end of the plurality of ends of the casing adjacent to the doorway on the opposite side of the rotation direction of the door and the end of the casing on the opposite direction of the rotation direction of the door. On the other hand, it is an area between the door end of the nearest door in the direction opposite to the rotation direction of the door.
The setting means is
The protection detection area is set in at least a part of the planned movement area, and the area around the first revolving door adjacent to the planned movement area inside the casing and adjacent to the planned movement area outside the casing. the second of the revolving door peripheral region, at least a portion of at least one of the revolving door the peripheral region, to set the second protection detection area automatic door sensor. An acquisition method for acquiring the stop position of the door,
A setting means for setting a protection detection area in at least a part of a planned movement area where at least a part of the door is scheduled to move after the door is stopped based on the acquired stop position is provided. The door is a glide door
The planned movement area is an area shown in the planned movement locus of the glide door when the glide door moves from the stop position to the planned movement stop position.
The setting means is
Set the protection detection area in at least a portion of said moving prediction region, and, on the glide door peripheral region adjacent the leading Stories moving prediction area, sets a second protection detection area automatic door sensor. An acquisition method for acquiring the stop position of the door,
A setting means for setting a protection detection area in at least a part of a planned movement area where at least a part of the door is scheduled to move after the door is stopped based on the acquired stop position is provided. The acquisition means
The position information of the door and the stop information indicating that the door has stopped are acquired from the door controller that drives and controls the door.
Acquiring the stop position based on the obtained position information and the stop information, automatic door sensor. The acquisition means
The automatic door sensor according to claim 7 , wherein the position of the door shown in the position information acquired when the stop information is acquired is determined as the stop position. And stop position of the door, a storage unit and a protective detection area to be set is associated and stored with each other when the door is stopped at the stop position,
Based on the position information of the door acquired from the door controller that drives and controls the door when the door is stopped, the stop position is acquired, and the protection detection area corresponding to the acquired stop position is obtained. An automatic door sensor including a sensor controller that reads from the storage unit and sets the read protection detection area to at least a part of the area between the door ends of the door at the stop position. The sensor controller sets the protection detection area when the door stops at the stop position stored in the storage unit, while the door stops at a position other than the stop position stored in the storage unit. The automatic door sensor according to claim 9 , wherein the protection detection area is not set. An acquisition method for acquiring the stop position of the door,
Based on the obtained stop position setting means for at least a portion of the door after stopping of the door sets the protection detection area in at least a portion of the movement region where it is scheduled to move,
A door controller for driving and controlling the door is provided.
The setting means sets the protection detection area when the door stops at the stop position stored in advance, while the protection detection area when the door stops at a position other than the stop position stored in advance. Without setting
The door controller is an automatic door system that drives the door after the door is stopped at a lower speed than before the door is stopped when the protection detection area corresponding to the stop position is not set.

Images