JP7034747B2 - Automatic door sensor - Google Patents

Description

The present invention relates to an automatic door sensor.

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 Patent Application Laid-Open 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, a detection means for opening a door while reducing unnecessary opening and closing has been used for an automatic door sensor that detects a passerby and detects an activation area for opening the door. On the other hand, a detection means for monitoring the stoppage of a passerby or the like has been used for an automatic door sensor that detects a protected area for protecting a passerby such as on a doorway.

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 protected 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 an object of the present invention is to provide an automatic door sensor capable of achieving both reduction of unnecessary opening and closing of a door and improvement of safety.

The present invention comprises an activation detecting means for detecting a person or an object, and a protective detecting means for detecting a person or an object more easily than the activation detecting means, and the activation detecting means and the protective detecting means are used. It is an automatic door sensor that has a special detection area for detection and can output each detection result individually.

The automatic door sensor according to the present invention further has an activation detection area in which detection is performed only by the activation detection means, and the special detection area may be arranged at a position closer to the door than the activation detection area. ..

The automatic door sensor according to the present invention further includes a doorway detection means for detecting a person or an object on the movement path of the door, and has a second special detection area for detection by the doorway detection means and the protection detection means. However, each detection result may be output individually or collectively.

In the automatic door sensor according to the present invention, the detection of the protective detection means in the second special detection area may be performed only when the door is in the fully open position.

The automatic door sensor according to the present invention further includes a fixed wall side detecting means for detecting a person or an object in the vicinity of the fixed wall portion of the door, and performs detection by the fixed wall side detecting means and the protective detecting means. It has an area, and each detection result may be output individually or collectively.

In the automatic door sensor according to the present invention, 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 the exclusion from the detection target is It may be longer than the stationary body detection time in the detection by the activation detection means.

According to the present invention, it is possible to reduce unnecessary opening and closing of doors 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 detection area of the automatic door sensor by this embodiment. It is a flowchart which shows the operation of the automatic door sensor by this embodiment. It is a flowchart which shows the detection / stationary body detection time control of the automatic door sensor by this embodiment. It is explanatory drawing for demonstrating the detection and the stationary body detection time control of the automatic door sensor 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. It is a top view which shows the detection area at the time of fully closing of the automatic door sensor by the 4th modification of this embodiment. It is a top view which shows the detection area at the time of fully opening of the automatic door sensor by the 4th modification of this embodiment. It is a top view which shows the detection area at the time of fully closing of the automatic door sensor by the 5th modification of this embodiment. It is a top view which shows the detection area at the time of fully opening of the automatic door sensor by the 5th modification of this embodiment. It is a top view which shows the detection area at the time of fully closing of the automatic door sensor by the 6th modification of this embodiment. It is a top view which shows the detection area at the time of fully opening of the automatic door sensor by the 6th modification of this embodiment. It is a top view which shows the detection area at the time of fully closing of the automatic door sensor by the 7th modification of this embodiment. It is a top view which shows the detection area at the time of fully opening of the automatic door sensor by the 7th modification of this embodiment. It is a top view which shows the detection area at the time of door pinching of the automatic door sensor by the 8th modification of this embodiment. It is a top view which shows the detection area at the time of passing of the automatic door sensor by the 8th 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 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 detection area 5 of the automatic door sensor 3 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 opens the door 21 when the automatic door sensor 3 detects a person (passerby) or an object trying to pass through the door 21 shown in FIG.

(Automatic door device 2)
The automatic door device 2 drives and controls the door 21, a motor 22 (not shown) for opening and closing the door 21 in the opening / closing direction d1 shown in FIG. 2, and a signal or information acquired from the automatic door sensor 3. A door control unit 23 (not shown) is provided. In the example of FIG. 2, the two doors 21 are sliding doors of a draw type. The aspect of the door 21 is not limited to the example of FIG. 2, and various aspects of the door such as a single-pull type sliding door, a hinged door, a folding door, and a glide door may be adopted.

For example, a detection 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 to drive the door 21 in the open direction in response to the input of the detection signal (hereinafter, also referred to as open drive control).

(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 doors 21 in the fully closed state. 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 or the lower surface of the transom light 24.

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 the detection means. The sensor control unit 32 is connected to the detection unit 31 and the automatic door device 2. 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 projecting 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 at least a part of the detection area 5 which is an area that can be detected by using the automatic door sensor 3 and is set for detecting a passerby of the door 21. The area. Note that FIG. 2 shows the positional relationship of the detection area 5 near the floor surface 6.

The light projecting unit 311 has an optical lens for light projection (not shown) and 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 an optical lens for light reception (not shown) and a plurality of light receiving elements (not shown) that optically correspond to each of the plurality of light emitting elements of the light projecting 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. Further, the light projecting unit 311 and the light receiving unit 312 may use another optical system instead of the optical lens for the light projecting and the light receiving light, and may not use the optical lens.

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 any 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 an object based on the extracted detection signal of the effective detection area according to the activation detection algorithm and the protection detection algorithm described later. 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 sensor 3 is turned on as a reference value, and refers to the reference value. Passersby and the like may be detected based on the amount of change in the signal value. When a passerby or the like in the effective detection area is detected, the sensor control unit 32 outputs a detection signal to the automatic door device 2 and uses the detection result in the effective detection area for open drive control of the door 21.

In particular, the sensor control unit 32 detects a passerby or an object in the special detection area 51A, which will be described later, by using two types of detection algorithms, an activation detection algorithm and a protection detection algorithm. It should be noted that there may be a plurality of activation detection algorithms, and there may be a plurality of protection detection algorithms. By providing a plurality of detection algorithms, it is possible to select an appropriate detection algorithm according to the installation environment of the automatic door sensor 3 and the situation of a passerby or an object.

Note that the sensor control unit 32 may cause the light projecting unit 32 to project light only to the light projecting element corresponding to the effective detection area, 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.

(Detection algorithm corresponding to detection area 5)
As shown in FIG. 2, the sensor control unit 32 has a special detection area 51A as a part of a plurality of small detection areas 51 constituting the detection area 5. The special detection area 51A is detected by the activation detection algorithm that detects a person or an object and the protection detection algorithm that is easier to detect a person or an object than the activation detection algorithm regardless of the open / closed state of the door 21, respectively. The detection result by the detection algorithm of is individually output and used for the drive control of the door 21. That is, the detection for the same special detection area 51A is performed by using the activation detection algorithm and the protection detection algorithm. Therefore, since the detection area to which the activation detection algorithm and the protection detection algorithm are applied completely match, each has an independent detection area, and the activation detection algorithm and the protection detection algorithm are applied to the detection area. Compared to the case where each is executed individually by physically different sensors, it is not necessary to align the detection area to which the activation detection algorithm and the protection detection algorithm are applied.

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 the malfunction of the door 21 due to the 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 used as a reference value or algorithm for determining that a person or an object exists from a process in which the sensitivity of the automatic door sensor 3 is relatively low, that is, a signal value (physical value) detected by the automatic door sensor 3. Use something that makes it difficult to determine that a person or object is relatively present. As such an algorithm, there are an algorithm that prevents erroneous detection due to snowfall and an algorithm that prevents erroneous detection 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 used as a reference value or algorithm for determining that a person or an object exists from a process in which the sensitivity of the automatic door sensor 3 is relatively high, that is, a 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.

At this time, the door control unit 23 detects a detection signal by the activation detection algorithm, which is a signal corresponding to the detection result by the activation detection algorithm, and a detection by the protection detection algorithm, which is a signal according to the detection result by the protection detection algorithm. The door 21 is opened and closed based on the signal.
If a passerby or the like is detected by the protection detection algorithm when the door 21 is closed, the door control unit 23 stops the closing operation of the door 21 even if the door 21 is opened. Also, the door 21 may be closed at a low speed.

In the special detection area 51A, the detection result by the activation detection algorithm, which is a process in which the sensitivity of the automatic door sensor 3 is relatively lower than that of the protection detection algorithm, can be used for the drive control of the door 21. Here, the activation detection algorithm sets 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 to a person or an algorithm relative to the protection detection algorithm. It is the one that makes it difficult to judge that an object exists.

Further, in the special detection area 51A, the detection result by the protection detection algorithm, which is a process in which the sensitivity of the automatic door sensor 3 is relatively higher than that of the activation detection algorithm, can be used for the drive control of the door 21. Here, the protection detection algorithm relatives the reference value (threshold value) and algorithm for determining the existence of a person or an object from the signal value (physical value) detected by the automatic door sensor 3 to the activation detection algorithm. It is the one that makes it easy to judge that a person or an object exists.

From the above, in the special detection area 51A, the automatic door device (door control unit 23) operates based on the detection results of both the activation detection algorithm and the protection detection algorithm, so that the door 21 is unnecessary to open and close. It is possible to achieve both a reduction in the number of doors and an improvement in safety. The special detection area 51A constitutes the special detection area.

The detection area to which the protection detection algorithm is applied is required by the standard to 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 row and the third row 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 is an 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 regardless of the position of the door 21. There may be. 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 4th to 6th 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.

When the door 21 is closed, the small detection area 51C in the first row is detected only by the activation detection algorithm, and when the door 21 is open, the door 21 is used as a passerby or the like. It may be an invalid area so as not to falsely detect it. 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 by only the protection detection algorithm 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. 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 lowered from 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.

In the detection by the protection detection algorithm, 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 (that is, the background) and excluding it from the detection target is the activation detection. It may be longer than the stationary body detection time in the detection by the 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, it is possible to detect a long-time stoppage, so that safety can be improved. On the contrary, by making the stationary body detection time in the activation detection algorithm shorter than the stationary body detection time in the protection detection algorithm, the influence of disturbance can be suppressed, so that unnecessary opening and closing of the door 21 can be prevented.

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 controlling the exit invalidity, it is possible to suppress the deterioration of 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 with 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.

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

As shown in FIG. 3, first, the parameters required for processing such as the stationary body detection time are read and the initial settings are made (step S1). Next, the physical information obtained from the detection area 5 acquired by the detection unit 31 is acquired (step S2). Then, the activation detection algorithm is applied to the obtained physical information, and the detection process for determining whether or not there is a passerby or the like is performed (step S3). Further, a protection detection algorithm is applied to the obtained physical information, and a detection process for determining whether or not there is a passerby or the like is performed (step S4). Further, a doorway detection algorithm is applied to the obtained physical information, and a detection process for determining whether or not there is a passerby or the like is performed (step S5). Next, the detection signal (contact signal) or the detection information (data communication) is independently output to the automatic door device 2 based on the results of the detection processing by the activation detection algorithm and the protection detection algorithm (step S6).

In particular, in the special detection area 51A, both the activation detection algorithm and the protection detection algorithm are applied to the same physical information, and the detection process for determining whether or not there is a passerby or the like is performed.

The detection process (step S5) to which the doorway detection algorithm is applied may be deleted if necessary.

(Detection / background update control)
Next, the detection control common to each algorithm performed by the sensor control unit 32 and the background update control after the lapse of the stationary body detection time will be described with reference to the flowchart of FIG. The flowchart of FIG. 4 is repeated as necessary.

In the detection / background update control, first, the sensor control unit 32 is based on the light receiving amount storage value (background value as a reference for determination) stored in advance and the sensitivity parameter read in the initial setting in step S1. Then, 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 determining that the passerby is detected are calculated (step S221).

FIG. 5 is an explanatory diagram for explaining detection / background update control in the operation example of the automatic door system 1 according to the present embodiment. FIG. 5 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. 5, the sensitivity parameter is the amount of light received on the increasing side or the decreasing side with respect to the light receiving amount storage value (reference value) acquired at a predetermined time point 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. The smaller the sensitivity parameter, the higher the sensitivity.

In the example of FIG. 5, the increasing side threshold value is obtained by adding the sensitivity parameter to the received light 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 to determine the detection state of a passerby or the like when the light receiving amount changes within the stationary body detection time described later. Become. Further, in the example of FIG. 5, the decrease 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 detect a passerby or the like 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. It becomes. On the other hand, when the light receiving 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 non-detection state such as a passerby. The detection flag is set, for example, in the storage area of the automatic door device 2.

After calculating the increase side threshold value and the decrease side threshold value, as shown in FIG. 4, 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 equal to or less than 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 light receiving 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 light receiving 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 light receiving amount changes within the stationary body detection time (time for holding the background without updating) (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 storage value to the current light receiving amount (step S227).

(Exit invalidation control)
The sensor control unit 32 may perform exit invalidation control in the activation detection algorithm, but does not perform it in the protection detection algorithm. Hereinafter, the exit invalidation control will be described. In the exit invalidation control, first, the sensor control unit 32 determines whether or not the detection flag is turned on. When the detection flag is not turned on, the sensor control unit 32 ends the exit invalidation control while keeping the detection flag off.

On the other hand, when the detection flag is turned on, the sensor control unit 32 starts from the protection detection area 52A on the exit side of the small detection areas 52 set on the exit side (opposite side of the door 21) of the door 21. Based on the detection signal of, it is determined whether or not 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, the sensor control unit 32 turns off the detection flag. On the other hand, when the protection detection area 52A on the exit side is not in the non-detection state, the sensor control unit 32 ends the exit invalidation control with the detection flag turned on.

(Cross-crossing invalid control)
The sensor control unit 32 may perform cross-crossing invalidation control in the activation detection algorithm, but does not perform it in the protection detection algorithm. Hereinafter, the crossing invalidation control will be described. In the crossing invalidation control, first, the sensor control unit 32 determines whether or not the detection flag is turned on. When the detection flag is not turned on, the sensor control unit 32 ends the crossing invalidation control while keeping the detection flag off.

On the other hand, when the detection flag is turned on, the sensor control unit 32 in the direction in which the passerby crosses in front of the door 21 (that is, based on the movement vector of the passerby obtained from the change in the small detection area 51 in the detection state). , The direction along the door 21) is determined.

When the passerby is moving only in the direction across the front of the door 21, the sensor control unit 32 turns off the detection flag. On the other hand, when the passerby has not moved in the direction of crossing in front of the door 21, the sensor control unit 32 ends the crossing invalidation control with the detection flag turned on.

In the detection determination, the sensor control unit 32 determines whether or not the detection flag is turned on. When the detection flag is not turned on, the sensor control unit 32 determines that a passerby or the like is not detected. On the other hand, when the detection flag is turned on, the sensor control unit 32 determines that a passerby has been detected. These determination results are individually output to the automatic door device 2 (step S6).

As described above, the detection process by each algorithm is performed. The order of each algorithm may be changed. Moreover, some detection algorithms may be omitted. In addition, the detection signal by the activation detection algorithm and the doorway detection algorithm is output with different flags of different contacts or data communication packets, but it is not limited to this, and it is output with the same flag of the same contact or data communication packet. It doesn't matter. Wiring can be reduced when outputting with the same flag of the same contact or data communication packet.

According to the present embodiment, in the special detection area 51A, both the detection by the activation detection algorithm and the detection by the protection detection algorithm are performed. According to this embodiment, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time.

Further, since the detection for the same special detection area 51A is performed by using the activation detection algorithm and the protection detection algorithm, each has an independent detection area, and the detection area has an independent detection area. Compared to the case where the activation detection algorithm and the protection detection algorithm are executed individually by physically different sensors, it is not necessary to align the detection area to which the activation detection algorithm and the protection detection algorithm are applied. Become.

(First modification)
Next, it has a detection area 51D (third special detection area) near the fixed wall located on the door tail side of the door 21 when fully closed, and a passerby or the like using only the fixed wall side detection algorithm for the detection area 51D. A first modification example for detecting the above will be described. The detection area 51D is provided on the side where the open door 21 exists near the fixed wall in order to monitor the door tail side of the open door 21 so that passersby and the like do not come into contact with it, and the width thereof is at least the door 21. The width is larger than the width of the door 21 and the depth (direction perpendicular to the fixed wall) is at least the thickness of the door 21 or more. FIG. 6 is a block diagram showing an automatic door system 1 according to a first modification of the present embodiment. As shown in FIG. 6, the automatic door sensor 3 of the first modification is provided with a sensor control unit 32 capable of executing a fixed wall side detection algorithm in addition to other detection algorithms. The fixed wall side detection algorithm is executed only when the door 21 is in the open operation (including the fully closed state). The fixed wall side detection algorithm may be executed at any stage in the flow chart of FIG. 3 after step S2 and before step S6. This makes it possible to improve the safety of the door tail side of the door 21. In this embodiment, the detection unit 31 and the sensor control unit 32 that executes the fixed wall side detection algorithm constitute the fixed wall side detection means. In executing the fixed wall side detection algorithm, the detection flag is set according to the one described in the detection / background update control above, so the description is omitted.

Not limited to the above, the fixed wall side detection algorithm may be always executed. Further, the width of the detection area 51D may be dynamically changed according to the position of the door 21. Further, in the case of the structure in which the door 21 is housed in the door pocket, the detection area 51D may be provided around the opening of the door pocket in order to monitor so that the fingers and the like of a passerby are not pinched. Furthermore, the order of each algorithm may be changed.

Furthermore, some detection algorithms may be omitted. In addition, the detection signal by the activation detection algorithm, doorway detection algorithm, and fixed wall side detection algorithm is output with the same flag of the same contact or data communication packet, but it is not limited to this, but it is not limited to this, and it is not limited to this. It may be output with different flags of the packet, and the detection signal by the fixed wall side detection algorithm may be output with the same contact or the same flag of the data communication packet as the detection signal by the protection detection algorithm.

Also in the first modification, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time. Further, also in the first modification, the detection for the same special detection area 51A is performed by using the activation detection algorithm and the protection detection algorithm, so that the detection areas are independent of each other. The activation detection algorithm and the protection detection algorithm are applied as compared with the case where the activation detection algorithm and the protection detection algorithm are individually executed by physically different sensors for the detection area. Alignment of the detection area becomes unnecessary. Further, according to the first modification, it is possible to improve the safety of the fixed wall side (door tail side of the door 21).

(Second modification)
Next, a second modification for performing detection based on the captured image will be described. FIG. 7 is a block diagram showing an automatic door system 1 according to a second modification of the present embodiment. As shown in FIG. 7, the automatic door sensor 3 of the second 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 image pickup unit 313 takes an image of 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 the detection signal of the passerby or the like to the automatic door device 2.

In the second modification, the image pickup unit 313 can acquire a highly accurate image, and based on this, a passerby or the like can be detected with high accuracy, so that unnecessary opening and closing of the door can be reduced and safety can be improved. It is possible to achieve both more effectively. Further, also in the second modification, the detection for the same special detection area 51A is performed by using the activation detection algorithm and the protection detection algorithm, so that the detection areas are independent of each other. The activation detection algorithm and the protection detection algorithm are applied as compared with the case where the activation detection algorithm and the protection detection algorithm are individually executed by physically different sensors for the detection area. Alignment of the detection area becomes unnecessary.

(Third modification example)
Next, a third modification example of performing detection using the Doppler effect by radio waves will be described.
FIG. 8 is a block diagram showing an automatic door system 1 according to a third modification of the present embodiment.
As shown in FIG. 8, the automatic door sensor 3 of the third modification has a radio wave transmission / reception unit 314.
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 314 outputs a detection signal indicating an interference wave 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 radio wave transmission / reception unit 314, and outputs the detection signal of the passerby or the like to the automatic door device 2.

Also in the third modification, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time. Further, also in the third modification, the detection for the same special detection area 51A is performed by using the activation detection algorithm and the protection detection algorithm, so that the detection areas are independent of each other. The activation detection algorithm and the protection detection algorithm are applied as compared with the case where the activation detection algorithm and the protection detection algorithm are individually executed by physically different sensors for the detection area. Alignment of the detection area becomes unnecessary.

(Fourth modification)
Next, a more specific application example of the special detection area and the activation detection area for the sliding door of the draw type will be described. FIG. 9A is a plan view showing a detection area when fully closed, which is applied to a sliding door of a draw type as a detection area of the automatic door sensor according to the fourth modification of the present embodiment. FIG. 9B is a plan view showing a detection area at the time of full opening, which is applied to a sliding door of a draw type as a detection area of the automatic door sensor according to the fourth modification of the present embodiment.

As shown in FIG. 9A, the sensor control unit 32 (see FIG. 1 and the like) has the special detection area 51A described with reference to FIG. 2 in front of the two doors 21 in the fully closed state (lower side in FIG. 9A). Further, the sensor control unit 32 has an activation detection area 51B described with reference to FIG. 2 at a position ahead of the door 21 in the fully closed state with respect to the special detection area 51A. Further, the sensor control unit 32 has a second special detection area 51C described with reference to FIG. 2 on the movement path, that is, the doorway of the door 21 in the sliding door of the draw type. Further, the sensor control unit 32 has a third special detection area 51D described in the first modification in front of the fixed wall 211 and the second special detection area 51C.

In the fourth modification, when fully closed, the sensor control unit 32 performs detection by the doorway detection algorithm and the fixed wall side detection algorithm in the second special detection area 51C shown in FIG. 9A. In this case, the sensor control unit 32 may collectively output the detection results of the doorway detection algorithm and the fixed wall side detection algorithm. Further, the sensor control unit 32 performs detection by the fixed wall side detection algorithm in the third special detection area 51D shown in FIG. 9A. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the special detection area 51A and the activation detection area 51B shown in FIG. 9A.

On the other hand, when the sensor control unit 32 is fully opened, the sensor control unit 32 performs detection by the doorway detection algorithm and the closed protection detection algorithm in the second special detection area 51C shown in FIG. 9B. In this case, the detection results by the doorway detection algorithm and the closed protection detection algorithm may be output together. Here, the closed protection detection algorithm is one aspect of the protection detection algorithm, which detects a passerby or an object that stops at the opening of the door 21 when the door 21 is closed, and is pinched by the closing door 21 or the like. It is a detection algorithm for protecting a passerby or an object from a collision with the door 21. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the third special detection area 51D and the activation detection area 51B shown in FIG. 9B. Further, the sensor control unit 32 performs detection by the activation detection algorithm and the closed protection detection algorithm in the special detection area 51A shown in FIG. 9B.

According to the fourth modification, in the sliding door of the draw type, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time, and at the same time, the safety of the fixed wall side (door tail side of the door 21). Can also be improved. Further, also in the fourth modification, the detection for the same special detection area 51A is performed by using the activation detection algorithm and the protection detection algorithm, so that the detection areas are independent of each other. The activation detection algorithm and the protection detection algorithm are applied as compared with the case where the activation detection algorithm and the protection detection algorithm are individually executed by physically different sensors for the detection area. Alignment of the detection area becomes unnecessary.

(Fifth variant)
Next, a specific application example of the special detection area and the activation detection area for the folding door, which is an example of a folding door, will be described. FIG. 10A is a plan view showing a detection area when the door is fully closed, which is applied to the folding door as a detection area of the automatic door sensor according to the fifth modification of the present embodiment. FIG. 10B is a plan view showing a detection area when the door is fully opened, which is applied to the folding door as a detection area of the automatic door sensor according to the fifth modification of the present embodiment.

As shown in FIG. 10A, the sensor control unit 32 (see FIG. 1 and the like) has two substantially fan-shaped second doors on the respective movement paths of the two doors 21 in the folding door axially supported by the left and right side walls 212. 2 It has a special detection area 51C. Further, the sensor control unit 32 has a special detection area 51A in front of the door 21 between the two second special detection areas 51C. Further, the sensor control unit 32 has an activation detection area 51B at a position farther from the door 21 than the special detection area 51A.

In the fifth modification, when the sensor control unit 32 is fully closed, the sensor control unit 32 performs detection by the doorway detection algorithm and the open protection detection algorithm in the second special detection area 51C shown in FIG. 10A. Further, the sensor control unit 32 performs detection by the activation detection algorithm and the open protection detection algorithm in the special detection area 51A shown in FIG. 10A. Here, the open protection detection algorithm is one aspect of the protection detection algorithm, and is a door 21 that opens by detecting a passerby or an object that enters between the door 21 and the fixed wall when the door 21 opens. It is a detection algorithm that protects passers-by and objects from collision with the door 21 such as being pinched by. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the activation detection area 51B shown in FIG. 10A.

On the other hand, when the sensor control unit 32 is fully opened, the sensor control unit 32 performs detection by the doorway detection algorithm and the closed protection detection algorithm in the second special detection area 51C shown in FIG. 10B. Further, the sensor control unit 32 performs detection by the activation detection algorithm and the closed protection detection algorithm in the special detection area 51A shown in FIG. 10B. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the activation detection area 51B shown in FIG. 10B.

According to the fifth modification, in the folding door, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time. Further, also in the fifth modification, the detection for the same special detection area 51A is performed by using the activation detection algorithm and the protection detection algorithm, so that the detection areas are independent of each other. The activation detection algorithm and the protection detection algorithm are applied as compared with the case where the activation detection algorithm and the protection detection algorithm are individually executed by physically different sensors for the detection area. Alignment of the detection area becomes unnecessary.

(Sixth modification)
Next, a specific application example of the special detection area and the activation detection area for the glide door, that is, the balance door, which is another example of the folding door, will be described. FIG. 11A is a plan view showing a detection area when the door is fully closed, which is applied to the glide door as the detection area of the automatic door sensor according to the sixth modification of the present embodiment. FIG. 11B is a plan view showing a detection area when the door is fully opened, which is applied to the glide door as the detection area of the automatic door sensor according to the sixth modification of the present embodiment.

As shown in FIG. 11A, the sensor control unit 32 (see FIG. 1 and the like) has second special detection areas 51C-1 and 51C-2 on the respective movement paths of the two doors 21 in the glide door. In the example of FIG. 11A, in the door 21, the door tip 21a protrudes rearward (upward in FIG. 11A) and the door tail 21b protrudes forward (downward in FIG. 11A) with respect to the position of the door 21 in the fully closed state. It opens and closes as if it were. Therefore, the second special detection areas 51C, 51C-1, and 51C-2 are the second special detection area 51C on the fully closed door 21, the second special detection area 51C-1 on the front side, and the rear side. It has a second special detection area 51C-2. Further, the sensor control unit 32 has a front side special detection area 51A-1 in front of the door 21 between the two front side second special detection areas 51C-1. Further, the sensor control unit 32 has an activation detection area 51B-1 on the front side at a position farther forward from the door 21 than the special detection area 51A-1 on the front side. Further, the sensor control unit 32 has a special detection area 51A-2 on the rear side behind the second special detection area 51C-2 on the rear side. Further, the sensor control unit 32 has an activation detection area 51B-2 on the rear side at a position rearward from the door 21 with respect to the special detection area 51A-2 on the rear side.

In the sixth modification, when the sensor control unit 32 is fully closed, the sensor control unit 32 detects in the second special detection areas 51C, 51C-1, 51C-2 shown in FIG. 11A by the doorway detection algorithm and the open protection detection algorithm. I do. Further, the sensor control unit 32 performs detection by the activation detection algorithm and the open protection detection algorithm in the special detection areas 51A-1 and 51A-2 shown in FIG. 11A. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the activation detection areas 51B-1 and 51B-2 shown in FIG. 11A.

On the other hand, when the sensor control unit 32 is fully opened, the sensor control unit 32 performs detection by the doorway detection algorithm and the closed protection detection algorithm in the second special detection areas 51C, 51C-1 and 51C-2 shown in FIG. 11B. Further, the sensor control unit 32 performs detection by the activation detection algorithm and the closed protection detection algorithm in the special detection areas 51A-1 and 51A-2 shown in FIG. 11B. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the activation detection areas 51B-1 and 51B-2 shown in FIG. 11B.

According to the sixth modification, in the glide door, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time. Further, as in the special detection area 51A-1, the activation detection algorithm and the protection detection algorithm are used to detect the same special detection area 51A-2, so that they are independent of each other. The activation detection algorithm and the protection detection algorithm are compared with the case where the activation detection algorithm and the protection detection algorithm are individually executed by physically different sensors for the detection area. It is not necessary to align the detection area to which is applied.

(7th modification)
Next, a specific application example of the special detection area and the activation detection area for the hinged door will be described. FIG. 12A is a plan view showing a detection area when the door is fully closed, which is applied to a hinged door as a detection area of the automatic door sensor according to the seventh modification of the present embodiment. FIG. 12B is a plan view showing a detection area when the door is fully opened, which is applied to the hinged door as the detection area of the automatic door sensor according to the seventh modification of the present embodiment.

As shown in FIG. 12A, the sensor control unit 32 (see FIG. 1 and the like) has two second units having a substantially fan shape on the movement paths of the two doors 21 in the hinged doors pivotally supported by the left and right side walls 212. It has a special detection area 51C. Further, the sensor control unit 32 has a special detection area 51A in front of the door 21 between the two second special detection areas 51C. Further, the sensor control unit 32 has an activation detection area 51B at a position farther from the door 21 than the special detection area 51A.

In the seventh modification, when fully closed, the sensor control unit 32 performs detection by the doorway detection algorithm and the open protection detection algorithm in the second special detection area 51C shown in FIG. 12A. Further, the sensor control unit 32 performs detection by the activation detection algorithm and the open protection detection algorithm in the special detection area 51A shown in FIG. 12A. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the activation detection area 51B shown in FIG. 12A.

On the other hand, when the sensor control unit 32 is fully opened, the sensor control unit 32 performs detection by the doorway detection algorithm and the closed protection detection algorithm in the second special detection area 51C shown in FIG. 12B. Further, the sensor control unit 32 performs detection by the activation detection algorithm and the closed protection detection algorithm in the special detection area 51A shown in FIG. 12B. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the activation detection area 51B shown in FIG. 12B.

According to the seventh modification, in the hinged door, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time. Further, also in the seventh modification, the detection for the same special detection area 51A is performed by using the activation detection algorithm and the protection detection algorithm, so that the detection areas are independent of each other. The activation detection algorithm and the protection detection algorithm are applied as compared with the case where the activation detection algorithm and the protection detection algorithm are individually executed by physically different sensors for the detection area. Alignment of the detection area becomes unnecessary.

(8th modification)
Next, a specific application example of the special detection area and the activation detection area for the rotating door will be described. FIG. 13A is a plan view showing a detection area when the door is pinched, which is applied to a rotating door as a detection area of the automatic door sensor according to the eighth modification of the present embodiment. FIG. 13B is a plan view showing a detection area during passage applied to a rotating door as a detection area of the automatic door sensor according to the eighth modification of the present embodiment.

As shown in FIG. 13A, the sensor control unit 32 (see FIG. 1 and the like) has a second special detection on the movement path of the door 21 of the rotary door that rotates inside the tubular casing 212 provided with the entrance / exit 212a. It has an area 51C. Further, the sensor control unit 32 has a special detection area 51A outside the entrance / exit 212a adjacent to the second special detection area 51C. Further, the sensor control unit 32 has an activation detection area 51B at a position outside the door 21 from the special detection area 51A.

In the eighth modification, the sensor control unit 32 performs detection by the doorway detection algorithm and the door pinch protection detection algorithm in the second special detection area 51C shown in FIG. 13A when the door is pinched. Here, the door pinch protection detection algorithm is one aspect of the protection detection algorithm, and is a door 21 such as pinching by a rotating door 21 by detecting a passerby or an object entering the door pinch portion of the door 21. It is a detection algorithm that protects passers-by and objects from collisions with. Further, the sensor control unit 32 performs detection by the activation detection algorithm and the door pinch protection detection algorithm in the special detection area 51A shown in FIG. 13A. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the activation detection area 51B shown in FIG. 13A.

On the other hand, the sensor control unit 32 performs detection by the doorway detection algorithm in the second special detection area 51C shown in FIG. 13B when passing. Further, the sensor control unit 32 performs detection by the activation detection algorithm in the special detection area 51A and the activation detection area 51B shown in FIG. 13B.

According to the eighth modification, in the rotating door, it is possible to reduce unnecessary opening and closing of the door and improve safety at the same time. Further, also in the eighth modification, the detection for the same special detection area 51A is performed by using the activation detection algorithm and the protection detection algorithm, so that the detection areas are independent of each other. The activation detection algorithm and the protection detection algorithm are applied as compared with the case where the activation detection algorithm and the protection detection algorithm are individually executed by physically different sensors for the detection area. Alignment of the detection area becomes unnecessary.

As the automatic door sensor 3, instead of the above-mentioned infrared rays, images, and radio waves, ultrasonic waves or distance measuring sensors may be used.

Aspects of the present invention are not limited to the individual embodiments described above, and for example, instead of using the activation detection algorithm as the activation detection means and the protection detection algorithm as the protection detection means, physically. A start-up sensor device and a protection sensor device, which are separate but have overlapping detection areas, may be used. In this case, the activation sensor device has the same function as the activation detection algorithm for detecting a passerby or an object, for example, a far-infrared sensor device, and the protection sensor device has a function for detecting a passerby or an object. It is equivalent to the protection detection algorithm, for example, a near-infrared sensor device. The activation sensor device may be a radio wave type sensor device, and the protection sensor device may be a near infrared type sensor device.

Aspects of the present invention are not limited to the individual embodiments described above, but 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 above-mentioned contents. 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, 3 Automatic door sensor, 31 Detection unit, 32 Sensor control unit, 51A special detection area, 51C 2nd special detection area, 51D 3rd special detection area

Claims (6)

It is provided with an activation detecting means for detecting a person or an object and a protective detecting means for detecting a person or an object more easily than the activation detecting means.
It has a special detection area that detects the same physical information acquired to detect a person or an object by both the activation detection means and the protection detection means, and outputs each detection result individually. Possible automatic door sensor. It is provided with an activation detecting means for detecting a person or an object and a protective detecting means for detecting a person or an object more easily than the activation detecting means.
It has a special detection area for detection by the activation detection means and the protection detection means, and each detection result can be output individually.
An automatic door sensor having a further activation detection area in which detection is performed 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. It further includes a doorway detection means for detecting a person or an object on the movement path of the door , and has a second special detection area for detection by the doorway detection means and the protection detection means, and the detection results of each are The automatic door sensor according to any one of claims 1 and 2, which is output individually or collectively. The automatic door sensor according to claim 3, wherein the detection of the protective detection means in the second special detection area is performed only when the door is in the fully open position. It further includes a fixed wall side detecting means for detecting a person or an object in the vicinity of the fixed wall portion of the door , and has a third special detection area for detecting by the fixed wall side detecting means and the protective detecting means. The automatic door sensor according to any one of claims 1 to 4, wherein the detection results are output individually or collectively. 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 the exclusion from the detection target is determined by the activation detection means. The automatic door sensor according to any one of claims 1 to 5, which is longer than the stationary body detection time in detection.

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