JP7201175B2 - switchgear - Google Patents

Description

The present invention relates to a switchgear.

In the opening/closing device, methods for detecting obstacles during the descent of the shutter curtain are roughly divided into two methods. One is a "contact type" that senses an obstacle by contacting the lower part of the seat plate of the shutter curtain with the obstacle (see Patent Document 1). The other is a "non-contact type" that senses an obstacle before the shutter curtain contacts the obstacle (see Patent Document 2).

JP 2017-198068 A JP 2017-145554 A

The "contact type" includes a load sensing method using motor overcurrent, a seat plate lever sensing method using a lever provided at the bottom of the seat plate, and the like. Further, the "non-contact type" includes those using a photoelectric sensor, a multi-optical axis sensor, a radar sensor, etc., which are mainly used as sensors for vehicle detection. There are many sensors in each, and a plurality of sensing methods may be used together. In addition, it is necessary to consider the selection of sensors according to the application and the installation method according to the sensors. In addition, many operations such as sensitivity adjustment and optical axis adjustment are involved at the time of installation.

SUMMARY OF THE INVENTION In consideration of the above facts, an object of the present invention is to integrate parts in a switchgear and to improve safety and reliability.

An opening/closing device according to a first aspect includes an opening/closing body movable between an open position and a closed position, a 3D camera for photographing a movement range of the opening/closing body, and an image captured by the 3D camera. and a control unit for controlling the movement of the opening/closing body based on the above.

In this opening/closing device, the movement range of the opening/closing body is photographed by a 3D camera to control the movement of the opening/closing body. By using a 3D camera, the movement of the opening/closing body can be sensed, and the position and movement of interfering objects such as obstacles in the movement range can be sensed, so that the opening/closing device can be used safely. In addition, work such as sensitivity adjustment and optical axis adjustment in the case of using a photoelectric sensor or the like becomes unnecessary, and it is possible to consolidate parts and improve the efficiency of installation work. Consolidation of parts increases reliability.

A second aspect is the opening/closing device according to the first aspect, wherein the controller moves the opening/closing body in the opening direction when the 3D camera senses that an interfering body has entered the movement range. have a mode.

The control unit of this switchgear has an activation mode. A passage is formed by moving the opening/closing body to the open position. This mode is applied when interference is allowed through the passage by some means of authentication, or when this mode has been previously set to ON. In this mode, when an interfering body enters the movement range, the control section moves the opening/closing body in the opening direction. This mode can be used when the opening/closing body is stopped at the closed position, when it is stopped at a position other than the open position and the closed position, and when it is moving to the closed position. Movement of the closure to the closed position may be disabled while the interfering body is sensed.

A third aspect is the opening/closing device according to the first aspect or the second aspect, wherein the control unit detects that an interfering body is present in the moving range by the 3D camera while the opening/closing body is moving to the closed position. When the presence is detected, the opening/closing body is reversely moved in the opening direction while performing a warning operation, and when the interference body is no longer present in the movement range or when the opening/closing body moves to the open position. It has an obstacle detection mode that terminates the warning operation.

The control unit of this switchgear has an obstacle detection mode. In this mode, when the 3D camera senses that there is an interfering object that acts as an obstacle when the opening/closing body moves to the closed position, the control unit performs a warning operation and reverses the movement of the opening/closing body in the opening direction. Let Also, the warning operation is terminated when the interfering body is no longer present in the movement range or when the opening/closing body moves to the open position. As a result, contact between the opening/closing body and the interfering body is suppressed, so that the opening/closing device can be used safely.

A fourth aspect is the opening/closing device according to the second aspect or the third aspect, wherein when the interfering body is no longer present in the movement range, the control unit moves the opening/closing body to the closed position while performing a warning operation. It has an automatic closing mode that moves to

The control unit of this switchgear has an automatic closing mode. In this mode, when the interfering body is no longer present within the movement range of the opening/closing body, the control section performs a warning operation and moves the opening/closing body to the closed position. In other words, when an interfering body is detected, the opening/closing body is temporarily moved to the open position in order to avoid contact between the opening/closing body and the interfering body. move to Thereby, the opening/closing body can be automatically moved to the closed position.

A fifth aspect is the opening/closing device according to any one of the second to fourth aspects, wherein the control unit stops the opening/closing body at a position different from the open position and the closed position. when it senses that an interfering body exists in the movement range for a predetermined time or more, the operation of the opening/closing body is invalidated, and when the interference body is no longer present in the movement range, the opening/closing body is operated. It has a danger prediction mode that enables

The control unit of this switchgear has a danger prediction mode. In this mode, when the opening/closing body is stopped at a position different from the open position and the closed position, that is, when it is stopped at an intermediate position, the interfering body must exist within the movement range for a certain period of time or more. is detected, the operation of the opening/closing body is invalidated. As a result, the opening/closing body cannot be manually moved to the closed position, so contact between the opening/closing body and the interfering body due to erroneous operation can be suppressed. After that, when the interfering body disappears from the moving range, the opening/closing body can be manually operated.

A sixth aspect is the opening/closing device according to any one of the first to fifth aspects, wherein the controller controls that, when the opening/closing body is stopped at the closed position, an interfering body is present in the movement range. It has a crime prevention monitoring mode in which a warning operation is performed when it is sensed that it exists for a certain time or more after entering, and the warning operation is terminated when the interfering object is no longer present in the movement range.

The control unit of this switchgear has a crime prevention monitoring mode. In this mode, when the opening/closing body is in the closed position, the control section performs a warning operation when it senses that the interfering body has entered the movement range and has been there for a certain period of time or longer. Also, when the interfering object is no longer present in the movement range, the control unit terminates the warning operation. Thereby, a crime prevention function can be improved.

A seventh aspect is the opening/closing device according to any one of the second to sixth aspects, wherein the controller controls the opening/closing body to move to the closed position while the interference body exists in the movement range. , when the opening/closing body contacts the interfering object, or when the interfering object exists in the movement range for a predetermined time or longer, the 3D camera performs recording.

In this opening/closing device, when the opening/closing body moves to the closed position while the interference body exists within the movement range, when the opening/closing body comes into contact with the interference body, or when the interference body exists within the movement range for a certain period of time or more. When you are in, the control unit records with the 3D camera. Compared to the case where a security camera is installed separately for recording, since the parts are integrated, the automatic recording function can be realized at low cost.

ADVANTAGE OF THE INVENTION According to this invention, the integration of the parts in an opening-and-closing apparatus and the improvement of safety and reliability are attained.

FIG. 4 is a front view showing a state in which an interfering body (person) exists within the movement range of the opening/closing body in the opening/closing device according to the present embodiment; FIG. 4 is a front view showing a state in which an interfering object (vehicle) exists in the movement range of the opening/closing body in the opening/closing device according to the present embodiment; It is a side view which shows the opening-and-closing apparatus which concerns on this embodiment. It is a block diagram which shows a 3D camera and a control part. FIG. 10 is a flowchart showing control for checking the state of the shutter; FIG. 10 is a flow chart showing control in the first half of the obstacle detection mode; FIG. 10 is a flow chart showing control in the latter half of the obstacle detection mode; FIG. 4 is a flow chart showing control in automatic closing mode; FIG. 4 is a flow diagram showing control of activation mode; FIG. 10 is a flow chart showing control in the first half of the crime prevention monitoring mode; FIG. 10 is a flowchart showing control in the latter half of the crime prevention monitoring mode; It is a flow figure which shows control of abnormal mode.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the present invention will be described based on the drawings. 1 to 3, the opening/closing device 10 according to this embodiment is, for example, a shutter device, and includes an opening/closing body 12, a 3D camera 14, and a control section 16. As shown in FIG.

The opening/closing body 12 is, for example, a shutter curtain. Hereinafter, the opening/closing body 12 may be simply referred to as a "shutter". The structure of the opening/closing body 12 is arbitrary, but in the illustrated example, the opening/closing body 12 is configured by connecting a plurality of horizontally extending slats 12A and connecting a slat 12B at the bottom. The opening/closing body 12 is movable between an open position O and a closed position C along a pair of left and right rails 18 .

A shutter case 20 is provided at the upper end of the rail 18 . The opening/closing body 12 moves to the open position O by being wound around the drum 22 (FIG. 3) in the shutter case 20, and moves to the closed position C by being unrolled from the drum. Here, the open position O is a position where the lowermost slat 12B is raised to the entrance of the shutter case 20. As shown in FIG. The closed position C is a position where the lowermost slat 12B contacts the lower frame 24 . The "open position" can also be called the "open state", and the "closed position" can also be called the "closed state". A passage 26 is formed between the pair of rails 18 when the opening/closing body 12 is not in the closed position C. As shown in FIG.

The 3D camera 14 is an imaging device for photographing the movement range H of the opening/closing member 12, and is, for example, a TOF camera (Time-of-Flight Camera) capable of measuring three-dimensional information using the flight time of light. is. A TOF camera can recognize the shape of an object and the distance to the object (depth information). By using infrared image recognition, it is possible to perform such recognition even in the dark. The installation position of the 3D camera 14 is a position where part or all of the moving range H of the opening/closing body 12 can be photographed.

In the examples shown in FIGS. 1 and 3 , the 3D camera 14 is installed on the bottom surface of the shutter case 20 . In this arrangement, the substantially lower half of the moving range H of the opening/closing body 12 including the closed position C becomes the photographing range R. As shown in FIG. In addition, in the example shown in FIG. 2, the 3D camera 14 is installed at the end of the shutter case 20 in the longitudinal direction. In this arrangement, the entire moving range H of the opening/closing body 12 becomes the photographing range R. As shown in FIG.

In FIG. 4 , the control unit 16 is a control device that controls the movement of the opening/closing body 12 based on the image captured by the 3D camera 14 . This control unit 16 has, for example, a shutter control panel 28 and an image processing sensor 30 . The shutter control panel 28 is a part that controls the movement and stoppage of the opening/closing body 12, and is also provided in a general shutter device. The shutter control panel 28 includes a power supply section 32 of AC 100V or 200V and a shutter control board 34 . Various contacts are provided on the shutter control board 34 . The contacts include, for example, an open input 41, an open input (opening height control) 42, a stop input 43, a close input 44, an obstacle sensing input 45 and a raise/lower signal output 46.

On the other hand, the image processing sensor 30 includes a power supply unit 48, a microcomputer 50, a 7-segment display unit 58, a driver 60, a 3D camera 14, an LED lamp (power lamp 61), an LED lamp (operation lamp 62), an LED lamp (warning lamp 63 ), buzzer 64, and SD card 65. The SD card 65 may be replaceable. Additionally, the image processing sensor 30 may include a communication module 66 . The communication module 66 is, for example, a WiFi module or a Bluetooth module. Providing the communication module 66 enables wireless communication between the image processing sensor 30 and a communication terminal 68 such as a smartphone. "SD", "WiFi" and "Bluetooth" are all registered trademarks.

Note that the 3D camera 14 may be independent from the image processing sensor 30 . In that case, since the image processing sensor 30 can be made compact, its installation is facilitated. Further, since the signal line connecting the image processing sensor 30 and the shutter control panel 28 can be accommodated in the shutter case 20, it is possible to prevent the signal line from being short-circuited to operate the shutter.

The 7-segment display section 58 is used to display various information and change settings. The LED lamp (warning lamp 63) and buzzer 64 operate during the warning operation. The SD card 65 is used for recording to save the video shot by the 3D camera 14 .

The image processing sensor 30 is provided with various contacts. The contacts include, for example, a first start (open) output 51, a second start (open) output 52, a stop output 53, a close output 54, a first obstacle sense output 55, and a second obstacle sense output 56. A first start (open) output 51 is connected to the open input 41 on the shutter control board 28 . Similarly, a second actuation (open) output 52 is connected to the open input (opening height control) 42 . Stop output 53 is connected to stop input 43 . Close output 54 is connected to close input 44 . First obstacle sense output 55 is connected to obstacle sense input 45 . Further, the image processing sensor 30 is provided with a recording input 70 connected to, for example, a human sensor 72, and a signal from the human sensor 72 can be used as a trigger for starting and stopping recording. .

The parameters of the second start (open) output 52 and the second obstacle sensing output 56 marked with "*" can be changed by setting. As an example, it is possible to change "detection target setting" and "detection area setting". In the "detection target setting", for example, one of "human detection", "vehicle detection", or "human and vehicle detection" can be selected. In the "detection area setting", "first area near switchgear" or "second area away from switchgear" can be selected. The first area can be detected by the 3D camera 14 . A long range sensor (not shown) is connected to the second obstacle sensing output 56 to enable detection of the second area.

Next, the contents of various controls by the control unit 16 will be described with reference to the flowcharts of FIGS. 5 to 12. FIG. The control unit 16 has an obstacle detection mode M1, a danger prediction mode M2, an automatic closing mode M3, a start mode M4, a security monitoring mode M5, and an abnormality mode M6.

FIG. 5 shows a flowchart showing the control of the shutter state confirmation T1. In the shutter state check T1, the activation mode M4 or the security monitoring mode M5 is first executed. As an example, if some means of authentication allows the interfering object 40 shown in FIGS. 1 and 2 to pass through the passageway 26, or if this mode has previously been set to ON, the activation mode M4 is activated. is executed. Otherwise, the crime prevention monitoring mode M5 is executed.

Next, when the shutter is moving in step S1, the obstacle detection mode M1 is executed. If the shutter has not moved in step S1, the process proceeds to step S2. If the shutter is stopped at the lower limit (at the closed position C) in step S2, the warning lamp 63 is turned off in step S3, and the process returns to the shutter state check T1. In step S2, if the shutter is stopped at a position other than the lower limit (stopped at a position other than the closed position C), the danger prediction mode M2 is executed.

In the obstacle detection mode M1, the controller 16 performs a warning operation when the 3D camera 14 senses that the interfering body 40 exists in the moving range H while the opening/closing body 12 is moving to the closed position C. The opening/closing body 12 is reversely moved in the opening direction, and when the interfering body 40 no longer exists in the movement range H or when the opening/closing body 12 moves to the open position O, the warning operation is terminated. In this mode, the interferer 40 is an obstacle.

FIG. 6 shows a flowchart showing the first half of control in the obstacle detection mode M1. First, if the shutter is moving in step S21, the process proceeds to step S22, and if the shutter is not moving, the process returns to shutter state confirmation T1. If there is an obstacle in the detection area of the 3D camera 14 (moving range H of the opening/closing member 12) in step S22, the process proceeds to step S23. If there is no individual setting for obstacle sensing in step S23, the obstacle sensing output is turned ON in step S24. This means that the first obstacle sensing output 55 in FIG. 4 is turned ON. This is input to the obstacle sense input 45 of the shutter control board 28 . As a result, the shutter control panel 28 reverses and raises the shutter (opening/closing body 12).

The individual setting for obstacle sensing in step S23 is parameter setting for the second activation (open) output 52 and the second obstacle sensing output 56 in FIG. With this setting, the interfering object 40 to be detected may be selected from "human detection", "vehicle detection", or "human and vehicle detection". The interfering object 40 shown in FIG. 1 is a person, and the interfering object 40 shown in FIG. 2 is a vehicle. When "vehicle detection" is selected, it is also possible to control the height at which the opening/closing body 12 opens (the height of the slat 12B), for example, so that the vehicle can pass through.

If there is an individual setting for obstacle sensing, the process proceeds to step S33. When a person enters the detection area (moving range H of opening/closing member 12) in step S33, the obstacle detection output (human detection) is turned ON. If no person has entered the detection area in step S33, the obstacle detection output (vehicle detection) is turned ON. After steps S24, S34, and S35, the process proceeds to step S25.

Subsequently, video recording by the 3D camera 14 is started in step S25. The video is saved on the SD card 65 in FIG. It should be noted that when the capacity of the SD card 65 approaches its limit, or when a write error occurs, the buzzer 64 or warning lamp 63 may be used to inform the user of the abnormality.

Further, the operation lamp 62 is turned on in step S26, and the buzzer 64 is turned on in step S27. Here, if the shutter is reversed and raised, the process proceeds to step S29 in FIG.

At step S29, the warning lamp 63 is turned on. The operation of the warning lamp 63 and the buzzer 64 in step S27 is a warning operation. By performing a warning operation during reversal ascent, it is possible to call attention to nearby people. Next, when the obstacle has disappeared from the detection area (moving range H of the opening/closing member 12) in step S30, the obstacle sensing output is turned off in step S31, and the operation lamp 62 is turned off in step S32. . After that, it shifts to the automatic closing mode M3. If the obstacle exists in the detection area in step S30, the process proceeds to step S37. If the shutter is fully open or stopped in step S37, the buzzer 64 is turned off in step S38, the video recording ends in step S39, and the process shifts to danger prediction mode M2. The shutter being fully open means that the opening/closing member 12 is at the open position O (see FIGS. 1 to 3). The shutter being stopped means that the opening/closing body 12 is stopped between the open position O and the closed position C. As shown in FIG.

Next, the danger prediction mode M2 will be described with reference to FIG. In the danger prediction mode M2, the control unit 16 determines that the interfering body 40 exists in the moving range H for a certain time or longer when the opening/closing body 12 is stopped at a position different from the open position O and the closed position C. is sensed, the operation of the opening/closing body 12 is disabled, and when the interfering body 40 no longer exists in the moving range H, the operation of the opening/closing body 12 is enabled.

As an example, if an obstacle exists in the shutter descent line (moving range H of opening/closing member 12) in step S4, the obstacle detection output is turned ON in step S5, and the operation lamp 62 is turned on in step S6. becomes ON. This disables manual operation of the shutter. In step S4, if there is no obstacle on the shutter descent line, the process returns to the shutter state check T1.

In step S7, if the obstacle remains on the shutter descent line for X seconds, the warning lamp 63 is turned on in step S8, and the buzzer 64 is turned on in step S9. This "X seconds" can be set arbitrarily. If the obstacle does not stay on the shutter descent line for X seconds, the obstacle detection output is turned off in step S12, the operation lamp 62 is turned off in step S13, and the process returns to shutter state check T1.

After step S9, if there is an obstacle in the shutter descent line in step S10, the process loops back to step S8. When the obstacle disappears from the descent line of the shutter, the buzzer 64 is turned off in step S11, and the process proceeds to step S12.

Next, the automatic closing mode M3 will be explained. In the automatic closing mode M3, the control unit 16 moves the opening/closing member 12 to the closed position C while performing a warning operation when the interfering member 40 is no longer present in the movement range H. Specifically, the warning lamp 63 is turned on in step S40 of FIG. 8, and the buzzer 64 is turned on in step S41. At this time, by blinking the warning lamp 63 and intermittently turning on the buzzer 64, the occurrence of the abnormality can be clearly indicated. Subsequently, in step S42, the stop output 53 is turned ON, and this is input to the stop input 43 of the shutter control panel 28, thereby temporarily stopping the movement of the shutter (FIG. 4). Next, in step S43, the closing output 54 is turned ON, and this is input to the closing input 44 of the shutter control panel 28, thereby moving the shutter (opening/closing member 12) to the closed position C (FIG. 4). Then, in step S44, video recording ends, and the mode shifts to the obstacle detection mode M1.

In addition, when the opening/closing device 10 is a pipe shutter, there is a possibility that a child may grab the pipe and climb up, or the child may grab the pipe. In such a case, the shutter operation may be disabled and a warning may be displayed using the buzzer 64 and warning lamp 63 .

Next, start mode M4 will be described. In activation mode M4, the control unit 16 moves the opening/closing member 12 in the opening direction when the 3D camera 14 senses that the interfering member 40 has entered the movement range H. The opening direction is the direction in which the opening/closing body 12 moves toward the open position O. As shown in FIG. The startup mode M4 is executed both while the opening/closing body 12 is moving and while it is stopped. Movement of the opening/closing body 12 to the closed position C is prohibited while the interfering body 40 is being sensed.

FIG. 9 shows a flow chart showing the control of the startup mode M4. When the interfering body 40 enters the detection area (moving range H of the opening/closing body 12) in step S45, the start (open) output 51 (FIG. 4) is turned ON in step S46, and the operation lamp 62 is turned on in step S47. becomes ON. A start (open) output 51 is input to an open input 41 of the shutter control panel 28 to raise the shutter. In step S46, instead of the activation (open) output 51, the activation (open) output 52 (FIG. 4) is turned ON, and the height at which the opening/closing body 12 opens (the height of the slat 12B) is adjusted to the height at which the vehicle passes, for example. It may be controlled to be as high as possible.

If the interfering object 40 has not entered the detection area in step S45, the start (open) output 51 is turned off in step S54, the operation lamp 62 is turned off in step S53, and the process returns to step S45.

If the shutter is raised in step S48, the process proceeds to step S49. If the shutter is not lifted in step S48, it is recorded in the history in step S54, and the process returns to step S45.

In step S49, when the interfering object 40 does not enter the detection area, the start (open) output 51 is turned off in step S50, the operation lamp 62 is turned off in step S51, and the automatic closing mode M3 is activated. move to As a result, the shutter that was once opened by the approach of the interfering body 40 automatically closes after the interfering body 40 has passed.

If it is determined in step S49 that the interfering object 40 has not disappeared from the detection area, the process proceeds to step S55. If the shutter is fully open in step S55, the process shifts to danger prediction mode M2. If the shutter is not fully open in step S55, the process returns to step S49.

Next, the crime prevention monitoring mode M5 will be explained. In the crime prevention monitoring mode M5, when the control unit 16 senses that the interfering body 40 has entered the moving range H while the opening/closing body 12 is stopped at the closed position C and has been present for a certain period of time or more after that, a warning operation is performed. , and when the interfering body 40 no longer exists in the moving range H, the warning operation is terminated. As a case where the interfering body 40 enters, it is conceivable that a person stops or an obstacle is placed.

FIGS. 10 and 11 show flow charts showing control in the crime prevention monitoring mode M5. In step S60, if the shutter is at the lower limit stop (the opening/closing body 12 is at the closed position C), the process proceeds to step S61; otherwise, the process returns to the shutter state check T1. If the interfering body 40 has entered the detection area in step S61, the operation lamp 62 is turned on in step S62. If not, the process returns to the shutter state check T1.

If the interfering body 40 stays in the detection area for X seconds in step S63, video recording is started in step S64, and the warning lamp 63 is turned on in step S65 of FIG. If the interfering body 40 has not stayed in the detection area for X seconds in step S63, the operation lamp 62 is turned off in step S72, and the process returns to shutter state check T1.

In step S66, if the interfering body 40 stays in the detection area for X seconds, the buzzer 64 is turned on in step S67. 62 is turned off, and the process returns to the shutter state check T1.

After step S67, when the interfering object 40 disappears from the detection area in step S68, the buzzer 64 is turned off in step S69, and the operation lamp 62 is turned off in step S70. Further, in step S71, video recording is completed, and the process returns to shutter state check T1. If the interfering object 40 does not disappear from the detection area in step S68, the process returns to step S67 and loops.

Next, referring to FIG. 12, the abnormal mode M6 will be described. When an abnormality occurs, the warning lamp 63 is turned on in step S12, and the abnormality is recorded in the history in step S81. By blinking the warning lamp 63, the occurrence of an abnormality can be clearly indicated. Subsequently, the stop output 53 is turned ON in step S82, and the buzzer 64 is turned ON in step S83. When the stop output 53 is input to the stop input 43 of the shutter control panel 28, the shutter stops. Further, if the shutter is stopped in step S84, the buzzer 64 is turned off in step S85, otherwise the process returns to step S82 and loops. After step S85, video recording ends in step S86, and the process returns to shutter state check T1.

As described in the obstacle detection mode M1, the security monitoring mode M5, and the like, when the opening/closing body 12 moves to the closed position C in a state where the interference body 40 exists in the movement range H, the control unit 16 Recording is performed by the 3D camera 14 when the opening/closing body 12 contacts the interfering body 40 or when the interfering body 40 exists in the movement range H for a predetermined time or longer.

(action/effect)
This embodiment is configured as described above, and the operation thereof will be described below. In the opening/closing device 10 according to the present embodiment, the movement range H of the opening/closing body 12 is photographed by the 3D camera 14 to control the movement of the opening/closing body 12 . By using the 3D camera 14, the movement of the opening/closing body 12 can be sensed, and the position and movement of the interfering body 40 such as an obstacle in the movement range H can be sensed, so that the opening/closing device 10 can be used safely. . In addition, work such as sensitivity adjustment and optical axis adjustment in the case of using a photoelectric sensor or the like becomes unnecessary, and it is possible to consolidate parts and improve the efficiency of installation work. Consolidation of parts increases reliability.

The control unit 16 has a startup mode M4. The passage 26 is formed by moving the opening/closing body 12 to the open position O. As shown in FIG. This mode is applied when the interfering body 40 is allowed to pass through the passage 26 by some means of authentication, or when this mode has been previously set to ON. In this mode, when the interfering body 40 enters the moving range H, the control section 16 moves the opening/closing body 12 in the opening direction. This mode is available when the opening/closing body 12 is stopped at the closed position C, when it is stopped at a position different from the open position O and the closed position C, and when it is moving to the closed position C. Available. Movement of the closure 12 to the closed position C may be disabled while the interfering body 40 is sensed.

The control unit 16 also has an obstacle detection mode M1. In this mode, when the 3D camera 14 senses the presence of an interfering body 40 that will become an obstacle when the opening/closing body 12 moves to the closed position C, the control unit 16 performs a warning operation while the opening/closing body 12 is closed. is reversely moved in the opening direction. Also, when the interfering body 40 no longer exists within the moving range H or when the opening/closing body 12 moves to the open position O, the warning operation is terminated. As a result, contact between the opening/closing member 12 and the interfering member 40 is suppressed, so that the opening/closing device 10 can be used safely.

Furthermore, the control unit 16 has an automatic closing mode M3. In this mode, when the interfering body 40 is no longer present within the movement range H of the opening/closing body 12, the control section 16 moves the opening/closing body 12 to the closed position C while performing a warning operation. In other words, when the interference body 40 is detected, the opening/closing body 12 is temporarily moved to the open position O to avoid contact between the opening/closing body 12 and the interference body 40, but when the possibility of contact disappears, The opening/closing member 12 is reversely moved to the closed position C. Thereby, the opening/closing body 12 can be automatically moved to the closed position C. As shown in FIG.

The control unit 16 also has a danger prediction mode M2. In this mode, when the opening/closing body 12 is stopped at a position different from either the open position O or the closed position C, that is, when it is stopped at an intermediate position, the interference body 40 remains within the movement range H for a certain period of time or more. When the presence is sensed, the operation of the opening/closing body 12 is invalidated. As a result, the opening/closing body 12 cannot be manually moved to the closed position C, so contact between the opening/closing body 12 and the interfering body 40 due to an erroneous operation can be suppressed. After that, when the interfering body 40 is no longer present in the moving range H, the opening/closing body 12 can be operated manually.

Furthermore, the control unit 16 has a crime prevention monitoring mode M5. In this mode, when the opening/closing body 12 is at the closed position C, the controller 16 performs a warning operation when it senses that the interfering body 40 has entered the moving range H and remains there for a certain period of time or longer. Further, when the interfering object 40 no longer exists within the moving range H, the control unit 16 terminates the warning operation. Thereby, a crime prevention function can be improved.

In this embodiment, when the opening/closing body 12 moves to the closed position C with the interference body 40 existing in the movement range H, when the opening/closing body 12 contacts the interference body 40, or when the movement range H is maintained for a certain period of time. When the interfering body 40 exists as described above, the control unit 16 performs recording by the 3D camera 14 . Compared to the case where a security camera is installed separately for recording, since the parts are integrated, the automatic recording function can be realized at low cost.

In the control unit 16 shown in FIG. 4, wiring is only a power line and a signal line connecting the image processing sensor 30 and the shutter control panel 28, so the image processing sensor 30 can be easily provided.

[Other embodiments]
An example of the embodiment of the present invention has been described above, but the embodiment of the present invention is not limited to the above, and can be modified in various ways without departing from the spirit of the present invention. Of course there is.

Although the shutter device is mentioned as an example of the opening/closing device 10, the opening/closing device 10 is not limited to this, and may be a door, various gates, or the like.

The configuration of the flow diagram is an example, and steps and operation modes can be added, changed, or deleted as appropriate. It is also possible to selectively use each operation mode.

10 opening/closing device 12 opening/closing body 14 3D camera 16 control unit 40 interference body
63 warning lamp
64 buzzer
C Closed position H Movement range O Open position M1 Obstacle detection mode M2 Danger prediction mode M3 Automatic closing mode M4 Start mode M5 Security monitoring mode

Claims (7)

an opening/closing body movable between an open position and a closed position;
a 3D camera for photographing the movement range of the opening/closing body;
a control unit that controls the movement of the opening/closing body based on the image captured by the 3D camera;
has
The control unit
an activation mode for moving the opening/closing body in an opening direction when the 3D camera senses that an interfering body has entered the movement range;
When the opening/closing body is stopped at a position different from the open position and the closed position, the operation of the opening/closing body is invalidated when it is sensed that an interfering body exists in the movement range for a predetermined time or longer. a danger prediction mode for validating the operation of the opening/closing body when the interference body is no longer present in the movement range;
A switchgear with When the 3D camera senses that an interfering body exists in the movement range while the opening/closing body is moving to the closed position, the control unit reverses the opening/closing body in the opening direction while performing a warning operation. 2. The opening/closing device according to claim 1 , having an obstacle detection mode in which the warning operation is terminated when the interference body is no longer present in the movement range or when the opening/closing body has moved to the open position. When an abnormality occurs in which the opening/closing body does not reversely move in the opening direction, the control section blinks a warning lamp, records the abnormality in history, stops the opening/closing body, and sounds a buzzer until the opening/closing body stops. 3. The opening/closing device according to claim 2, wherein the opening/closing device is operated and video recording by the 3D camera is finished after the opening/closing body is stopped. The control unit according to any one of claims 1 to 3, wherein the control unit has an automatic closing mode for moving the opening/closing member to the closed position while performing a warning operation when the interfering object is no longer present within the movement range. Switchgear as described. The control unit performs a warning operation when detecting that an interfering object has entered the movement range and has remained there for a predetermined time or longer while the opening/closing body is stopped at the closed position, and The switchgear according to any one of claims 1 to 4 , having a crime prevention monitoring mode in which the warning operation is terminated when the interfering object is no longer present. an opening/closing body movable between an open position and a closed position;
a 3D camera for photographing the movement range of the opening/closing body;
a control unit that controls the movement of the opening/closing body based on the image captured by the 3D camera;
has
The control unit performs a warning operation when detecting that an interfering object has entered the movement range and has remained there for a predetermined time or longer while the opening/closing body is stopped at the closed position, and A switchgear having a crime prevention monitoring mode in which a warning operation is terminated when the interfering object is no longer present. The control unit controls when the opening/closing body moves to the closed position while the interference body is present in the movement range, when the opening/closing body contacts the interference body, or when the movement range remains within the movement range for a certain period of time. 7. The opening/closing device according to any one of claims 1 to 6, wherein recording is performed by the 3D camera when an interfering object exists.

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