JPH06307157A - Automatic door control system - Google Patents

Abstract

PURPOSE:To improve the efficiency of air conditioning by diversifying the mode of the opening of a pair of doors and carrying out opening operation in an irreducible minimum of a demand. CONSTITUTION:Moving bodies on both sides of doors are detected on the basis of information from an image sensor. The positions and directions of movement of the moving bodies are arithmetically operated. When the moving bodies approach to the doors, the positions of the passage of the moving bodies are predicted on the basis of the arithmetically operated places and directions of movement of the moving bodies, and the target opening degrees of a pair of said doors are arithmetically operated respectively discretely on the basis of the predicted locations of passage. When the moving bodies withdraw, the target opening degrees of the doors are determined as full closing. A movement command signal is output so that a pair of the doors reach said arithmetically operated target opening degrees respectively. A pair of moving means such as a motor receive the movement command signal, and move a pair of the doors respectively discretely.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for a pair of doors that move on the same vertical plane to open and close.

[0002]

2. Description of the Related Art Generally, a system for controlling a double-opening type automatic door has a pair of infrared detectors arranged on both sides of the door in the vicinity of the door. The doors are fully opened at the same time and closed when a person goes out of the detection range of the detector. However, in such a simple control, even if one person passes, it is necessary to fully open it more than necessary, and it takes time to close the person after passing by, so that the efficiency of heating and cooling is poor. Therefore, for example, as in the system disclosed in Japanese Examined Patent Publication No. 3-17996, a plurality of detectors are installed on both sides of the door, and the door is fully opened depending on the number and position of people approaching the door, or It has been decided whether to open halfway.

[0003]

However, in the system disclosed in the above publication, the door is controlled only on the basis of the position information of the person. Therefore, when the person stops within the detection range, the door is left open. was there. Further, since a pair of doors are simultaneously opened and closed, even when one person approaches one of the doors, both doors are fully opened.

[0004]

A system of the present invention for controlling a pair of doors 1L and 1R which move on the same vertical plane to perform an opening / closing operation is a pair of movements for individually moving the pair of doors. Means 2L, 2R and a pair of two-dimensional image sensors 3A for detecting a moving body on both sides of the door.
3B, movement mode calculation means 4 for calculating the position and movement direction of the moving body detected by the two-dimensional image sensor, and the position of the moving body calculated by the movement mode calculating means when the moving body approaches. The moving position of the moving body in the vertical plane is predicted based on the moving direction and the moving direction, and the target opening degree of the pair of doors is individually calculated based on the predicted passing position, and the moving body moves away. Occasionally, the opening degree calculating means 5 for determining the target opening degree of the door as fully closed, and the movement for outputting a movement command signal to the pair of moving means so that the pair of doors respectively have the calculated target opening degree. The command means 6 is provided.

[0005]

When the moving body approaches the door, the passing position of the moving body is predicted based on the position and direction of the moving body, and the target opening degree of the pair of doors is individually determined based on the passing position. Is calculated. Therefore, depending on the passing position of the moving body, only one door is opened, both doors are slightly opened, both doors are fully opened, and the opening manner of the pair of doors is various, and the minimum required Since it is opened, the cooling and heating efficiency can be improved.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. As shown in FIG. 2, a pair of left and right doors 10
L and 10R are storage frames 11L and 11R in a closed state.
And is housed in the housing frames 11L and 11R in an open state. These doors 10L and 10R, the housing frame 11
A rail 12 extending horizontally is arranged above the L and 11R. Two linear motors 13L and 13R (moving means) are attached to the upper edges of the doors 10L and 10R, respectively. When these motors 13L and 13R are driven, they are moved along the rails 12 and, accordingly, the door 10
L and 10R are moved. The doors 10L and 10R move on the same vertical plane P (FIG. 3).

The control for the motors 13L and 13R will be described with reference to FIG. In FIG. 3, for simplification of the drawing, the two motors 13L are shown as one block, and similarly, the two motors 13R are shown as one block. The motors 13L and 13R are independently driven and controlled by a pair of motor controllers 14L and 14R. The motor controllers 14L and 14R are the door 10
Position sensors 15L and 15 representing the actual positions of L and 10R
The motors 13L and 13R are respectively controlled based on the signal from R, the target position signal (target opening degree signal) and the target speed signal from the central control unit 16. Television cameras 18A and 18B (two-dimensional image sensors) are installed on the ceilings inside and outside the doors 10L and 10R, respectively. Video signals from the TV cameras 18A and 18B are input to the central control unit 16. The central control unit 16 includes the image signal processing circuit and the microcomputer, and outputs the target position signal and the target speed signal based on the video signal.

As shown in FIG. 3, the television camera 18 is used.
The photographing zone A is the A1 zone (first zone) away from the doors 10L and 10R, the A1 zone and the doors 10L and 10R.
It includes the A2 zone (second zone) between the R and R.
Similarly, the shooting zone of the other TV camera 18B,
It includes a B1 zone (first zone) and a B2 zone (second zone). The A1 and A2 zones and the B1 and B2 zones are symmetrical. The shooting zones of the television cameras 18A and 18B extend to some extent outside the A1 and B1 zones.

A routine periodically executed by the microcomputer of the central control unit 16 every several msec will be described with reference to the flowchart of FIG. First, all moving objects photographed by the pair of television cameras 18A and 18B are detected (step 100). It should be noted that the moving body is recognized for the first time when it enters the photographing zone, and is given a label to distinguish it from other moving bodies.

Next, it is judged whether or not any one of the moving bodies is in the A1 zone or the B1 zone (step 10).
1). If an affirmative decision is made here, the routine proceeds to step 102, where the position, size, moving speed and moving direction of the moving body in the A1 and B1 zones are calculated. If the determination in step 101 is negative, step 102 is passed.

Next, one of the moving bodies is closed by the doors 10L and 10L.
It moves in the direction approaching R, and it is judged whether or not it has moved from the A1 zone to the A2 zone or from the B1 zone to the B2 zone (step 103). If you make a negative decision,
Proceed to step 104, where one of the moving bodies is the door 1
It is determined whether or not it has moved in a direction away from 0L and 10R to move from the A2 zone to the A1 zone or from the B2 zone to the B1 zone. If a negative decision here, the process proceeds to step 105, the register X _L, X _R with the stored door 10L, and outputs the target position of the 10R. These registers X _L, X _R is the initialization initially stores the fully closed position as a target position. The target position is
It is represented by a numerical value that increases toward the opening direction when the fully closed position is zero. If a negative determination is made in steps 103 and 104, the target position is not changed and the door 10L,
The opening of 10R is maintained as it is.

[0012] If an affirmative decision is made in step 103, that is, one of the moving bodies moves toward the doors 10L and 10R to move from the A1 zone to the A2 zone, or the B1 zone.
If it is determined that the zone has moved to the B2 zone, the process proceeds to step 106. In this step 106, the passing position of the moving body on the vertical plane P (FIG. 3) is predicted based on the position and the moving direction of the moving body calculated in step 102. Further, in order that the moving body can smoothly pass through between the pair of doors 10L and 10R, and the opening degree thereof is the minimum necessary, the predicted passing position of the moving body and the step 10
Based on the size of the moving body calculated in 2, the pair of doors 1
The temporary target positions of 0L and 10R are individually calculated.
Furthermore, the target moving speeds of the doors 10L and 10R are calculated based on the moving body speed calculated in step 102. The target moving speed is proportional to the speed of the moving body, for example.
In the next step 107, the temporary target positions of the doors 10L and 10R are written in the registers Y _L and Y _R , respectively, and the target movement speeds of the doors 10L and 10R are written in the speed storage register.

If the affirmative judgment is made in step 104, that is, it is judged that one of the moving bodies has moved in the direction away from the doors 10L and 10R and has moved from the A2 zone to the A1 zone or from the B2 zone to the B1 zone. In this case, the fully closed position is set as the temporary target position, and the register Y
Write to _L and Y _R (step 108). In this step 108, the relatively slow moving speed is written in the speed storing register. This moving speed is constant.

After executing step 107 or step 108, the process proceeds to step 109, where a moving body different from the moving body in which the zone movement is detected is A2, B.
Judge whether or not it exists in zone 2. If it is determined that they do not exist, the temporary target positions stored in the registers Y _L and Y _R are written in the registers X _L and X _R as final target positions, respectively (step 110). That is, the target position is updated. When the updated target position is output in step 105, the motor controllers 14L and 14R drive the motors 13L and 13R until the actual positions of the doors 10L and 10R detected by the position sensors 15L and 15R reach the target positions. To do. In step 105, the target moving speed is also output to the motor controllers 14L and 14R, so that the moving body moves to the door 10
The doors 10L and 10R can be opened according to the speed of approaching L and 10R. When moving the doors 10L and 10R in the closing direction, the doors 10L and 10R move at a relatively slow speed.

If a positive determination is made in step 109, that is, if a moving body different from the moving body in which the zone movement has been detected is present in the A2 and B2 zones, the process proceeds to step 111 and the register is executed. It is determined whether or not the temporary target position of the one door 10L stored in Y _L is larger than the target position of the one door 10L stored in the register X _L. When the determination is affirmative, the routine proceeds to step 112, where the target position of the door 10L is updated to the temporary target position,
It is not updated when the judgment is negative. Therefore, the door 10L is
The target position is determined according to the moving body that requires the largest opening.

Similarly, in step 113, register Y _R
It is determined whether the temporary target position of the other door 10R stored in the register X _R is larger than the target position of the other door 10R stored in the register X _R. If affirmative, step 114
And the target position of the door 10R is updated to the temporary target position, and not updated when a negative determination is made.

The operation of the above control system will be described more specifically. As shown in FIG. 5, when one person (moving body) tries to pass through the center of the vertical plane P, that is, the abutting position of the doors 10L and 10R, both doors 10L and 10R are slightly opened. As shown in FIG. 6, when a person approaches the one door 10L, the one door 10L
Only L is opened and the other door 10R is maintained in the closed position. As shown in FIG. 7, when three people pass the plane P at substantially the same time, both doors 10L and 10R are fully opened. As shown in FIG. 8, when a person enters the A1 zone or the B1 zone but leaves without entering the A2 or B2 zone, the doors 10L and 10R are maintained in the fully closed state.

The present invention is not limited to the above-mentioned embodiment and various modes are possible. For example, the boundary between two zones for obtaining the timing of the opening command when the moving body approaches the door,
The boundary between the two zones for obtaining the timing of the closing command when the moving body moves away from the door may be different. Further, the opening speed of the door may be proportional to the deviation between the target position and the actual position of the door. As the two-dimensional image sensor, an infrared image sensor may be used instead of the television camera.

[0019]

As described above, in the present invention, since the target opening degree of the pair of doors is calculated individually based on the position and direction of the moving body, the manner of opening the pair of doors becomes various. Since the required minimum opening operation is executed, the cooling and heating efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a basic configuration of the present invention.

FIG. 2 is a front view of an automatic door.

FIG. 3 is a plan view of an automatic door.

FIG. 4 is a flowchart showing a control routine for an automatic door.

FIG. 5 is a plan view showing an example of opening / closing operation of a door.

FIG. 6 is a plan view showing another example of the opening / closing operation of the door.

FIG. 7 is a plan view showing still another example of the opening / closing operation of the door.

FIG. 8 is a plan view showing still another example of the opening / closing operation of the door.

[Explanation of symbols]

1L, 1R ... Door 2R, 2L ... Moving means 3A, 3B ... Two-dimensional image sensor 4 ... Moving mode calculating means 5 ... Opening degree calculating means 6 ... Movement command means 10L, 10R ... Door 13R, 13L ... Moving means (motor) 18A, 18B ... Two-dimensional image sensor (TV camera) 16 ... Central control unit

Claims (5)

[Claims] 1. A system for controlling a pair of doors which move on the same vertical plane to perform an opening / closing operation, (a) a pair of moving means for individually moving the pair of doors, and (b) the above. A pair of two-dimensional image sensors for detecting a moving body on both sides of the door, (c) a movement mode calculating means for calculating the position and moving direction of the moving body detected by the two-dimensional image sensor, and (d) a moving body Is approached, the passing position of the moving body on the vertical plane is predicted based on the position and the moving direction of the moving body calculated by the moving mode calculating means, and the passing position of the moving body is predicted based on the predicted passing position. The opening degree calculation means for individually calculating the target opening degree of the pair of doors, and determining the target opening degree of the door as fully closed when the moving body is distant, and (e) the pair of doors are respectively calculated as described above. Open target A movement instruction means for outputting a movement instruction signal to the pair of movement means so that the degree of movement is
An automatic door control system characterized by being equipped with. 2. The two-dimensional image sensor discriminates and detects a plurality of moving bodies, and the opening degree calculating means calculates a target opening degree of a door corresponding to each moving body and finally determines the largest opening degree. The automatic door control system according to claim 1, wherein the target opening degree of the door is set to a desired value. 3. The movement mode calculating means further comprises an opening speed calculating means for calculating the moving speed of the moving body and calculating the opening speed of the pair of doors based on this moving speed, and the movement command means makes the opening. The automatic door control system according to claim 1, wherein a movement command signal is output so that the door opens at a speed. 4. The zone detected by the two-dimensional image sensor includes a first zone distant from the door, and a second zone adjacent to the first zone and closer to the door than the first zone,
The movement mode calculation means calculates the movement mode of the moving body based on the movement of the moving body in the first zone, and when the moving body moves from the first zone to the second zone, the opening degree calculation means is the target. The automatic door control system according to claim 1, wherein the movement command means outputs a movement command signal while calculating the opening degree. 5. The zone detected by the two-dimensional image sensor includes a first zone distant from the door, and a second zone adjacent to the first zone and closer to the door than the first zone,
2. The opening degree calculating means fully closes the target opening degree and the movement instruction means outputs a movement instruction signal when the moving body moves from the second zone to the first zone. Automatic door control system described in.