WO2009150982A1

WO2009150982A1 - Door system

Info

Publication number: WO2009150982A1
Application number: PCT/JP2009/060181
Authority: WO
Inventors: 白附　晶英; 上田　隆美; 仲嶋　一; 中島　利郎; 敬太望月; 鹿井　正博
Original assignee: 三菱電機株式会社
Priority date: 2008-06-12
Filing date: 2009-06-03
Publication date: 2009-12-17
Also published as: JPWO2009150982A1

Abstract

Disclosed is a door system which is capable of performing door opening/closing operations safely, for which the opening/closing operation does not stop unnecessarily, and which can be constructed easily. The door system (10) is equipped with: a frame (14) that includes at least an upper frame part located above the passage space (11); a door (17) that is provided at the entrance/exit defined by means of the frame (14) and that opens/closes automatically; an irradiation unit (20) that is attached to the upper frame part (14a) of the frame (14) and that emits an irradiating light downward; and a light-receiving unit (30) that is attached to the upper frame part (14a) of the frame (14) and that receives light, including light reflected from the irradiating light, from below. A detection range, which is the overlapping portion of the irradiation range (22) of the irradiating light of the irradiation unit (20) and the light-receiving range (32) of the light-receiving unit (30) with respect to the reflected light, is included in the passage space (11).

Description

Door system

The present invention relates to a door system that automatically opens and closes a door.

Normally, a door that automatically opens and closes by the driving force of a motor or the like is provided at the entrance of a building or elevator. When such an automatic door is automatically opened and closed, there is a risk that a finger or an object may be pinched between the doors or between the door and the building.

In order to prevent such an accident, a system for confirming that no person or object is present near the door when the door is operated has been proposed. According to this system, for example, when a person or an object (obstacle) near the door is detected, the system stops the door closing operation and returns the door to the open position. Thereby, the opening / closing operation | movement of a door can be performed safely.

Patent Documents 1 to 4 disclose a door system including a detection device that detects an obstacle existing in the vicinity of such a door. Patent Documents 1 and 2 describe a technique in which a detection device that detects an obstacle near a door is attached to an upper frame of an entrance and a warning is issued via a speaker when the detection device detects an obstacle. .

In Patent Document 3, a device that detects an obstacle existing near the door is attached to the ceiling in front of the door, and when the detection device detects the obstacle, a projector provided on the ceiling projects a warning image onto the door. The technology to do is described.

In Patent Document 4, a plurality of projectors are arranged on one of the left side frame and the right side frame of the frame body that defines the entrance and exit, and a plurality of light receivers are arranged on the other side. A technique for detecting an obstacle at the entrance / exit by blocking the light beam is described.
Japanese Patent Laid-Open No. 2-94881 Japanese Utility Model Publication No. 7-15671 JP 2004-345762 A JP 2005-280900 A

However, the techniques described in Patent Documents 1 and 2 may detect an object that is not likely to be caught between doors. For this reason, the door opening / closing operation is unnecessarily stopped, and it takes a long time for the opening / closing operation to be restarted. As a result, the user may feel frustrated.

In the technique described in Patent Document 3, the warning image displayed on the door needs to be clear, and therefore the selection of the door surface material is significantly restricted. Further, the arrangement of the projector is restricted so that the warning image projected toward the door does not interfere with the obstacle. From these circumstances, in order to incorporate the technique of Patent Document 3 into the existing equipment, it is necessary to significantly change the existing equipment.

In the technique described in Patent Document 4, it is necessary to embed a large number of projectors and light receivers in the left and right side frames. However, since the side frame of a general building is made of a metal plate or concrete, it is quite difficult to embed a large number of projectors and light receivers and electrical wiring necessary for driving them in these hard side frames.

Therefore, an object of the present invention is to provide a door system that solves the above-described problems, can safely perform the door opening / closing operation, and does not unnecessarily stop the opening / closing operation. It is another object of the present invention to provide a door system that can be easily incorporated into existing facilities.

In order to achieve the above object, a door system according to the present invention includes:
A frame including at least an upper frame portion located above the passage space;
A door that opens and closes automatically at the doorway defined by the frame,
An irradiating means that is attached to the upper frame portion of the frame body and irradiates irradiation light in a downward direction;
A light receiving means that is attached to the upper frame portion of the frame and receives light from below including the reflected light of the irradiation light;
A detection range in which the irradiation range of the irradiation light of the irradiation unit and the light reception range of the reflected light of the light receiving unit overlap each other is included in the passage space.

According to the present invention, the door can be opened and closed safely, and the opening and closing operation is not stopped unnecessarily. As a result, the user does not wait unnecessarily by the door stopped unnecessarily, and the convenience of the user is improved.

1 is a perspective view schematically showing a door system according to Embodiment 1 of the present invention. 2 is an enlarged side view of an irradiation unit and a light receiving unit according to Embodiment 1. FIG. 3 is a front view of an irradiation range and a light receiving range according to Embodiment 1. FIG. 4 is a side view of an irradiation range and a light receiving range according to Embodiment 1. FIG. It is a block diagram of the control apparatus with which the door system concerning Embodiment 1 is provided. 4 is a flowchart of an example process executed by the control device according to the first embodiment. It is an enlarged side view of the irradiation part and light receiving part which concern on Embodiment 2 of this invention. It is a front view of the irradiation range and light reception range which concern on Embodiment 2. FIG. 6 is a side view of an irradiation range and a light receiving range according to Embodiment 2. FIG. It is an enlarged side view of the irradiation part and light receiving part which concern on Embodiment 3 of this invention. It is a front view of the irradiation range and light reception range which concern on Embodiment 3. FIG. It is a side view of the irradiation range and light reception range which concern on Embodiment 3. It is an enlarged front view of the irradiation part which concerns on Embodiment 4. FIG. It is an enlarged view of the irradiation part and light receiving part which concern on Embodiment 5. FIG. It is a front view of the irradiation range and light reception range which concern on Embodiment 6. FIG. It is an enlarged front view of the irradiation part which concerns on Embodiment 7. FIG. FIG. 10 is an enlarged front view of another irradiation unit according to Embodiment 7. FIG. 10 is a front view of an irradiation range and a light receiving range according to Embodiment 8. FIG. 10 is a diagram for explaining signal processing according to the ninth embodiment. It is a figure which shows the timing chart of the irradiation timing of the irradiation part which concerns on Embodiment 10. FIG.

10 door system, 11 passage space, 14,114 three-way frame, 14a, 114a upper frame part, 14b, 114b left frame part, 14c, 114c right frame part, 15 floors, 17 doors, 18 car side doors, 20, 120, 220, 320 irradiation unit, 22, 122, 222, 322 irradiation range, 24 first housing unit, 26 light source, 27 substrate, 28 lens unit, 30, 130 light receiving unit, 32, 132 light receiving range, 34 second housing, 36 Light receiving element, 38 transmission plate, 40 door drive unit, 50 notification unit, 60 control device, 62 irradiation control unit, 64 light reception control unit, 66 signal acquisition unit, 68 determination unit, 70 door open / close control means, 72 notification control unit, 74 Setting part

(Embodiment 1)
FIG. 1 is a perspective view schematically showing a door system according to Embodiment 1 of the present invention. The door system 10 shown is part of an elevator system and includes doors 17 that automatically open and close attached to the walls of each floor of the building where the elevator car stops. In the present specification, a part of the door system of the elevator system will be described as an example. However, the present invention is attached to a passage or a wall of a building including a door attached to an elevator car and automatically opens and closes. Applicable to any door system including doors.

The door system 10 confirms the presence of an obstacle that obstructs the opening / closing operation of the door 17 when the door 17 is automatically opened / closed. For this purpose, the door system 10 includes a three-way frame 14, a door 17, an irradiation unit 20, a light receiving unit 30, a door driving unit 40, a notification unit 50, and a control device 60.

The three-sided frame 14 is a frame fixed to a wall made of concrete or mortar. The three-way frame 14 includes an upper frame portion 14a, a left frame portion 14b, and a right frame portion 14c. The upper frame portion 14a is a portion that extends straight and horizontally. The left frame portion 14b and the right frame portion 14c are portions that hang straight from the end of the upper frame portion 14a, respectively. The left frame portion 14b and the right frame portion 14c have the same length.

Passing space 11 is a space through which people getting on and off the elevator car pass. The passage space 11 is surrounded by the

portions

14 a, 14 b and 14 c of the three-way frame 14 and the floor 15. Note that the present invention is applicable if there is at least the upper frame portion 14a located above the passage space 11.

The door 17 is supported by the three-way frame 14. The door 17 automatically opens and closes the doorway defined by the three-way frame 14 by a door driving unit 40 described later. FIG. 1 shows a state where a person gets on and off the elevator car, that is, a state where both the door 17 and the car-side door 18 provided in the elevator car are open. As shown in FIG. 1, the door 17 is a door in which one of the two doors slides to the left and the other slides to the right. However, the door according to the present invention is not limited to this, for example, 1 One door may slide in one direction.

The irradiation unit 20 is attached to the upper frame portion 14a of the three-way frame 14 and irradiates irradiation light downward. FIG. 2 shows an enlarged view of the irradiation unit 20. The irradiation unit 20 irradiates the irradiation range 22 with light, and includes a first housing unit 24, a light source 26, and a lens unit 28.

The first housing 24 is a box that is directly attached to the upper frame portion 14 a of the three-way frame 14, and supports the light source 26 and the lens unit 28. The three-way frame 14 is longer in the vertical direction than in the horizontal direction. Therefore, compared with the case where the irradiation part 20 is attached to the left-

right frame parts

14b and 14c, most irradiation space 11 can be made into an irradiation range. Compared with the case where a plurality of irradiation portions 20 are attached to the left and

right frame portions

14b and 14c in order to set most of the passage space 11 as an irradiation range, the construction can be easily performed.

The light source 26 includes an irradiation member such as a light emitting diode such as an infrared LED (Light Emitting Diode), a laser diode, or a lamp, and is fixed inside the first housing 24 via a substrate 27.

The lens unit 28 includes a lens formed by combining one or a plurality of lenses such as a convex or concave lens, a Fresnel lens, a cylindrical lens, and a cylindrical Fresnel lens. The lens unit 28 is provided on the wall of the first housing 24 in a state where the optical axis of each lens coincides with the optical axis of the light source 26. The irradiation light diffused and emitted from the light source 26 passes through the lens unit 28 and is irradiated to the passing space 11 located below the light source 26.

As shown in FIGS. 3 and 4, the irradiation range of the present embodiment is included in the passing space 11. 3 and 4, the irradiation range 22 according to the first embodiment is indicated by solid line hatching. The irradiation light emitted from the light source 26 is adjusted to light having a constant width in the depth direction or light gradually increasing by, for example, a cylindrical lens that suppresses diffusion of light in the depth direction of the door 17 included in the lens unit 28. ing. By such a lens unit 28, the irradiation light is irradiated only inside the passage space 11. Therefore, the irradiation light is effectively used for detecting a person or an object in the passage space 11.

The light receiving unit 30 is attached to the upper frame portion 14a of the three-way frame 14, and receives light from the lower direction including reflected light of the irradiation light emitted from the light source 26. FIG. 2 shows an enlarged view of the light receiving unit 30. The light receiving unit 30 receives light in the light receiving range 32 and includes a second housing 34, a light receiving element 36, and a transmission plate 38.

The second housing 34 is a box that is directly attached to the upper frame portion 14 a of the three-way frame 14, and supports the light receiving element 36 and the transmission plate 38. The three-way frame 14 is longer in the vertical direction than in the horizontal direction. Therefore, the light receiving unit 30 can set most of the passage space 11 as a light receiving range as compared with the case where the light receiving unit 30 is attached to the left and

right frame portions

14b and 14c. Compared to the case where a plurality of light receiving portions 30 are attached to the left and

right frame portions

14b and 14c in order to make most of the passage space 11 be a light receiving range, the construction can be easily performed.

Further, the second housing 34 of the present embodiment is configured integrally with the first housing 24. Compared with the case where the second housing 34 and the first housing 24 are configured separately, the overall size of the irradiation unit 20 and the light receiving unit 30 can be made compact, and the mounting time thereof is shortened.

The light receiving element 36 is an element capable of receiving light having a wavelength emitted from the light source 26. Specifically, the light receiving element 36 includes, for example, a photodiode, an image element such as a CCD (Charge Coupled Device), a photomultiplier tube, and the like. The light receiving element 36 is fixed inside the second housing 34 via the substrate 27. In the present embodiment, the light receiving element 36 is attached to the same substrate 27 as the light source 26. Compared with the case where the light receiving element 36 and the light source 26 are attached to different substrates, the overall size of the irradiation unit 20 and the light receiving unit 30 can be made compact, and the number of parts of the door system is reduced.

The transmission plate 38 is a flat plate made of resin, glass or the like that can transmit at least light having a wavelength emitted by the light source 26. The transmission plate 38 is fixed to the wall portion of the second housing 34 below the light receiving element 36. Since the transmission plate 38 of this embodiment is a simple flat plate, as shown in FIGS. 3 and 4, the light receiving range 32 (dotted hatching) of the light receiving element 36 increases in the horizontal direction and the depth direction as the distance from the element 36 increases. It has spread.

3 and 4, the irradiation light irradiated from the irradiation unit 20 to the irradiation range 22 is reflected by an object existing in the light receiving range 32 and is received by the light receiving unit 30. The detection range in which an obstacle that obstructs the opening / closing operation of the door is detected is a portion where the irradiation unit 20 and the light receiving range 32 overlap each other.

In the first embodiment, the light receiving range 32 partially protrudes outside the passing space 11, while the irradiation range 22 is included in the passing space 11. Therefore, the detection range is included in the passage space 11.

Such a detection range prevents the door system from recognizing a person or an object having no possibility of interfering with the opening / closing operation of the door as an obstacle. Accordingly, the door opening / closing operation can be performed safely, and the door opening / closing operation is not unnecessarily stopped. As a result, the user does not wait unnecessarily by the door stopped unnecessarily, and the convenience of the user is improved.

The door drive unit 40 includes a drive source such as a motor and a drive force transmission member including, for example, a wire and a gear that opens and closes the door upon receiving a drive force from the drive source. In FIG. 1, the door drive unit 40 is shown in a simplified manner.

The notification unit 50 includes, for example, at least one of a speaker, a light, a monitor, and the like, and warns a person near the door by sound, buzzer sound, light, or video.

The control device 60 is a device that controls the door system 10 as a whole, and specifically includes a computer or the like. The control device 60 includes an irradiation control unit 62, a light reception control unit 64, a signal acquisition unit 66, a determination unit 68, a door opening / closing control unit 70, a notification control unit 72, and a setting unit 74.

The irradiation control unit 62 controls the irradiation unit 20 and controls, for example, the intensity of irradiation light, the irradiation time, and the like. As an example, in order to suppress power consumption, the irradiation unit 20 is controlled to irradiate irradiation light immediately before the operation of the door 17 is started, and irradiation is stopped while the door 17 is stopped. The light reception control unit 64 controls the light reception unit 30 and controls, for example, the light reception sensitivity of the sensor, the light reception time, and the like. As an example, in order to suppress power consumption, the light receiving unit 30 is controlled to receive light immediately before the operation of the door 17 is started, and light reception is stopped while the door 17 is stopped.

The signal acquisition unit 66 is an interface that acquires a signal corresponding to the light output by the light receiving unit 30 that has received the light including the reflected light of the irradiation light irradiated by the irradiation unit 20, that is, a signal including the feature amount of the reflected light. is there. For example, the feature amount includes the intensity of reflected light. In addition, the feature amount includes, for example, a timing of receiving reflected light when the irradiating unit 20 irradiates light at regular intervals.

The determination unit 68 determines whether there is an object in the detection range based on the signal acquired by the signal acquisition unit 66. A specific example of the determination method will be described for each of the case where the feature amount is the intensity of the reflected light and the case where the feature amount is the timing of receiving the reflected light.

First, when the characteristic amount included in the signal is the intensity of the reflected light, the determination unit 68 receives the intensity of the light irradiated by the irradiation unit 20 after being reflected only by the floor 15 and the light receiving unit 30 actually receives the light. The difference between the measured light intensity and the absolute value of the difference is larger than the first threshold value or smaller than the second threshold value, and it is determined that an obstacle exists. Both the first threshold value and the second threshold value are preset values, and the first threshold value is larger than the second threshold value. In addition, the determination unit 68 determines that there is no obstacle when the difference is between the first threshold value and the second threshold value.

Next, when the feature amount included in the signal is the timing of receiving the reflected light, the determination unit 68 changes the time from when the light is emitted from the irradiation unit 20 until the light is received by the light receiving unit 30. Based on the above, the presence or absence of an obstacle is determined. The time when there is an obstacle is shorter than when there is no obstacle. Therefore, the determination unit 68 determines that there is an obstacle when the time from when the light is irradiated until when the light is received is shorter than a preset threshold, and when the time is greater than or equal to the threshold, It is determined that there is no object.

Note that the light receiving unit may be a camera. In this case, the determination unit 68 determines the presence or absence of an obstacle by analyzing an image captured by the camera. The determination is performed based on, for example, a comparison result between a feature amount obtained from an image (reference image) captured in advance when no obstacle is present and a feature amount obtained from an actually captured image. The feature amount is calculated based on, for example, the luminance value of each pixel of the reference image and the actually captured image. For example, the luminance value of each pixel at a corresponding position in the reference image pixel and the actually captured image is subtracted, and the absolute value of the difference value is calculated. Absolute values are calculated for all pixels. The sum of all absolute values is calculated, and the presence / absence of an obstacle is determined based on whether or not the sum is equal to or greater than a predetermined threshold value. If the total value is greater than or equal to the threshold value, it is determined that there is an obstacle, and if it is less than the threshold value, it is determined that there is no obstacle.

The door opening / closing control means 70 controls the door driving unit 40 based on the determination result of the determination unit 68 to cause the door 17 to perform an opening / closing operation including an opening operation and a closing operation. The door opening / closing control means 70 suppresses the opening / closing operation of the door 17 when the determination unit 68 determines that an obstacle exists in the detection range. Here, “suppressing the opening / closing operation of the door 17” refers to suppressing the closing operation or the opening operation of the door 17, and specifically, the door 17 is stopped when the door 17 is open or closed. When the door 17 is in the closing operation, the closing state is stopped and the closing operation is stopped and the door 17 is opened or the closing speed is reduced, and the door 17 is opening. Sometimes the opening operation is stopped and the door 17 is closed or the opening operation is delayed.

When the determination unit 68 determines that there is an obstacle in the detection range, the notification control unit 72 notifies the notification unit 50 of a warning.

The setting unit 74 is an interface for the user to set conditions for the irradiation control unit 62 and the light receiving control unit 64 to control the irradiation unit 20 and the light receiving unit 30, respectively. The setting unit 74 is also an interface for setting conditions such as a threshold necessary for the determination unit 68 to determine the presence or absence of an obstacle.

An example of processing executed by the door system 10 will be described with reference to FIG. FIG. 6 is a flowchart showing a flow of processing executed by the door system 10 when the door 17 is closed. Such a closing process of the door 17 is started when a predetermined time elapses after the opening operation of the door 17 is completed, or when the closing button of the door 17 is pressed.

The door opening / closing control unit 70 controls the door driving unit 40 to maintain the open state of the door 17 (S1). The signal acquisition unit 66 acquires a signal from the light receiving unit 30, and delivers the acquired signal to the determination unit 68 (S2). The determination unit 68 determines the presence or absence of an obstacle based on the signal acquired from the signal acquisition unit 66 (S3).

If the determination unit 68 determines that an obstacle is present (YES in S3), the notification control unit 72 causes the notification unit 50 to execute one or more of generating a sound, causing it to emit light, and drawing an image. (S5). Subsequently, the door opening / closing control unit 70 suppresses the closing operation of the door 17 by maintaining the opened state of the door 17 (S1). And the control apparatus 60 performs the process after the above-mentioned signal acquisition process (S2) again. If the determination unit 68 determines that there is no obstacle (NO in S3), the door opening / closing control unit 70 closes the door 17 (S4) and ends the process.

According to this process, when it is determined that there is an obstacle in the detection range, closing of the door 17 is suppressed. Thereby, the obstacle including a person or an object is not pinched by the door 17. Further, the notification unit 50 warns a person near the door 17 of the presence of an obstacle. Thereby, the person who has been warned can know the presence of an obstacle that obstructs the closing operation of the door 17.

(Embodiment 2)
The configuration of the door system of the second embodiment is substantially the same as the configuration of the door system of the first embodiment. The irradiation range and the light receiving range are different from those of the first embodiment. This difference will be described.

FIG. 7 is an enlarged view of the irradiation unit 120 and the light receiving unit 130 according to Embodiment 2 of the present invention. FIG. 8 is a front view of the irradiation range 122 (solid hatching) and the light receiving range 132 (dotted hatching) according to the second embodiment. FIG. 9 is a side view of the irradiation range 122 (solid hatching) and the light receiving range 132 (dotted hatching) according to the second embodiment.

The irradiation unit 120 is attached to the upper frame portion 14 a of the three-way frame 14 and irradiates the irradiation range 122 with light. The irradiation unit 120 includes a first housing part 24, a light source 26, and a transmission plate 128.

The transmission plate 128 is a flat plate made of resin, glass or the like that can transmit at least light having a wavelength emitted by the light source 26. The transmission plate 128 is fixed to the wall of the first housing 24 below the light source 26. The light emitted from the light source 26 passes through the transmission plate 128 and is irradiated to the passage space 11 located below the light source 26. Unlike the lens unit 28 of the first embodiment, the transmission plate 128 transmits the light from the light source 26 as it is. Therefore, as shown in FIGS. 8 and 9, the irradiation range 122 extends in the left-right direction and the depth direction. Therefore, the irradiation range of the present embodiment partially protrudes outside the passage space 11 as shown in FIGS.

The light receiving unit 130 is attached to the upper frame portion 14a of the three-way frame 14, and receives light from the lower side including the reflected light of the irradiation light emitted from the light source 26. The light receiving unit 130 includes a second housing 34, a light receiving element 36, and a lens unit 138. The lens unit 138 is fixed to the wall of the second housing 24 and suppresses the diffusion of light in the depth direction, like the lens unit 28 of the first embodiment. Therefore, as shown in FIGS. 8 and 9, the light receiving range 132 of the present embodiment is included in the passing space 11.

Thus, in the second embodiment, the irradiation range 122 partially protrudes outside the passage space 11, while the light receiving range 132 is included in the passage space 11. Therefore, the detection range is included in the passage space 11.

(Embodiment 3)
The configuration of the door system of the third embodiment is substantially the same as the configuration of the door system of the first and second embodiments. The irradiation range and the light receiving range are different from those in the first and second embodiments. This difference will be described.

FIG. 10 is an enlarged view of the irradiation unit and the light receiving unit according to Embodiment 3 of the present invention. FIG. 11 is a front view of the irradiation range 22 (solid hatching) and the light receiving range 132 (dotted hatching) according to the third embodiment. FIG. 12 is a side view of the irradiation range 22 (solid line hatching) and the light receiving range 132 (dotted line hatching) according to the third embodiment.

As shown in FIGS. 10 to 12, the irradiation unit 20 of the third embodiment is the same as the irradiation unit 20 of the first embodiment, and the light receiving unit 130 of the third embodiment is the same as the light receiving unit of the second embodiment. 130.

Therefore, in the third embodiment, both the irradiation range 22 and the light receiving range 132 are included in the passing space 11. Therefore, the detection range is also included in the passage space 11. The irradiation unit 20 and the light receiving unit 130 are attached to the upper frame portion 14a so that the irradiation range 22 and the light receiving range 132 overlap at least partially.

(Embodiment 4)
The configuration of the door system of the fourth embodiment is substantially the same as the configuration of the door system of the first embodiment, and the difference is that the irradiating unit has a prism that diffuses light emitted from the light source in the left-right direction. is there. This difference will be described.

FIG. 13 is a front view of the irradiation unit according to the fourth embodiment. The irradiation unit 220 shown in the figure includes a light source 26 that irradiates irradiation light downward, and a prism sheet 228 that diffuses irradiation light from the light source 26 in the left-right direction. Thereby, the irradiation range 222 is expanded in the left-right direction compared with the case where the prism sheet 228 is not provided. The fourth embodiment is effective when the upper frame portion 14a of the three-way frame is long in the left-right direction, that is, when the passage space 11 is wide in the left-right direction.

The prism sheet 228 may be disposed below the lens unit 28 of the first embodiment, for example. When the lens unit 28 includes a cylindrical lens that suppresses diffusion of light in the depth direction, the irradiation light of the light source 26 is first converted into light having a constant direction width by suppressing diffusion in the depth direction by the cylindrical lens. The irradiation light that has passed through the lens is diffused in the left-right direction by the prism sheet 228. As a result, the irradiation range is narrow in the depth direction and wide in the left-right direction.

(Embodiment 5)
The configuration of the door system according to the fifth embodiment is substantially the same as the configuration of the door system according to the first embodiment, except that the light receiving unit preferentially uses light having the same wavelength as the irradiation light of the irradiation unit. It is a point which has the optical wavelength filter which permeate | transmits. This difference will be described.

FIG. 14 shows a light receiving unit 230 in which an optical wavelength filter 338 is disposed below the light receiving element 36. The optical wavelength filter 338 preferentially transmits light having the same wavelength as that of the irradiation light irradiated by the light source 26 of the irradiation unit 20. Therefore, the light receiving element 36 receives the reflected light of the irradiated light preferentially and does not receive other light (disturbance light) such as sunlight. Thus, erroneous detection of the light receiving element 36, that is, disturbance light is not mistaken for reflected light.

(Embodiment 6)
The configuration of the door system according to the sixth embodiment is substantially the same as the configuration of the door system according to the first embodiment, except that the irradiation unit and the light receiving unit are arranged in the depth direction in the above-described embodiment. On the other hand, they are arranged in the left-right direction. This difference will be described.

FIG. 15 is a front view of the three-way frame 14, and the irradiation unit 20 and the light receiving unit 30 are attached to the upper frame portion 14a side by side in the left-right direction. This is effective when it is difficult in terms of dimensions to attach the irradiation unit 20 and the light receiving unit 30 side by side in the depth direction to the upper frame portion 14a.

(Embodiment 7)
The configuration of the door system of the seventh embodiment is substantially the same as the configuration of the door system of the fourth embodiment, and the difference is that the irradiation unit has a plurality of light sources. Different points will be described.

FIG. 16 is a front view of an irradiation unit 320 having a plurality of light sources 26a to 26c arranged in the left-right direction. All of the light sources 26a to 26c irradiate the irradiation light downward. A prism sheet 328 that diffuses light in the left-right direction is disposed below the light sources 26a to 26c. As a result, the irradiation range 322 is wider to the left and right than the irradiation range 222 of the fourth embodiment in which the single light source 26 is provided and the prism sheet 228 is disposed below (see FIG. 13).

Note that the prism sheet may not be used when the irradiation range by the plurality of irradiation lights is sufficiently wide in the left-right direction without using the prism sheet 328.

Further, when a plurality of light sources 26a to 26c are used, the irradiation range can be expanded in the left-right direction without using the prism sheet 328.

FIG. 17 is a front view of the irradiation unit 420 in which the prism sheet 228 is not used and the irradiation range is wide in the left-right direction. The irradiation unit 420 includes three light sources 126a to 126c. The left light source 126a irradiates the left frame portion side of the three-sided frame obliquely downward, the central light source 126b irradiates downward, and the right The light source 126c irradiates the right frame portion side obliquely downward. In this case, if the prism sheet 328 is disposed below the three light sources 126a to 126c, the irradiation range can be further expanded in the left-right direction.

(Embodiment 8)
In the eighth embodiment, the configuration of the door system is substantially the same as the configuration of the door system of the first embodiment, except that an irradiation unit having one light source and a light receiving unit having one light receiving element. Are arranged in pairs in the depth direction, and the plurality of pairs are attached to the upper frame portion of the three-sided frame aligned in the left-right direction.

FIG. 18 is a front view of the three-way frame 114 in which the left frame part 114b and the right frame part 114c are separated from each other as compared with the three-way frame 14 of the above-described embodiment, and the passage space 111 is wide in the left-right direction. An irradiation unit 20a having one light source and a light receiving unit 30a having one light receiving element are attached to the left frame portion 114b side of the upper frame portion 114a of the three-sided frame 114 side by side in the depth direction. Moreover, the irradiation part 20b and the light-receiving part 30b are attached to the center of the upper frame part 114a along with the depth direction. Furthermore, the irradiation part 20c and the light-receiving part 30c are attached to the right frame part 114c side of the upper frame part 114a along the depth direction. Thereby, even if the passage space 111 is wide in the left-right direction, people and objects in the passage space 111 can be detected.

In this case, the reflected light of the irradiation light emitted from one irradiation unit may not be received by the light receiving unit adjacent in the depth direction, and may be received by another light receiving unit. For example, the light receiving unit 30a may receive the reflected light of the irradiation light irradiated by the irradiation unit 20b. Further, there is a possibility that the irradiation light irradiated from the plurality of irradiation units 20a to 20c interferes.

When these possibilities are a problem, as a countermeasure, the plurality of irradiation units 20a to 20c may be irradiated one by one in order instead of simultaneously. At the same time, only the light receiving unit that is irradiated with the irradiation light by the irradiation unit adjacent in the depth direction is received. Thereby, only the corresponding light-receiving part can receive the reflected light of the irradiation light of an irradiation part. In this case, the irradiation control unit of the control device controls the irradiation units 20a to 20c to sequentially irradiate the irradiation light one by one, and the light reception control unit in the depth direction applies to the irradiation unit emitting the irradiation light. The plurality of light receiving units 30a to 30c are controlled so that only the adjacent light receiving units receive light.

As another countermeasure, each of the irradiation units 20a to 20c emits irradiation light having a different wavelength, and each of the plurality of light receiving units 20a to 20c has the same wavelength as the irradiation light of the irradiation unit adjacent in the depth direction. You may provide the optical wavelength filter demonstrated in Embodiment 5 which permeate | transmits light preferentially.

(Embodiment 9)
In the ninth embodiment, the configuration of the door system is substantially the same as the configuration of the door system of the first embodiment. The difference is that the irradiation control unit 62 of the control device 60 shown in FIG. The unit 20 is irradiated with irradiation light, and the signal acquisition unit 66 acquires a signal when the irradiation light is irradiated from the light receiving unit 30 and a signal when the irradiation light is not irradiated. The point is to determine whether an obstacle exists in the detection range based on the difference signal of the two signals. Thereby, it is possible to eliminate the influence of disturbance light without using the optical wavelength filter of the fifth embodiment, and to determine whether an obstacle exists in the detection range.

Explaining, when the irradiating unit 20 is irradiating irradiation light, the light receiving unit 30 receives other light, that is, disturbance light as well as reflected light of the irradiation light. On the other hand, when the irradiation unit 20 is not irradiating irradiation light, the light receiving unit 30 receives only disturbance light. Therefore, as shown in FIG. 19 illustrating this concept, from the light receiving unit 30 when the irradiation light is not irradiated, from the signal X acquired from the light receiving unit 30 when the irradiation unit 20 is irradiating the irradiation light. If the acquired signal Y is subtracted, the signal Z including the feature amount of only the reflected light of the irradiation light can be obtained. Based on this signal Z, the determination accuracy of the determination unit 68 is improved as compared with the case based on the signal X including the disturbance light feature amount. By eliminating the influence of disturbance light, it is possible to determine with high accuracy whether or not an obstacle exists in the detection range.

(Embodiment 10)
In the tenth embodiment, the configuration of the door system is substantially the same as the configuration of the door system of the above-described embodiment, and the difference is that the reflectance of the irradiation light of the obstacle is taken into consideration. .

To explain, when the irradiation unit 20 constantly irradiates the irradiation light, or when the irradiation unit 20 irradiates intermittently and the irradiation time is a long time, the reflectance of the obstacle or the floor, that is, the irradiation light is applied to the light receiving unit. If the reflectance of the object that reflects toward the surface is high, the light receiving element of the light receiving unit may receive light exceeding the saturation light reception amount.

As this countermeasure, in the present embodiment, irradiation is performed at a plurality of different times when the irradiation light of the irradiation unit 20 is irradiated intermittently. FIG. 20 is an ON-OFF timing chart of the light source 26 of the irradiation unit 20. As shown in FIG. 20, irradiation light is irradiated for a time T1, followed by a time T2 (<T1), followed by a time T3 (<T2) and a time T4 ( <T3) Irradiate.

The longest irradiation time T1 is for dealing with an object having a low reflectivity. By irradiating the irradiation light for a long time, the light receiving element of the light receiving unit reliably receives the reflected light from the object.

The shortest irradiation time T4 is for dealing with an object having a high reflectance, and the light receiving element receives light for a long time by receiving high intensity reflected light from the object by irradiating the irradiation light for a short time. Suppresses quantity saturation.

In addition, supplementally, an object having a high reflectance is detected at any irradiation time. On the other hand, an object having a low reflectance is detected only by the longest irradiation time T1. Therefore, it is conceivable to lengthen all the irradiation times in order to reliably detect objects of all reflectivities, but in this case, if the reflectivity of the objects is high, the amount of light received by the light receiving element of the light receiving unit may be saturated. There is.

Therefore, by intermittently irradiating the irradiation light at a plurality of different irradiation times, an object having a different reflectance is reliably detected, and the received light amount saturation of the light receiving element of the light receiving unit is suppressed.

In addition, the non-irradiation time intervening between the plurality of irradiation times may not be a fixed time as shown in FIG. 20, but may be a fixed time. Moreover, although the irradiation time shown in FIG. 20 is four types, it is not restricted to this. You may change this non-irradiation time and irradiation time according to the place where a door system is constructed.

The present invention can be used for a door system that automatically opens and closes a door such as an elevator.

Claims

A door system,
A frame including at least an upper frame portion located above the passage space;
A door that opens and closes automatically at the doorway defined by the frame,
An irradiating means that is attached to the upper frame portion of the frame body and irradiates irradiation light in a downward direction;
A light receiving means that is attached to the upper frame portion of the frame and receives light from below including the reflected light of the irradiation light;
The door system includes a detection range in which the irradiation range of the irradiation light of the irradiation unit and the light reception range of the reflected light of the light receiving unit overlap each other.
The irradiation range is included in the passing space,
The door system according to claim 1, wherein the light receiving range partially protrudes outside the passage space.
The irradiation range partially protrudes outside the passing space,
The door system according to claim 1, wherein the light receiving range is included in the passing space.
The irradiation range is included in the passing space,
The door system according to claim 1, wherein the light receiving range is included in the passing space.
The said irradiation means has a lens unit which suppresses the spreading | diffusion of the light of the depth direction of the said door, and irradiates the said irradiation light through the said lens unit, The any one of Claim 1 to 4 characterized by the above-mentioned. The door system according to item.
The said irradiation means has a prism which diffuses light in the direction orthogonal to the said depth direction, and irradiates the said irradiation light through the said prism, The any one of Claim 1-5 characterized by the above-mentioned. The door system described.
The light receiving means includes an optical wavelength filter that preferentially transmits light having the same wavelength as the wavelength of the irradiation light, and receives the reflected light through the optical wavelength filter. The door system according to any one of 6 to 6.
The door system according to any one of claims 1 to 7, wherein the irradiation means and the light receiving means are integrally attached to an upper frame portion of the frame.
The irradiation means includes a light emitting element mounted on a substrate,
The door system according to claim 8, wherein the light receiving means includes a light receiving element provided on the same substrate as the light emitting element.
The said irradiation means and the said light-receiving means are attached to the upper frame part of the said frame body in the state aligned in the direction orthogonal to the said depth direction, The any one of Claim 1-9 characterized by the above-mentioned. The door system described.
The door system according to any one of claims 1 to 10, wherein a plurality of at least one of the irradiation means and the light receiving means are attached to an upper frame portion of the frame body.
An irradiation control means for controlling the irradiation means to irradiate the irradiation light or stop the irradiation;
A light receiving control means for controlling the light receiving means to receive light or stop light reception,
The irradiation control means stops the irradiation while the door is stopped,
The door system according to any one of claims 1 to 11, wherein the light reception control unit stops light reception while the door is stopped.
The light receiving means is configured to receive light including the reflected light and output a signal corresponding to the light,
Door driving means for opening and closing the door;
Signal acquisition means for acquiring a signal output by the light receiving means;
Determination means for determining whether an object exists in the detection range based on the signal acquired by the signal acquisition means;
The door opening / closing control means for suppressing an opening / closing operation of the door when the determination means determines that an object is present in the detection range. Door system.
The door opening / closing control means, when the door is in the middle of closing operation when the determination means determines that there is an object in the detection range, stops the door closing operation and opens the door. The door system according to claim 13, wherein the door closing speed is reduced.
The door opening / closing control means, when the door is in the middle of an opening operation when it is determined by the determination means that an object is present in the detection range, the door opening operation is stopped and the door is closed. The door system according to claim 13 or 14, wherein the door opening speed is slowed.
16. The door opening / closing control means maintains the door in a stopped state when the door is stopped when the determination means determines that an object is present in the detection range. The door system according to any one of the above.
The light receiving means is configured to receive light including or not including the reflected light and output a signal corresponding to the light,
The signal acquisition means acquires a signal when the irradiation means is irradiating the irradiation light and a signal when the irradiation means is not irradiating from the light receiving means,
The determination means determines whether or not an object is present in the detection range based on a signal obtained by subtracting a signal at the time of non-irradiation from a signal at the time of irradiation of the irradiation light. The door system according to any one of the above.
The door system according to any one of claims 13 to 17, wherein the irradiation control means causes the irradiation means to irradiate the irradiation light intermittently at a plurality of different irradiation times.
A notification means for notifying a warning;
19. The control device according to claim 13, further comprising a notification control unit configured to notify the notification unit of a warning when it is determined by the determination unit that an object exists in the detection range. Door system.