WO2021049636A1 - 自動ドアの通過支援装置、通過支援方法、プログラム、および記録媒体 - Google Patents

自動ドアの通過支援装置、通過支援方法、プログラム、および記録媒体 Download PDF

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Publication number
WO2021049636A1
WO2021049636A1 PCT/JP2020/034548 JP2020034548W WO2021049636A1 WO 2021049636 A1 WO2021049636 A1 WO 2021049636A1 JP 2020034548 W JP2020034548 W JP 2020034548W WO 2021049636 A1 WO2021049636 A1 WO 2021049636A1
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WO
WIPO (PCT)
Prior art keywords
information
passage
automatic door
attribute information
sensor data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/034548
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
賢二 岸岡
達哉 中川
吉信 小関
優介 宮之原
悦大 市田
元昭 古野
樹 三澤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Solution Innovators Ltd
Fulltech Co Ltd
Original Assignee
NEC Solution Innovators Ltd
Fulltech Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NEC Solution Innovators Ltd, Fulltech Co Ltd filed Critical NEC Solution Innovators Ltd
Priority to JP2021545628A priority Critical patent/JP7311175B2/ja
Priority to US17/642,569 priority patent/US20220341247A1/en
Priority to CN202080064206.4A priority patent/CN114423924A/zh
Publication of WO2021049636A1 publication Critical patent/WO2021049636A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B11/00—Means for allowing passage through fences, barriers or the like, e.g. stiles
    • E06B11/02—Gates; Doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/36—Speed control, detection or monitoring
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E05Y2400/454—Control modes for accommodating handicapped users
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors

Definitions

  • the present invention relates to an automatic door passage support device, a passage support method, a program, and a recording medium.
  • the automatic door installed at the entrance of a building is usually opened and closed automatically by detecting a person with a motion sensor such as an infrared sensor (Patent Document 1).
  • a motion sensor such as an infrared sensor
  • the current automatic doors have problems such as a passerby hitting the automatic door, the automatic door opening when it is not necessary, and congestion.
  • an object of the present invention is to provide a new device that enables safe and smooth passage according to, for example, the situation of an automatic door user and the situation around the automatic door.
  • the automatic door passage support device of the present invention is used.
  • the storage unit Memorize passage support information regarding the passage of automatic doors,
  • the passage support information is associated with the passage conditions related to the passage of the automatic door and the attribute information of the image around the automatic door.
  • the passage condition is at least one of an automatic door opening / closing condition and a passage guide condition for an automatic door user.
  • the image acquisition unit Get real-time images around automatic doors,
  • the identification unit With respect to the real-time image, the attribute information is identified and
  • the passing condition selection unit is Select the passage condition associated with the attribute information of the storage unit that matches the identified attribute information, and select The output unit It is characterized in that the selected passing condition is output.
  • the automatic door passage support method of the present invention Using the passage support information regarding the passage of automatic doors, The passage support information is associated with the passage conditions related to the passage of the automatic door and the attribute information of the image around the automatic door.
  • the passage condition is at least one of an automatic door opening / closing condition and a passage guide condition for an automatic door user.
  • the image acquisition step is Get real-time images around automatic doors
  • the identification step is With respect to the real-time image
  • the attribute information is identified
  • the passage condition selection step is Select the passage condition associated with the attribute information of the storage unit to which the real-time image matches, and select
  • the output process is It is characterized in that the selected passing condition is output.
  • the program of the present invention is characterized in that each step of the automatic door passage support method of the present invention is executed by a computer as a procedure.
  • the recording medium of the present invention can be read by a computer on which the program of the present invention is recorded.
  • the present invention by using an image of the surroundings of an automatic door, it is possible to control, for example, the opening and closing of the automatic door and output guide conditions for the user according to the user of the automatic door and the surrounding conditions.
  • the safety of passers-by is ensured, and smooth passage is possible while suppressing the occurrence of waiting time and congestion.
  • FIG. 1 is a block diagram showing an example of the passage support device of the first embodiment.
  • FIG. 2 is a block diagram showing another example of the passage support device of the first embodiment.
  • FIG. 3 is a block diagram showing an example of the hardware configuration of the passage support device according to the first embodiment.
  • FIG. 4 is a flowchart showing an example of the passage support method of the fifth embodiment.
  • FIG. 5 is a diagram showing an example of area information.
  • FIG. 6 is a diagram showing an example of processing of the specific motion detection unit when the specific motion information is information related to the crossing motion.
  • FIG. 7 is a diagram showing an example of detecting the end of a specific operation of a moving body.
  • FIG. 8 is a flowchart showing an example of detecting a crossing motion and controlling the opening and closing of an automatic door in the passage support method of the fourth embodiment.
  • the automatic door to be controlled is not particularly limited as long as it is a door that is automatically opened and closed when a person comes and goes, instead of being opened and closed by a person.
  • the installation location of the automatic door is not particularly limited, and for example, doors for entrances and exits of facilities such as office buildings, commercial buildings, and hotels, elevator doors, flapper gates used for entering and exiting rooms, and ticket gates (home doors) for railways, etc. , Doors for public transport vehicles (eg, trains, buses, etc.).
  • the user of the automatic door means a person who passes through the automatic door.
  • Automatic doors are usually used for people to enter and exit.
  • the automatic door to be controlled may be, for example, an automatic door that functions as an entrance that only passes from one direction, an automatic door that functions as an exit that only passes from the other direction, or an entrance / exit. It may be an automatic door that acts as a doorway through from both directions.
  • terms such as entrance, exit, entry direction, exit direction, etc. are used, but these are defined for convenience, and are actually the entrance or the inside for entering the inside from the outside.
  • the exit from the outside is not limited in the present invention.
  • FIG. 1 is a block diagram showing an example of the passage support device of the present embodiment.
  • the passage support device 1 includes a storage unit 10, an image acquisition unit 11, an identification unit 12, a passage condition selection unit 13, and an output unit 14.
  • the storage unit 10 includes the passage support information 15.
  • the passage support device 1 is also referred to as, for example, a passage support system.
  • the passage support device 1 may be, for example, one device including the above-mentioned parts, or may be a device in which the above-mentioned parts can be connected via a communication network. As shown in FIG. 2, the passage support device 1 may be further connectable to the camera 31, the automatic door 32, the display unit 33, the speaker 34, and the like via the communication network 2.
  • the passage support system may include, for example, a passage support device 1, optionally, an automatic door 32, a display unit 33, and a speaker 34. These forms will be described later as appropriate.
  • the passage support device 1 may be incorporated in the server as a system, for example.
  • the present device 1 may be, for example, a personal computer (PC, for example, desktop type, notebook type), a terminal (smartphone, tablet terminal) or the like in which the program of the present invention is installed.
  • the apparatus 1 may be in a form such as cloud computing or edge computing in which at least one of the above parts is on the server and the other parts are on the terminal.
  • the storage unit 10 stores the passage support information 15, and the passage support information 15 is associated with the passage conditions related to the passage of the automatic door and the attribute information of the image around the automatic door.
  • the passage condition is at least one of an automatic door opening / closing condition and a passage guide condition for an automatic door user, and either one may be used, but both are preferable.
  • the conditions for opening and closing the automatic door are, for example, opening, closing, opening timing, closing timing, opening speed, closing speed, opening holding time, opening width, and the like.
  • the passage guide condition is the content of the announcement (guide information) to the automatic door user at the time of passage, and is, for example, an announcement on the passing side, an announcement of caution, and an announcement of the entrance or exit of the automatic door.
  • Examples of the attribute information of the image in the passage support information 15 of the storage unit 10 include the attribute information of the moving body in the image, the movement information of the moving body in the image, and the like. Either one may be used, but both are preferable. ..
  • the attribute information of the moving body includes, for example, whether or not it is a person, age group, presence or absence of incidental items, number of people, gender, nationality, traffic consideration information, and the like. “Whether or not a person” refers to the classification of a person and a person other than a person, that is, a person, for example, a person or a non-human animal (dog, cat, etc.).
  • the "age group” is not particularly limited, and may be, for example, the age itself, the range of age, the genus indicated by the range of age (for example, infants, toddlers, elementary school students, middle and high school students, adults, elderly people, etc.), etc. But it may be.
  • the "presence or absence of ancillary items" is, for example, whether or not the ancillary items are possessed, and the ancillary items are not particularly limited and are attached to a person during walking, for example, luggage, movement.
  • Ancillary equipment and the like, the luggage is, for example, a baby carriage, a suitcase, a carry bag, etc.
  • the mobile ancillary equipment is, for example, an equipment attached for walking, and as a specific example, walking assistance.
  • Canes, pedestrians, pedestrians, wheelchairs, etc. Examples of the walking cane include a white cane for the visually impaired, a cane for the physically handicapped and the elderly, and a crutch for the injured.
  • the "number of people” is, for example, the number of people included in the image, and in the case of a plurality of people, information on the distance between moving objects (people) may be further included.
  • the "gender” is, for example, a man, a woman, or the like.
  • the "nationality” may be, for example, a country name such as Japan, a region such as Asia, a language region such as an English-speaking country, or a classification as to whether or not the person is a resident of that country.
  • "Traffic consideration information” is information of a person who needs some kind of support for passage, and as a specific example, it is an attribute of a person who needs consideration for passage, such as a wheelchair or a person with an infant.
  • the "passage consideration information" may be, for example, a classification indicating whether or not consideration is required for passage, or a classification indicating the degree and type of consideration.
  • the information of the moving body may be directly identified from the real-time image in the identification of the real-time image by the identification unit 12 described later, or may be identified from the combination of a plurality of attributes identified from the real-time image. May be done.
  • Examples of the movement information of the moving body include movement speed and vector information (movement direction, face orientation, line of sight, etc.).
  • the "moving speed” is, for example, the speed at which a person moves in the direction of travel, and also includes the meaning of whether or not the person is moving.
  • the "moving direction” is a traveling direction in which a person moves, and specifically, is information such as whether or not there is an automatic door to be opened / closed at or near the traveling direction. Further, the "moving direction” may be, for example, an approach angle with respect to the automatic door.
  • the "face orientation” is, for example, the orientation of a person's face, that is, the orientation of the line of sight, and specifically, for example, information such as whether or not there is an automatic door to be opened / closed at or near the line of sight. is there.
  • the "line of sight” is, for example, the direction of a person's eyes, the direction of a person's focus, or the like, and specifically, for example, the distance between pupils.
  • the attribute information of the image in the passage support information 15 of the storage unit 10 may be, for example, the image itself. In this case, for example, in the identification of the real-time image by the identification unit 12 described later, the former image and the real-time image are used. It can also be identified by matching.
  • the attribute information of the image in the passage support information 15 is the image itself, a specific example is a past image around the automatic door.
  • the passage support information 15 is associated with the passage condition and the attribute information of the image.
  • suitable passing conditions can be arbitrarily set for each attribute information of the image, and specifically, the passing conditions are set to be suitable for the predicted situation based on the attribute information of the image. it can.
  • the passing condition is, for example, a condition set from the viewpoint of preventing the occurrence of an accident and improving convenience. Specific examples of the combination of the passing conditions and the attribute information of the image will be described later.
  • the passing condition may be, for example, an adjustment condition of how to change the reference condition when it is specific attribute information after setting an arbitrary reference condition.
  • the passing condition associated with the attribute information of the image is not particularly limited, and may be, for example, a hypothetical condition by guessing or an arbitrarily set condition based on past information.
  • the attribute information of the image may be, for example, the image itself.
  • an image for example, an image around the automatic door
  • the passage condition may be associated with the image.
  • an announcement to an automatic door user "Be careful not to slip" is set as a passage guide condition
  • an image of a state in which slip may occur that is, around the automatic door.
  • An image of a wet floor, an image of high heels, or the like may be stored in the storage unit 10 as attribute information of the image, and the passing conditions of the announcement may be linked.
  • the passage support information may be, for example, a model created by learning using a set of an image around the automatic door and a passage condition suitable for the state of the image as learning data.
  • the "image around the automatic door" as the attribute information of the image may be, for example, an image around the automatic door that is actually the target, or an image of the environment in which the automatic door exists (that is, an image of another automatic door). It may be an image of an event that may occur around the automatic door (that is, an image that does not include the automatic door in the image itself).
  • the image acquisition unit 11 acquires a real-time image around the automatic door.
  • the image acquisition unit 11 may acquire a real-time image as a camera, or the real-time image acquired by the camera may be input to the image acquisition unit 11.
  • the passage support device 1 can acquire a real-time image by connecting to the camera, and the connection is not particularly limited, and may be wired or wireless, for example.
  • the passage support device 1 and the camera 31 can be connected to each other via, for example, a communication network 2.
  • the communication line network 2 is not particularly limited, and a known communication line network can be used, and may be wired or wireless.
  • an Internet line WWW (World Wide Web), a telephone line, and a LAN (Local Area).
  • Network WiFi (Wireless Fidelity), Bluetooth (registered trademark), DTN (Delay Tolerant Networking) and the like.
  • the wireless communication may be either a form in which each device directly communicates (Ad Hoc communication) or indirect communication via an access point.
  • the location and number of cameras 31 that acquire real-time images around the automatic door are not particularly limited.
  • the camera 31 may be installed in a place where the surroundings on the entrance side can be imaged
  • the camera 31 may be installed in a place where the surroundings on the exit side can be imaged.
  • the camera 31 is located at a location where the surroundings of both sides (entrance side and exit side) of the automatic door can be imaged. It suffices if it is installed.
  • the camera 31 may be installed, for example, above the automatic door, on the left and right sides of the automatic door, or the like.
  • the camera 31 may be mounted on the signage, for example.
  • the real-time image is preferably an image captured over time, for example, continuously or discontinuously.
  • the identification unit 12 identifies the attribute information of the real-time image. That is, the identification unit 12 identifies, for example, the attributes of the moving body in the image, the movement of the moving body in the image, or the situation around the automatic door in the image with respect to the real-time image. Regarding the attributes of the moving body, for example, the acquired real-time image is analyzed to determine whether or not the moving body (object) included in the image is a person, age group, presence / absence of ancillary objects, number of people, gender, and the like. Identify.
  • the attributes of the moving body may be quantified and identified by, for example, image analysis. In this case, the attribute information stored in the storage unit 10 is also preferably quantified, and can be collated numerically.
  • the acquired real-time image is analyzed, and the moving body (object) included in the image has a moving speed and a vector (moving direction, face orientation, line of sight, etc.). Etc. are identified.
  • the movement information of the moving body may be quantified and identified by, for example, image analysis.
  • the attribute information stored in the storage unit 10 is also preferably quantified, and can be collated numerically.
  • the acquired real-time image is analyzed to identify information other than a person, for example, a puddle on the ground.
  • the attributes of the moving body may be identified stepwise with respect to the real-time image.
  • the image analysis for example, when the moving body included in the image is determined to be a human or an animal other than a human, and the moving body is determined to be a human, further, the age group.
  • the presence or absence of incidental items, the number of people, gender, etc. are determined.
  • the determination of the presence or absence of the accessory for the moving body included in the image also serves as the determination of whether or not the accessory is a person. If the item is present, for example, the age group, the number of people, the gender, and the like may be determined.
  • the movement information of the moving body may be further identified.
  • the identification unit 12 can more accurately identify the movement of a person such as the moving speed and the moving direction by using, for example, the plurality of images captured over time.
  • the identification unit 12 For example, a commercially available system for performing image analysis or artificial intelligence (AI) can be used for the identification unit 12, and as a specific example, the product name Field Analyst (NEC Solution Innovators) or the like can be used. That is, the identification unit 12 may be executed by, for example, artificial intelligence (AI), but is not limited thereto. According to the present invention, for example, by using AI, each identification can be performed by one camera, so that the cost is low.
  • AI artificial intelligence
  • the passing condition selection unit 13 selects the passing condition associated with the attribute information of the storage unit 10 that matches the identified attribute information.
  • the real-time image may include a plurality of moving objects.
  • the automatic door is for an entrance / exit, the user moves in both directions and passes through the automatic door. Therefore, for example, real-time images at the same time may be acquired on both the entrance side and the exit side. is there.
  • the priority may be set in advance for the attribute information, and the passing condition associated with the attribute information having a high priority may be preferentially selected.
  • a passage condition based on a real-time image of either the entrance side or the exit side may be preferentially selected.
  • the output unit 14 outputs the selected passage condition. Specifically, when the passing condition is the opening / closing condition of the automatic door, the output unit 14 outputs, for example, a control signal corresponding to the opening / closing condition to the control unit of the automatic door responsible for opening / closing.
  • the output unit 14 outputs, for example, a signal corresponding to the passage guide condition to the display unit 33, the speaker 34, and the like.
  • the display unit 33 may be, for example, a digital signage provided with a speaker 34. According to the digital signage, for example, the passage guide condition can be presented to the user of the automatic door 32 as sound information or visual information.
  • the installation location of the digital signage is not particularly limited, and is, for example, a location that can be recognized by a user passing through the automatic door 32, and specifically, is installed on or beside the automatic door 32. Further, the digital signage may be directly fixed to the automatic door 32, for example.
  • the present invention may be, for example, a passage support system including a passage support device 1, an automatic door 32 including a control unit for controlling opening and closing, a display unit 33, and a speaker 34, as described above.
  • the passage support device 1 and the automatic door 32, the display unit 33, and the speaker 34 may be connected to each other via, for example, the communication network 2.
  • the control of the automatic door 32 is performed.
  • the display unit 33 and the speaker 34 perform the signal according to the signal.
  • the passage guide condition may be information for the user, and the type is not limited at all.
  • the form of the passage guide condition may be, for example, sound information, visual information, or both.
  • the sound information may be, for example, voice (including human voice, synthetic voice), music, alert sound, or a combination thereof.
  • the visual information is information that can be visually grasped, and may be, for example, words (characters), symbols, illustrations such as a map, or a combination thereof.
  • the type of language for both the sound information and the visual information is not particularly limited, and examples thereof include various languages such as Japanese, English, Spanish, and Chinese.
  • the language of the passage guide condition can also be selected by identifying the nationality.
  • the passage guide condition may be, for example, an alert that prevents the animal from approaching the automatic door.
  • the alert may be, for example, sound, ultrasonic waves, or the like.
  • the contents of the passage guide condition can be appropriately set according to the attribute information of the moving body and the movement information of the moving body.
  • announcements to ensure safety there are "There are people running from the other side. Please be careful”, "People with infants come in from the other side. Please be careful” etc.
  • announcements regarding the direction of travel for example, "The elevator is on the left side when you go 50m in front of you.” Further, these announcements may be, for example, voice information or visual information as described above.
  • the output destination of the passage guide condition can be appropriately set depending on, for example, the type of form of the passage guide condition.
  • the output destination is, for example, a display unit, and specific examples thereof include signage such as digital signage.
  • the signage is installed, for example, in the vicinity of an automatic door.
  • the output destination is, for example, a speaker.
  • the speaker may be, for example, the speaker of the signage.
  • the passage support device 1 may be connected to the display unit 33, the speaker 34, and the like via the communication network 2.
  • FIG. 3 illustrates a block diagram of the hardware configuration of the passage support device 1.
  • the passage support device 1 includes, for example, a CPU (central processing unit) 100, a memory 102, a bus 103, an input device 104, a display 105, a communication device 106, a storage device 107, and the like. Each part of the passage support device 1 is connected via the bus 103 by, for example, each interface (I / F).
  • I / F interface
  • the CPU 100 is a processor that controls the entire passage support device 1, and is not limited to the CPU, and may be another processor.
  • the program of the present invention and other programs are executed by the CPU 100, and various information is read and written.
  • the passage support device 1 may include another central processing device such as a GPU instead of the CPU 100.
  • the CPU 100 functions as an image acquisition unit 11, an identification unit 12, a passing condition selection unit 13, and an output unit 14.
  • the passage support device 1 can be connected to the communication line network 2 by, for example, the communication device 106 connected to the bus 103, and can also be connected to an external device via the communication line network 2.
  • the external device is, for example, the camera 31, the automatic door 32, the display unit 33, the speaker 34, and the like shown in FIG. 2, as described above.
  • the connection method between the passage support device 1 and the external device is not particularly limited, and may be, for example, a wired connection or a wireless connection.
  • the wired connection may be, for example, a cord connection or a cable or the like for using the communication network 2.
  • the wireless connection may be, for example, a connection using the communication network 2 or a connection using wireless communication.
  • the communication line network 2 is not particularly limited, and for example, a known communication line network can be used, which is the same as described above.
  • the memory 102 includes, for example, a main memory, and the main memory is also referred to as a main storage device.
  • the main memory is, for example, a RAM (random access memory).
  • the memory 102 further includes, for example, a ROM (read-only memory).
  • the storage device 107 is also referred to as a so-called auxiliary storage device with respect to the main memory (main storage device), for example.
  • the storage device 107 includes, for example, a storage medium and a drive for reading and writing to the storage medium.
  • the storage medium is not particularly limited, and may be an internal type or an external type, and examples thereof include HD (hard disk), CD-ROM, CD-R, CD-RW, MO, DVD, flash memory, and memory card.
  • the drive is not particularly limited.
  • a hard disk drive (HDD) in which a storage medium and a drive are integrated can be exemplified.
  • the program 108 is stored in the storage device 107, and as described above, when the CPU 100 is executed, the memory 102 reads the operation program 108 from the storage device 107.
  • the storage device 107 may store, for example, the passage support information 15, the image from the camera 31, the information obtained by the passage support device 1, and the like.
  • the storage unit 10 can use, for example, the memory 102 and the storage device 104.
  • the memory 102 and the storage device 104 can also store user log information and information acquired from an external database (not shown).
  • the input device 104 is, for example, a scanner, a touch panel, a keyboard, a mouse, or the like.
  • Examples of the display 105 include an LED display, a liquid crystal display, a projector, and a signage.
  • the passage support method of the present embodiment can be implemented by using, for example, the passage support device 1 shown in FIGS. 1 to 3.
  • the passage support method of the present embodiment is not limited to the use of the passage support device 1 shown in these drawings. Further, the description in the passage support method of the present embodiment can be applied to the passage support device 1 described above.
  • the passage support method of the present invention uses the passage support information of the automatic door described above.
  • the passage support method of the present invention for example, the passage support information stored in the storage unit 10 of the passage support device 1 of the present invention can be used.
  • the passage support method of the present invention may include, for example, a storage step, and the passage support information may be stored in the storage step.
  • the storage step can be executed, for example, by the storage unit 10 of the passage support device 1.
  • the passage support method of the present invention includes an image acquisition step, an identification step, a passage condition selection step, and an output step.
  • the image acquisition step is a step of acquiring a real-time image around the automatic door, and can be executed by, for example, the image acquisition unit 11 of the passage support device 1.
  • the identification step is a step of identifying attribute information for the real-time image, and can be executed by, for example, the identification unit 12 of the passage support device 1.
  • the passing condition selection step is a step of selecting a passing condition associated with the attribute information that matches the real-time image, and can be executed by, for example, the passing condition selection unit 13 of the passing support device 1.
  • the output step is a step of outputting the selected passage condition, and can be executed by, for example, the output unit 14 of the passage support device 1.
  • Example A is an example in which the passing condition is the opening and closing of an automatic door.
  • the automatic door may be opened by detecting a moving object even when an animal other than a human is approaching.
  • the attribute information "person” of the moving body and the opening / closing condition "open” which is the passing condition are linked, and the attribute information "animal other than the human” of the moving body and the passage are linked.
  • the opening / closing condition "close” which is a condition.
  • the associated opening / closing condition "close” is selected, and this signal is an automatic door.
  • the automatic door is controlled to close, and if the automatic door is closed, it cannot be opened as it is.
  • the automatic door cannot be opened, and only when the object is a person, the automatic door can be opened.
  • the attribute information "human” and "animal other than human” of the moving body for example, one of them can be set to a high priority according to the purpose. That is, in a place where control of the entry and exit of animals is important, for example, the priority of the attribute information "animals other than humans” of the moving body is set high, and “humans” and “animals other than humans” are displayed from the real-time image. When “" is identified, the opening / closing condition "close” associated with the "animal” can be preferentially selected. On the other hand, in a place where the passage of people is prioritized, for example, the priority of the attribute information "person” of the moving body is set high, and "person” and “animal other than human” are identified from the real-time image. In that case, the opening / closing condition "open” associated with the "person” can be preferentially selected.
  • the age group "infant” which is the attribute information of the moving body and the opening / closing condition "close” which is the passage condition can be associated.
  • the associated opening / closing condition "close” is selected, and this signal is output to the automatic door.
  • the automatic door is open, it is controlled to close, and if the automatic door is closed, it cannot be opened as it is.
  • Such control can prevent, for example, an infant from going out alone or opening and closing an automatic door for play. Whether or not it is an infant can be identified from, for example, the face, standard body shape, and the like. Even when the automatic door is controlled to be closed from the above situation, for example, when a passing person may be caught in the automatic door, the passing person is given priority in terms of safety, and the automatic door is given priority. May be controlled while the is open.
  • the priority of the age group "adult”, which is the attribute information of the moving body may be set higher than that of the "infant".
  • the condition "Open” can be selected preferentially.
  • the attribute conditions of the mobile body are "age group” and "number of people (persons)".
  • Example B is an example in which the passing condition is the timing of opening and closing the automatic door.
  • the automatic door When opening and closing an automatic door by sensing with a motion sensor, normally, the automatic door is only controlled to open and close in a certain period of time by detecting a moving object at a certain distance from the automatic door. is there. For this reason, there are problems that a passerby cannot reach the automatic door while the automatic door is open, or the passerby cannot pass through and hits the automatic door. According to this example, for example, not only the opening and closing of the automatic door, but also the timing of opening the automatic door, the timing of closing the automatic door, and the opening width of the automatic door are controlled according to the passersby, so that safe passage can be achieved. It is possible to eliminate congestion.
  • the camera that acquires the image around the automatic door is usually fixed. Therefore, in the vicinity of the automatic door, an area or the like acquired as a real-time image can be set in advance, and the distance to the automatic door when a person invades the area can also be determined. Therefore, when a person is identified in a real-time image, at what timing (for example, how many seconds later) the automatic door is opened from the time of identification, and at what timing (for example, how many seconds after opening). Whether to close the automatic door later) can be set arbitrarily. Specifically, for example, the timing can be set based on the walking speed of a person considered to be average.
  • specific examples of adjustment of the opening / closing timing will be shown below, with the opening timing and closing timing set based on the walking speed of a person considered to be average as the "reference conditions" for opening / closing the automatic door. ..
  • (B1) Movement speed When a person walks fast or rushes in, he / she may hit an automatic door that is not fully opened.
  • the movement information of the moving body "moving speed is equal to or higher than an arbitrary speed" and the opening / closing condition "opening earlier than the reference condition", which is the passing condition, can be linked. ..
  • the arbitrary speed is not particularly limited, and for example, the speed of fast walking, the speed of running in, and the like can be set.
  • the associated opening / closing condition "open earlier than the reference condition” is selected, and this signal. Is output to the automatic door.
  • the movement speed can be quantified by identifying a person from a plurality of real-time images over time, for example. With such control, for example, even when an object facing the automatic door is rushing in, the risk of colliding with the automatic door is prevented and safer passage is possible. More specifically, it will be described later.
  • the automatic door may close.
  • the movement information of the moving body "moving speed is equal to or less than an arbitrary speed" and the opening / closing condition "closing at a later timing than the reference condition", which is the passing condition, can be linked. ..
  • the arbitrary speed is not particularly limited, and for example, the speed of slow walking, the speed of walking using a walking assist device such as a cane, and the like can be set.
  • the associated opening / closing condition "close at a later timing than the reference condition” is selected, and this signal. Is output to the automatic door.
  • the movement speed can be quantified by identifying a person from a plurality of images over time, for example. With such control, for example, even when the object facing the automatic door is walking slowly, it is possible to pass safely without being impatient with a margin.
  • the attribute information "the number of people" of the moving body can be associated with the opening / closing condition "opening at an earlier timing than the reference condition" which is the passage condition.
  • the number of the plurality of persons is not particularly limited, and for example, two or more persons can be set. In this case, when the acquired real-time image is analyzed and the attribute information of the moving object is identified as "the number of people is two or more", the associated opening / closing condition "open earlier than the reference condition" is selected. This signal is output to the automatic door.
  • the opening width of the automatic door may be controlled according to the number of people passing by and the width of the person.
  • the approach from both directions may identify a person, for example, for both the real-time image on the exit side and the real-time image on the entrance side at the same time.
  • Such control enables smooth bidirectional passage, for example, even when people approach each other from both sides and pass each other.
  • the opening width of the automatic door may be controlled according to the number of people passing by and the width of the person.
  • the timing can be appropriately determined depending on, for example, the type of the accessory.
  • the opening width of the automatic door may be controlled according to the number of people passing by and the width of the person.
  • the presence or absence of the accessory and its type can be detected by, for example, image analysis.
  • image analysis for example, after identifying the person who has the accessory, the accessory can be identified from the size and shape such as the vertical and horizontal widths. Further, the time for the person having the moving accessory to reach the automatic door, the time for completing the passage, and the like can be predicted based on, for example, the past passage data of a person with the same attribute.
  • Example C is an example of a passage guide condition for an automatic door user whose passage condition is an automatic door user.
  • (C1) Stopping When people are standing in front of or behind the automatic door, they may collide with each other or cause congestion.
  • the movement information of the moving body “movement speed is zero (no movement)” and the passage guide condition “guidance of“ Do not stop ”” can be linked.
  • the stop can be identified, for example, by performing image analysis on a plurality of images over time.
  • the stop time is not particularly limited and can be set to, for example, 30 seconds or more.
  • the guidance is voice information, for example, it is output to a speaker to play a voice saying "Please do not stop", and if it is visual information, it is output to signage, for example, and "Please do not stop”. Display the characters of.
  • voice information for example, it is output to a speaker to play a voice saying "Please do not stop”, and if it is visual information, it is output to signage, for example, and "Please do not stop”. Display the characters of.
  • (C2) Bidirectional passage As described above, when there is an automatic door passage from both directions, if there are many people passing through, waiting for passage may occur due to mixing.
  • the passage support information "each direction is a predetermined number of people or more”, which is a combination of the attribute information "number of people" of the moving body and the movement information "moving direction” of the moving body, and the passing guide condition "" left side ". You can link it with "Please pass”.
  • the predetermined number of people is not particularly limited, and can be appropriately set according to, for example, the size of the automatic door, the installation location of the automatic door, and as a specific example, the exit side and the entrance side may be set to 10 or more each. .. Further, when one of the exit side and the entrance side is less than 10 people, or when both are less than 10 people, the output of the passage guide condition may be terminated. Further, a guide condition that enables smoother passage may be selected by determining whether a predetermined number of people or more are on the left or right side of the exit side and the entrance side, respectively.
  • C3 Sorting of a plurality of automatic doors When a plurality of automatic doors are lined up, for example, they are sorted in advance into an entrance only and an exit only. However, depending on the time of day, for example, the number of visitors may increase or the number of exits may increase, so that the ratio of the first allocation is not always appropriate, and as a result, congestion may occur.
  • the ratio of the "number of people on the entrance side to the number of people on the exit side" regarding the attribute information "number of people" of the moving body is the number of automatic doors dedicated to the entrance and the number of automatic doors dedicated to the exit.
  • the guide condition "The ratio of the number of automatic doors dedicated to the entrance and the number of automatic doors dedicated to the exit matches the ratio of the number of people on the entrance side and the number of people on the exit side. , Change the display dedicated to the exit ".
  • the real-time image on the entrance side and the real-time image on the exit side are image-analyzed, the number of each is counted, and the attribute condition of the moving body is "entrance side”.
  • the ratio of the number of people on the exit side is different from the ratio of the number of automatic doors dedicated to the entrance and the number of automatic doors dedicated to the exit. " It is output.
  • a signal is output in which the ratio of the entrance-only automatic door to the exit-only automatic door is 3: 1.
  • the signal is output to a display unit such as a signage, and is displayed so that "entrance only” and “exit only” are 3: 1 for each automatic door.
  • the display dedicated to the entrance is increased, and if there are many exiters, the display dedicated to the exit is increased, so that the flow line between the person entering and the person leaving can be controlled, and congestion can be reduced. Can be prevented. Further, in determining which automatic door is dedicated to the entrance or the exit, for example, which automatic door has a large number of people in front of it may be considered.
  • the passerby is a handicapped person, for example, the location of the elevator, escalator, etc. may be notified by display on the signage or by voice for the convenience of movement.
  • a voice announcement such as "The elevator is on the left side when going 50 m in front", a floor image in the direction of travel, an AR display of a course arrow, and the like can be mentioned.
  • This example can also be applied to public transportation vehicles, for example. For example, if a person with a disability or a prospective passenger with an accessory is identified in a real-time image around the gate (automatic door) of the station platform, the passenger will board the speaker or signage of the gate before the vehicle arrives.
  • the congestion status of vehicles, vacant vehicles, etc. may be output and presented. It is also possible to output a signal to the vehicle before stopping at the station and notify that a person with a disability or the like is boarding at the next station by an announcement inside the vehicle.
  • the required time to stop at the station is predicted from the congestion status of both the inside of the train and the station and the past disembarkation data, and the conductor announces it. It is also possible to promote smooth boarding and disembarking and to support on-time operation.
  • announcements for example, in addition to the above examples, various information may be presented to passers-by as voice information or visual information. For example, weather, temperature, advertisements, public transportation operation information, movement guidance for elevators, stairs, escalators, etc. may be presented to exiters, and for intruders, for example. For example, various information such as movement guidance for persons with disabilities, crowded areas, and entrance areas may be presented.
  • the attribute of the moving body is identified, and by identifying the movement of the moving body, the opening / closing and announcement of the automatic door suitable for the attribute or movement is performed.
  • passers-by who have difficulty in moving smoothly such as passers-by with physical disabilities, parents with infants, elderly people, and passers-by with incidentals, automatic doors according to their characteristics. Because the doors are opened and closed and announcements are made, it is possible to realize a more human-friendly environment.
  • opening and closing the facility appropriately, for example, the influence on the air conditioning in the facility can be sufficiently suppressed.
  • the passage support device 1 may further include the specific motion detection unit 16 as an arbitrary configuration, for example, as shown in FIGS. 1 and 2.
  • the CPU 100 further functions as, for example, the specific motion detection unit 16.
  • the description of the first embodiment can be incorporated.
  • the storage unit 10 further stores specific operation information and area information regarding a specific operation of the moving body.
  • the specific action is not particularly limited, but is, for example, an action such as crossing or running.
  • the specific operation information is associated with the passing condition. More specifically, the specific operation information regarding the crossing is, for example, information for detecting the crossing such as "the boundary line of the control area and the vector information of the moving body intersect at two points", as will be described later. is there.
  • the specific operation information regarding the rushing is, for example, as described later, "the moving speed of the moving body when entering the control area is equal to or higher than a preset speed, and the vector information of the moving body is the automatic. This is information for detecting a rush such as "the direction is toward the door".
  • the area information is information about a certain area from the automatic door, and includes control area information about a control area set in the area.
  • FIG. 5 shows an example of the area information.
  • the area information includes, for example, a detection area, an open area, a protected area, a control area, and the like, and these ranges can be arbitrarily set.
  • each of the regions is set so that the open region, the protection region, and the control region exist in the detection region.
  • the open area and the protected area are set to exist in the control area.
  • the open area and the protected area are set in the order of the automatic door, the protected area, and the open area so that both areas do not overlap and are adjacent to each other.
  • the width of the detection area, the open area, the protection area, and the control area is, for example, the same as the width of the automatic door or larger than the width of the automatic door.
  • the shape of each region is not particularly limited, and may be, for example, a quadrangle or a semicircle. However, as shown in FIG. 5, the shape of the control region is such that the opposite side of the side in contact with the automatic door is from the automatic door. It is preferable that the shape is a bow in the direction of separation (hereinafter, also referred to as a semi-cylindrical shape). When the shape of the control region is semi-cylindrical, for example, the accuracy of the two-point intersection described later is improved.
  • the detection region is, for example, a range in which the real-time image can be analyzed, for example, the distance from the side in contact with the automatic door to the opposite side of the side is within a range of about 5000 mm or the like.
  • the protected area is, for example, an area in which the automatic door is not closed when the moving body or an object is present, that is, the automatic door is maintained in an open state, and for example, from the side in contact with the automatic door to the opposite side of the side.
  • the distance is within a range such as around 200 mm.
  • the open area is, for example, an area for opening an automatic door when a moving object or an object (wheelchair, shopping cart, etc.) is present (excluding crossing), and for example, the protected area from a side in contact with the automatic door.
  • the distance from the side in contact with the open area (that is, the opposite side of the protected area) is about 201 mm or the like, and the distance from the side in contact with the automatic door to the opposite side of the open area is about 1000 mm or the like.
  • the control area is an area formed by a boundary line for detecting a specific motion such as running or crossing.
  • the distance from the side in contact with the automatic door to the opposite side of the side is within a range of about 3000 mm or the like. is there. These ranges are merely examples and may be set arbitrarily. Further, both the protected area and the open area may be set to overlap.
  • the identification unit 12 identifies the attribute information including the movement information of the moving body with respect to the real-time image. That is, the identification unit 12 identifies at least one of the moving speed of the moving body and the vector information (moving direction, face orientation, line of sight, etc.).
  • the vector information can be shown using, for example, a prediction line and an extension line, as shown in FIG.
  • the prediction line shows, for example, vector information of a person at the present time.
  • the extension line indicates, for example, future vector information calculated in real time from the prediction line. It is preferable to calculate the prediction line until it intersects the boundary line of the viewing angle of the camera, for example, as shown in FIG. 6 (A).
  • the specific motion detection unit 16 detects a specific motion of the moving body by using the control area information and the identified attribute information. Specifically, when the specific motion information is information related to rushing, the specific motion detection unit 16 has a moving speed of the moving body when entering the control area, which is equal to or higher than a preset speed. When the vector information of the moving body is in the direction toward the automatic door, the movement of the moving body is detected as a "rushing motion".
  • the speed is not particularly limited and can be set arbitrarily, for example, 1.4 m / sec or more. Further, the speed may be set for each gender or age group of a person, for example.
  • the specific motion detection unit 16 determines that the boundary line of the control region and the vector information (prediction line and extension line) of the moving body intersect at two points. The movement of the moving body is detected as a "crossing movement".
  • FIG. 6B when the boundary line of the control region and the vector information (prediction line and extension line) of the moving body intersect at one point, it is detected as "crossing". do not do.
  • FIG. 6B when the boundary line of the control region and the vector information (prediction line and extension line) of the moving body intersect at one point, it is detected as "crossing". do not do.
  • FIG. 6A the specific motion detection unit 16 determines that the boundary line of the control region and the vector information (prediction line and extension line) of the moving body intersect at two points. The movement of the moving body is detected as a "crossing movement”.
  • FIG. 6B when the boundary line of the control region and the vector information (prediction line and extension line) of the moving body intersect at one point, it is detected as "crossing". do not do.
  • the specific motion detection unit 16 does not detect when the vector information (prediction line and extension line) intersects the motion line as “crossing”.
  • the vector information (prediction line and extension line) intersects the operation line for example, it is identified that the moving body is heading toward the automatic door, and as described above, the automatic door is opened if the automatic door is closed. Is controlled.
  • the operation line is, for example, a line set along the lateral direction of the automatic door and set to a length that fits within the control area.
  • the passing condition selection unit 13 selects the passing condition associated with the specific operation information of the storage unit 10 that matches the detected specific operation.
  • the identification unit 12 may further identify the attribute information including the motion information of the moving body with respect to the real-time image.
  • the identification unit 12 may, for example, identify only the same type of attribute information as the attribute information used for detecting the specific operation, or may identify other types of attribute information.
  • the same type of attribute information is, for example, movement speed and vector information when a run-in is detected, and vector information when a crossing is detected.
  • the specific motion detection unit 16 detects at least one of the end or continuation of the specific motion of the moving body based on the motion information of the moving body identified after detecting the specific motion.
  • FIG. 7 shows an example of detecting the end of a specific operation of the moving body.
  • FIG. 7 cites crossing as an example of the specific operation, but the present invention is not limited to this.
  • User A shown in FIG. 7, stopped in the protected area after the crossing motion was detected.
  • the identification unit 12 identifies the position and stop of the user A. Specifically, whether or not the user A is in the protected area can be determined from, for example, the operating point of the head of the user A.
  • the specific motion detection unit 16 detects, for example, the end of crossing if the stopped position of the user A is within the protected area. On the other hand, if the stop position of the user A is outside the protected area, for example, the specific motion detection unit 16 does not have to detect the end of the crossing motion. Further, the user B shown in FIG. 7 turned the front of his / her face toward the automatic door after detecting the crossing motion. The identification unit 12 identifies the vector information of the user B again. Then, when the specific motion detection unit 16 determines that the boundary line of the control region and the vector information (prediction line and extension line) of the moving body intersect at one point, that is, it is determined that the boundary line does not intersect at two points.
  • the specific operation is a rush operation
  • the moving speed of the moving body identified by the identification unit 12 is slower than the moving speed of the moving body identified before the detection of the specific motion, and is equal to or lower than a preset speed. In some cases, or when the vector information is no longer in the direction toward the automatic door, it is detected as the end of the rush.
  • the specific motion detection unit 16 detects the same specific motion as a continuation of the specific motion, for example.
  • the specific motion detection unit 16 may detect, for example, a change in the specific motion. That is, the specific motion detection unit 16 may detect another specific motion after detecting the end of the specific motion, for example.
  • the passage condition selection unit 13 is at least the attribute information of the storage unit 10 that matches the identified attribute information, and the specific operation information regarding the specific operation of another moving body other than the specific operation that has detected the end. Select the passage condition associated with one side.
  • the passage support method of the present embodiment can be implemented by using, for example, the passage support device 1 shown in FIGS. 1 to 3.
  • the passage support method of the present embodiment is not limited to the use of the passage support device 1 shown in these drawings. Further, the description in the passage support method of the present embodiment can be applied to the passage support device 1 described above.
  • the passage support method of the present embodiment further uses the specific motion information and the area information regarding the specific motion of the moving body described above.
  • the specific operation information and the area information stored in the storage unit 10 in the passage support device 1 of the present invention can be used.
  • the passage support method of the present embodiment may include, for example, a storage step, and the specific operation information and the area information may be stored in the storage step.
  • the storage step can be executed, for example, by the storage unit 10 of the passage support device 1.
  • the passage support method of the present embodiment further includes a specific motion detection step.
  • the identification step is a step of identifying the attribute information including the movement information of the moving body with respect to the real-time image, and can be executed by, for example, the identification unit 12 of the passage support device 1.
  • the specific motion detection step is a step of detecting a specific motion of the moving body by using the control area information and the identified attribute information, and is executed by, for example, the specific motion detection unit 16 of the passage support device 1. it can.
  • the passage condition selection step is a step of selecting a passage condition associated with the specific operation information of the storage unit 10 that matches the detected specific operation, and is, for example, a passage support. It can be executed by the passage condition selection unit 13 of the device 1.
  • the step may be a step of detecting the motion of the moving body as a "rushing motion”.
  • the specific motion detection step sets the motion of the moving body to "" when the boundary line of the control region and the vector information of the moving body intersect at two points. It may be a step of detecting as "crossing motion”.
  • the identification step may be, for example, a step of identifying the attribute information including the movement information of the moving body with respect to the real-time image after detecting the specific motion.
  • the specific motion detection step is a step of detecting at least one of the end or continuation of the specific motion of the moving body based on the motion information of the moving body identified after detecting the specific motion.
  • the passing condition selection step at least the attribute information of the storage unit 10 that matches the identified attribute information and the specific operation information regarding the specific operation of another moving body other than the specific operation that detects the end of the operation. This is the process of selecting the passage conditions associated with one side.
  • the passage support device 1 may further include a sensor data acquisition unit 17 and a switching unit 18 as an arbitrary configuration, for example.
  • the CPU 100 further functions as, for example, a sensor data acquisition unit 17 and a switching unit 18.
  • the description of the first and second embodiments can be incorporated.
  • the storage unit 10 stores the passage support information, the specific operation information, and the area information.
  • the passage support information is associated with the passage condition, the attribute information, and the attribute information of the sensor data around the automatic door.
  • the attribute information of the sensor data is, for example, information regarding a threshold value, a numerical range, or the like of the sensor data, and is information set from the viewpoint of detecting the existence of a moving object, an object, or the like. More specifically, the attribute information of the sensor data includes, for example, whether or not there is a person around the automatic door, whether or not there is a person, the weather around the automatic door, the temperature, and the like. Further, the attribute information of the sensor data may be directly identified from the sensor data in the identification of the sensor data by the identification unit 12 described later, or from a combination of a plurality of attributes identified from the sensor data. It may be identified.
  • the attribute information of the sensor data in the passage support information 15 of the storage unit 10 may be, for example, the sensor data itself, and in this case, for example.
  • the former sensor data can be identified by collation with the acquired sensor data.
  • the attribute information of the sensor data in the passage support information 15 is the sensor data itself, a specific example is past sensor data around the automatic door.
  • the passage support information 15 is further associated with the passage condition and the attribute information of the sensor data.
  • a suitable passing condition can be arbitrarily set for each attribute information of the sensor data, and specifically, a passing condition suitable for a predicted situation based on the attribute information of the sensor data. Can be set to.
  • the passing conditions for example, the above description can be incorporated.
  • the passing condition associated with the attribute information of the sensor data is not particularly limited, and may be, for example, a hypothetical condition by guessing or an arbitrarily set condition based on past information.
  • the attribute information of the sensor data may be, for example, the sensor data itself, as described above.
  • sensor data for example, sensor data around an automatic door
  • the passage condition may be associated with the storage unit 10. .
  • the sensor data in a state where slippage may occur that is, the automatic door Sensor data that is raining in the vicinity, etc. may be stored in the storage unit 10 as attribute information of the sensor data, and the passing conditions of the announcement may be linked.
  • the passage support information may be, for example, a model created by learning using a set of sensor data around an automatic door and passage conditions suitable for the state of the sensor data as learning data.
  • the "sensor data around the automatic door” as the attribute information of the sensor data may be, for example, the sensor data around the automatic door that is actually the target, or the sensor data of the environment in which the automatic door exists (that is, another sensor data). (Sensor data around the automatic door) or sensor data of an event that may occur around the automatic door (that is, the sensor data itself does not include the automatic door). ..
  • the sensor data acquisition unit 17 acquires sensor data.
  • the sensor data is data acquired by a sensor device attached to an automatic door.
  • the sensor device is not particularly limited, and examples thereof include an infrared sensor, a temperature sensor, and a weight sensor.
  • the sensor data is not particularly limited, and may be, for example, data related to weight, data related to heat, or data related to operation.
  • the sensor data acquisition unit 17 acquires the sensor data from the sensor device via, for example, the communication network.
  • the identification unit 12 identifies the attribute information of the image including the movement information of the moving body. Further, the identification unit 12 identifies the attribute information of the sensor data with respect to the sensor data.
  • the passage condition selection unit 13 further includes an open / close control unit 131 for sensor data and an open / close control unit 132 for image analysis.
  • the sensor data open / close control unit 131 is associated with the attribute information of the sensor data of the storage unit 10 that matches the attribute information of the identified sensor data. Select the passing conditions. Specifically, as the passage support information, the attribute information "there is a person" of the sensor data and the opening / closing condition "open” which is the passage condition are linked, and when the attribute information "there is no person” of the sensor data, the passage is performed. It is possible to associate the opening / closing condition "close", which is a condition.
  • the image analysis opening / closing control unit 132 passes through the storage unit 10 associated with the specific motion information that matches the detected specific motion. Select a condition. That is, the image analysis opening / closing control unit 132 is the same as the passage condition selection unit 13 described in the second embodiment.
  • the switching unit 18 controls automatic door opening / closing based on sensor data by the sensor data opening / closing control unit 131 and automatic door opening / closing based on real-time images by the image analysis opening / closing control unit 132, depending on the presence or absence of detection of the specific operation. Performs switching with control. Specifically, for example, as described above, the switching unit 18 controls to execute the process by the sensor data opening / closing control unit 131 when the specific operation detection unit 16 does not detect the specific operation. To do. On the other hand, the switching unit 18 controls, for example, to execute the process by the image analysis opening / closing control unit 132 when the specific operation is detected by the specific operation detecting unit 16.
  • the output unit 14 outputs the selected passing condition. That is, the output unit 14 outputs either the passing condition associated with the sensor condition of the storage unit 10 or the passing condition associated with the specific operation information of the storage unit 10.
  • the identification unit 12 further identifies the attribute information including the movement information of the moving body with respect to the real-time image after detecting the specific operation. You may. Subsequently, the specific motion detection unit 16 terminates or continues the specific motion of the mobile body based on the motion information of the mobile body identified after detecting the specific motion in the same manner as in the second embodiment. At least one may be detected. In this case, the switching unit 18 controls the opening / closing of the automatic door based on the sensor data by the sensor data opening / closing control unit 131 and the opening / closing for image analysis according to the result of detection of at least one of the end or continuation of the specific operation.
  • Switching with automatic door opening / closing control based on a real-time image by the control unit 132 is executed. Specifically, when the end of the specific operation is detected, the sensor data opening / closing control unit 131 is associated with the attribute information of the sensor data of the storage unit 10 that matches the attribute information of the identified sensor data. Select the passing conditions. On the other hand, when the continuation of the specific operation is detected, the image analysis opening / closing control unit 132 selects the passage condition associated with the specific operation information of the storage unit 10 that matches the detected specific operation. ..
  • the passage support method of the present embodiment can be implemented by using, for example, the passage support device 1 shown in FIGS. 1 to 3.
  • the passage support method of the present embodiment is not limited to the use of the passage support device 1 shown in these drawings. Further, the description in the passage support method of the present embodiment can be applied to the passage support device 1 described above.
  • the passage support method of the present embodiment further uses the passage support information in which the above-mentioned passage conditions and the attribute information of the sensor data are linked.
  • the passage support method of the present embodiment for example, the passage support information stored in the storage unit 10 in the passage support device 1 of the present invention can be used.
  • the passage support method of the present embodiment may have, for example, a storage process, and may store the passage support information associated with the attribute information of the sensor data in the storage process.
  • the storage step can be executed, for example, by the storage unit 10 of the passage support device 1.
  • the passage support method of the present embodiment further includes a sensor data acquisition step and a switching step. Further, the passage condition selection step further includes an open / close control step for sensor data and an open / close control step for image analysis.
  • the sensor data is acquired by the sensor data acquisition process.
  • the sensor data acquisition step can be executed, for example, by the sensor data acquisition unit 17 of the passage support device 1.
  • a real-time image around the automatic door is acquired by the image acquisition step.
  • the identification step the attribute information including the movement information of the moving body is identified for the real-time image, and the attribute information of the sensor data is identified for the sensor data.
  • the specific motion detection step detects the specific motion of the moving body by using the control area information and the identified attribute information.
  • the automatic door opening / closing control based on the sensor data by the sensor data opening / closing control step described later and the real-time image by the image analysis opening / closing control step described later are used.
  • Switch with automatic door open / close control The switching step can be executed by, for example, the switching unit 18 of the passage support device 1.
  • the passage condition associated with the sensor data attribute information of the storage unit 10 that matches the identified sensor data attribute information Select.
  • the sensor data opening / closing control step can be executed, for example, by the sensor data opening / closing control unit 131 of the passage support device 1.
  • the image analysis opening / closing control step when the specific operation is detected by the image analysis opening / closing control step, a passing condition associated with the specific operation information of the storage unit 10 that matches the detected specific operation is selected.
  • the image analysis opening / closing control step can be executed, for example, by the image analysis opening / closing control unit 132 of the passage support device 1. Then, as in the first embodiment, the selected passage condition is output by the output step, and the process is terminated.
  • the attribute information including the movement information of the moving body may be further identified with respect to the real-time image.
  • the specific motion detection step is the end or continuation of the specific motion of the mobile body based on the motion information of the mobile body identified after detecting the specific motion. At least one may be detected.
  • the switching step is for automatic door opening / closing control based on the sensor data by the sensor data opening / closing control step and for image analysis according to the result of detection of at least one of the end or continuation of the specific operation. Switching with automatic door opening / closing control based on real-time images by the opening / closing control process is executed.
  • the sensor data opening / closing control step associates the sensor data with the attribute information of the sensor data of the storage unit 10 that matches the attribute information of the identified sensor data. Select the passing conditions.
  • the passage condition associated with the specific operation information of the storage unit 10 that matches the detected specific operation is selected by the image analysis opening / closing control step. ..
  • automatic door opening / closing control is performed by image analysis, and when the specific motion is not detected, the sensor data is used. It can be switched to control the opening and closing of automatic doors. This makes it possible to provide automatic door opening and closing that is more suitable for specific actions such as crossing and running. Further, as in the first and second embodiments, for example, it is possible to improve convenience and prevent accidents from occurring. Automatic door opening / closing control by image analysis does not require a sensor, so it can be said to be control executed by software. By enabling control by software, for example, it is possible to support a "ventilation mode" in which the door is opened for a certain period of time based on schedule data.
  • Passage support can be further controlled based on, for example, weather information, event information, date and time information, and the like. That is, it is conceivable that the entry and exit of people varies depending on, for example, the weather, the presence or absence of an event, the day of the week, the time zone, and the like. Therefore, if the relationship between these items in the past and the number of entrances and exits is accumulated, it is possible to predict the congestion situation by inquiring the accumulated data for each item at present. Then, based on this expected congestion situation, for example, as shown in (C2) and (C3) of the first embodiment, an announcement of the flow line control, a display for changing the ratio between the exit only and the entrance only, etc. Can also be done.
  • the automatic door sensor infrared sensor
  • S101 when an object is detected
  • S102 whether the door is closed
  • S102 when it is closed
  • S103 Real-time image analysis
  • the identification unit 12 identifies whether or not there is a person (S104), and when there is (S104 YES), identifies whether or not there is a person who is 4 years old or older (S105).
  • S105 When there is a person 4 years or older (YES), the identification unit 12 further identifies whether there is one or more people facing the automatic door (S106).
  • the identification unit 12 identifies whether there is a person with a white cane (S107), and if not (NO), the identification unit 12 is facing the automatic door.
  • the approach speed of the person is calculated (S108), and the specific motion detection unit 16 detects the rushing motion whose speed is equal to or higher than a certain speed (S109).
  • the "constant speed” can arbitrarily set a general approach speed.
  • the identification unit 12 further identifies whether or not there is a person on the opposite side of the automatic door (S110). When there is no person on the opposite side (NO), the identification unit 12 identifies whether there is only one person facing the automatic door (S111).
  • the identification unit 12 When there is only one person (YES), the identification unit 12 identifies whether there is a person pushing the stroller (S112), and when there is no person (NO), the identification unit 12 identifies the traveling direction of the person (S123), and the specific motion is detected. The crossing motion is detected by the unit 16 (S124). When the crossing motion is not detected (NO), the passing condition selection unit 13 selects the reference opening / closing condition (S113), and the output unit 14 opens the automatic door according to the opening / closing condition (S114) and then closes it (S114). S122), end (END).
  • the moving object is detected by the sensor, and the person is not an animal but a person (S104 YES), and the person is not an infant (S105 YES) and is heading toward the automatic door (S106 YES).
  • the reference opening / closing condition may be selected (S113) and the automatic door may be opened (S114).
  • the processing of the automatic door opening / closing control may be switched from the opening / closing control based on the sensor data to the opening / closing control based on the image analysis. That is, the opening / closing conditions are selected, for example, by the passing condition selection unit 13 (image analysis opening / closing control unit 132).
  • sensor data is acquired from the sensor (infrared sensor) of the automatic door (S300), the presence or absence of an object is detected from the sensor data (S301), and if an object is detected (YES), is the door closed? (S302), and if it is closed (YES), the real-time image is analyzed (S303). Further, even when there is no detection by the sensor (S301 NO), the real-time image may be analyzed (S303). Then, the identification unit 12 identifies whether or not there is a person (S304), and when it is identified that there is a person (S304 YES), further identifies the vector information of that person (S305).
  • the specific motion detection unit 16 determines whether the boundary line of the control region and the vector information intersect at two points (S306), and when they intersect at two points (S306 YES), the motion of the person is performed. It is detected as a crossing motion (S307).
  • a crossing motion for example, the process of opening / closing control of the automatic door may be switched from opening / closing control based on sensor data to opening / closing control based on image analysis.
  • the automatic door is not opened (S308) and ends according to the selected opening / closing condition by the passing condition selection unit 13 (image analysis opening / closing control unit 132) (S308). END).
  • the step (S309) may be executed by, for example, the passage condition selection unit 13 according to the second embodiment, or may be executed by the passage condition selection unit 131 for sensor data according to the third embodiment. That is, when the two points do not intersect (S306 NO), it can be said that the specific motion detection unit 16 detects that there is no crossing motion, and it can be said that the crossing motion is not detected.
  • the passage condition selection unit 13 described in the second embodiment executes the execution, the opening / closing condition corresponding to the detection result “no crossing operation” is selected (open / close control processing based on image analysis).
  • the sensor data passage condition selection unit 131 described in the third embodiment executes the operation, the switching is not executed, and the open / close control based on the sensor data is maintained with the sensor data acquired in the step (S300). Select the corresponding opening and closing conditions.
  • the steps (S305) to the step (S306) are repeatedly executed at regular intervals (for example, 50 m / sec or the like). May be good. If it is determined in the step (S306) that the two points do not intersect as a result of repeated execution (S306 NO), the steps (S309) to (S311) may be executed.
  • step (S307) it may be further detected whether the intersection of the two points has been resolved (for example, whether the person has stopped in the protected area, etc.) (S312).
  • the problem For example, whether the person has stopped in the protected area, etc.
  • the standard opening / closing condition is selected (S309), and the automatic door is opened according to the opening / closing condition. From (S310), close (S311).
  • a stop is detected (S312 YES)
  • the process of opening / closing control of the automatic door may be switched from opening / closing control based on image analysis to opening / closing control based on sensor data.
  • the stop is not detected, that is, if the intersection of the two points is not resolved (S312 NO), it is identified as the continuation of the crossing operation (no person heads for the automatic door), and the automatic door cannot be opened (the automatic door cannot be opened). S308).
  • the processing of the opening / closing control of the automatic door may be left as the opening / closing control based on the image analysis.
  • the reference opening / closing condition may be selected (S309) and the automatic door may be opened (S310).
  • the program of the present embodiment is a program for causing a computer to execute each step of the passage support method of the present invention as a procedure.
  • "procedure” may be read as "processing”.
  • the program of this embodiment may be recorded on, for example, a computer-readable recording medium.
  • the recording medium is not particularly limited, and examples thereof include the above-mentioned storage medium and the like.
  • the passage support method of the present invention may be executed by, for example, artificial intelligence (AI).
  • AI artificial intelligence
  • Appendix 1 Including a storage unit, an image acquisition unit, an identification unit, a passing condition selection unit, and an output unit,
  • the storage unit Memorize passage support information regarding the passage of automatic doors,
  • the passage support information is associated with the passage conditions related to the passage of the automatic door and the attribute information of the image around the automatic door.
  • the passage condition is at least one of an automatic door opening / closing condition and a passage guide condition for an automatic door user.
  • the image acquisition unit Get real-time images around automatic doors,
  • the identification unit With respect to the real-time image, the attribute information is identified and
  • the passing condition selection unit is Select the passage condition associated with the attribute information of the storage unit that matches the identified attribute information, and select
  • An automatic door passage support device characterized by outputting the selected passage conditions.
  • Appendix 2 The passage support device according to Appendix 1, wherein the image acquisition unit acquires a plurality of real-time images over time.
  • the attribute information is The passage support device according to Appendix 1 or 2, which includes attribute information of a moving object in an image.
  • the attribute information is The passage support device according to any one of Supplementary note 1 to 3, which includes motion information including at least one of a moving speed and a vector information of a moving body in an image. (Appendix 5) In addition, it includes a specific motion detection unit The storage unit Further, the specific motion information and the area information regarding the specific motion of the moving body are stored. The specific operation information is associated with the passing condition, and is associated with the passing condition. The area information is information about a certain area from the automatic door, and includes control area information about a control area set in the area. The identification unit With respect to the real-time image, the attribute information including the movement information of the moving body is identified.
  • the specific motion detection unit is Using the control area information and the identified attribute information, a specific operation of the moving body is detected.
  • the passing condition selection unit is The passage support device according to Appendix 4, wherein a passage condition associated with the specific operation information of the storage unit that matches the detected specific operation is selected.
  • the specific operation information of the storage unit includes information on the last-minute operation.
  • the specific motion detection unit is When the moving speed of the moving body when entering the control area is equal to or higher than a preset speed and the vector information of the moving body is in the direction toward the automatic door, the operation of the moving body is performed.
  • the passage support device according to Appendix 5, which detects as a "rushing motion”.
  • the specific operation information of the storage unit includes information related to the crossing operation.
  • the specific motion detection unit is The passage support device according to Appendix 5 or 6, wherein when the boundary line of the control region and the vector information of the moving body intersect at two points, the movement of the moving body is detected as a “crossing motion”. (Appendix 8)
  • the identification unit After detecting the specific motion, the attribute information including the motion information of the moving body is further identified with respect to the real-time image.
  • the specific motion detection unit is Based on the movement information of the moving body identified after detecting the specific movement, at least one of the end or continuation of the specific movement of the moving body is detected.
  • the passing condition selection unit is Passing conditions associated with at least one of the attribute information of the storage unit that matches the identified attribute information and the specific operation information relating to the specific operation of another moving body other than the specific operation that detected the end.
  • the passage support device includes a sensor data acquisition unit and a switching unit.
  • the passage support information is associated with the passage conditions related to the passage of the automatic door, the attribute information of the image around the automatic door, and the attribute information of the sensor data around the automatic door.
  • the sensor data acquisition unit Get sensor data, The sensor data is data acquired by a sensor device attached to an automatic door.
  • the image acquisition unit Get real-time images around automatic doors, The identification unit For the real-time image, the attribute information of the image including the movement information of the moving body is identified, and for the sensor data, the attribute information of the sensor data is identified.
  • the specific motion detection unit is Using the control area information and the identified attribute information, a specific operation of the moving body is detected.
  • the passage condition selection unit further includes an open / close control unit for sensor data and an open / close control unit for image analysis.
  • the switching unit is Depending on the presence or absence of detection of the specific operation, switching between automatic door opening / closing control based on sensor data by the sensor data opening / closing control unit and automatic door opening / closing control based on real-time image by the image analysis opening / closing control unit is performed.
  • Run and The open / close control unit for sensor data is The passage condition associated with the attribute information of the sensor data of the storage unit that matches the attribute information of the identified sensor data is selected.
  • the opening / closing control unit for image analysis is When the specific operation is detected, the passage condition associated with the specific operation information of the storage unit that matches the detected specific operation is selected.
  • the output unit The passage support device according to any one of Appendix 5 to 8, which outputs the selected passage condition. (Appendix 10)
  • the identification unit After detecting the specific motion, the attribute information including the motion information of the moving body is further identified with respect to the real-time image.
  • the specific motion detection unit is Based on the movement information of the moving body identified after detecting the specific movement, at least one of the end or continuation of the specific movement of the moving body is detected.
  • the switching unit is Based on the result of detection of at least one of the end or continuation of the specific operation, the automatic door opening / closing control based on the sensor data by the sensor data opening / closing control unit and the real-time image by the image analysis opening / closing control unit. Performs switching with automatic door open / close control,
  • the open / close control unit for sensor data is When the end of the specific operation is detected, the passage condition associated with the attribute information of the sensor data of the storage unit that matches the attribute information of the identified sensor data is selected.
  • the opening / closing control unit for image analysis is The passage support device according to Appendix 9, wherein when the continuation of the specific operation is detected, the passage condition associated with the specific operation information of the storage unit that matches the detected specific operation is selected.
  • the passage support device according to any one of Appendix 1 to 10, wherein the attribute information of the storage unit includes a past image.
  • the opening / closing condition of the automatic door is at least one selected from the group consisting of opening, closing, opening timing, closing timing, opening speed, closing speed, opening holding time, and opening width, any of Appendix 1 to 11. Passage support device described in the door.
  • the passage support device according to any one of Appendix 1 to 12, wherein the passage guide condition includes the content of an announcement to the user.
  • the passage support device according to any one of Supplementary note 1 to 13, wherein the passage guide condition is at least one of sound information and visual information.
  • the passage support information is associated with the passage conditions related to the passage of the automatic door and the attribute information of the image around the automatic door.
  • the passage condition is at least one of an automatic door opening / closing condition and a passage guide condition for an automatic door user.
  • the image acquisition step is Get real-time images around automatic doors
  • the identification step is With respect to the real-time image
  • the attribute information is identified
  • the passage condition selection step is Select the passage condition associated with the attribute information of the storage unit that matches the identified attribute information, and select
  • the output process is A method for supporting passage of an automatic door, which comprises outputting the selected passage condition.
  • the passage support method according to Appendix 15 wherein the image acquisition step acquires a plurality of real-time images over time.
  • the attribute information is The passage support method according to Appendix 15 or 16, which includes attribute information of a moving object in an image.
  • the attribute information is The passage support method according to any one of Appendix 15 to 17, which includes motion information including at least one of a moving speed and a vector information of a moving body in an image.
  • Appendix 19 In addition, it includes a specific motion detection process. Further, the specific operation information and the area information regarding the specific operation of the moving body stored in the storage unit are used. The specific operation information is associated with the passing condition, and is associated with the passing condition.
  • the area information is information about a certain area from the automatic door, and includes control area information about a control area set in the area.
  • the identification step is With respect to the real-time image, the attribute information including the movement information of the moving body is identified.
  • the specific motion detection step is Using the control area information and the identified attribute information, a specific operation of the moving body is detected.
  • the passage condition selection step is The passage support method according to any one of Appendix 15 to 18, wherein a passage condition associated with the specific operation information of the storage unit that matches the detected specific operation is selected. (Appendix 20)
  • the specific operation information of the storage unit includes information on the last-minute operation.
  • the specific motion detection step is When the moving speed of the moving body when entering the control area is equal to or higher than a preset speed and the vector information of the moving body is in the direction toward the automatic door, the operation of the moving body is performed.
  • the specific operation information of the storage unit includes information related to the crossing operation.
  • the specific motion detection step is The passage support method according to Appendix 19 or 20, wherein when the boundary line of the control region and the vector information of the moving body intersect at two points, the movement of the moving body is detected as a “crossing motion”.
  • the identification step is After detecting the specific motion, the attribute information including the motion information of the moving body is further identified with respect to the real-time image.
  • the specific motion detection step is Based on the movement information of the moving body identified after detecting the specific movement, at least one of the end or continuation of the specific movement of the moving body is detected.
  • the passage condition selection step is Passing conditions associated with at least one of the attribute information of the storage unit that matches the identified attribute information and the specific operation information relating to the specific operation of another moving body other than the specific operation that detected the end.
  • the passage support method according to any one of Appendix 19 to 21, which is selected. (Appendix 23) Furthermore, it includes a sensor data acquisition process and a switching process.
  • the passage support information stored in the storage unit is associated with the passage condition regarding the passage of the automatic door, the attribute information of the image around the automatic door, and the attribute information of the sensor data around the automatic door.
  • the sensor data acquisition process is Get sensor data
  • the sensor data is data acquired by a sensor device attached to an automatic door.
  • the image acquisition step is Get real-time images around automatic doors,
  • the identification step is For the real-time image, the attribute information of the image including the movement information of the moving body is identified, and for the sensor data, the attribute information of the sensor data is identified.
  • the specific motion detection step is Using the control area information and the identified attribute information, a specific operation of the moving body is detected.
  • the passage condition selection step further includes an open / close control step for sensor data and an open / close control step for image analysis.
  • the switching step is Depending on the presence or absence of detection of the specific operation, switching between automatic door opening / closing control based on sensor data by the sensor data opening / closing control process and automatic door opening / closing control based on real-time images by the image analysis opening / closing control process can be performed.
  • Run and The open / close control process for sensor data is The passage condition associated with the attribute information of the sensor data of the storage unit that matches the attribute information of the identified sensor data is selected.
  • the opening / closing control step for image analysis is When the specific operation is detected, the passage condition associated with the specific operation information of the storage unit that matches the detected specific operation is selected.
  • the output process is The passage support method according to any one of Appendix 19 to 22, which outputs the selected passage condition.
  • the identification step is After detecting the specific motion, the attribute information including the motion information of the moving body is further identified with respect to the real-time image.
  • the specific motion detection step is Based on the movement information of the moving body identified after detecting the specific movement, at least one of the end or continuation of the specific movement of the moving body is detected.
  • the switching step is Based on the result of detection of at least one of the end or continuation of the specific operation, the automatic door opening / closing control based on the sensor data by the sensor data opening / closing control step and the real-time image by the image analysis opening / closing control step.
  • the open / close control process for sensor data is When the end of the specific operation is detected, the passage condition associated with the attribute information of the sensor data of the storage unit that matches the attribute information of the identified sensor data is selected.
  • the opening / closing control step for image analysis is The passage support method according to Appendix 23, wherein when the continuation of the specific operation is detected, the passage condition associated with the specific operation information of the storage unit that matches the detected specific operation is selected. (Appendix 25) The passage support method according to any one of Appendix 15 to 24, wherein the attribute information of the storage unit includes a past image.
  • the opening / closing condition of the automatic door is at least one selected from the group consisting of opening, closing, opening timing, closing timing, opening speed, closing speed, opening holding time, and opening width, any of Appendix 15 to 25. Passage support method described in Crab.
  • Appendix 27 The passage support method according to any one of Appendix 15 to 26, wherein the passage guide condition includes the content of an announcement to the user.
  • Appendix 28 The passage support method according to any one of Appendix 15 to 27, wherein the passage guide condition is at least one of sound information and visual information.
  • the passage support information is associated with the passage conditions related to the passage of the automatic door and the attribute information of the image around the automatic door.
  • the passage condition is at least one of an automatic door opening / closing condition and a passage guide condition for an automatic door user.
  • the image acquisition procedure is Get real-time images around automatic doors,
  • the identification procedure With respect to the real-time image, the attribute information is identified and
  • the passage condition selection procedure is as follows. Select the passage condition associated with the attribute information of the storage unit that matches the identified attribute information, and select The output procedure is The selected passage condition is output.
  • the program according to Appendix 29 The program according to Appendix 29, wherein the image acquisition procedure acquires a plurality of real-time images over time.
  • the attribute information is The program according to Appendix 29 or 30, which includes attribute information of a moving object in an image.
  • the attribute information is The program according to any of appendices 29 to 31, which includes motion information including at least one of the moving speed and vector information of a moving object in an image.
  • Appendix 33 In addition, it includes specific motion detection procedures Further, the specific operation information and the area information regarding the specific operation of the moving body stored in the storage unit are used. The specific operation information is associated with the passing condition, and is associated with the passing condition.
  • the area information is information about a certain area from the automatic door, and includes control area information about a control area set in the area.
  • the identification procedure With respect to the real-time image, the attribute information including the movement information of the moving body is identified.
  • the specific motion detection procedure is Using the control area information and the identified attribute information, a specific operation of the moving body is detected.
  • the passage condition selection procedure is as follows. The program according to any one of Appendix 29 to 32, which selects a passing condition associated with the specific operation information of the storage unit that matches the detected specific operation. (Appendix 34)
  • the specific operation information of the storage unit includes information on the last-minute operation.
  • the specific motion detection procedure is When the moving speed of the moving body when entering the control area is equal to or higher than a preset speed and the vector information of the moving body is in the direction toward the automatic door, the operation of the moving body is performed.
  • the program according to Appendix 33 which is detected as a "rushing motion”.
  • the specific operation information of the storage unit includes information related to the crossing operation.
  • the specific motion detection procedure is The program according to Appendix 33 or 34, wherein when the boundary line of the control region and the vector information of the moving body intersect at two points, the movement of the moving body is detected as a “crossing motion”.
  • the identification procedure After detecting the specific motion, the attribute information including the motion information of the moving body is further identified with respect to the real-time image.
  • the specific motion detection procedure is Based on the movement information of the moving body identified after detecting the specific movement, at least one of the end or continuation of the specific movement of the moving body is detected.
  • the passage condition selection procedure is as follows. Passing conditions associated with at least one of the attribute information of the storage unit that matches the identified attribute information and the specific operation information relating to the specific operation of another moving body other than the specific operation that detected the end.
  • the program of choice according to any of appendices 33-35. (Appendix 37)
  • it includes a sensor data acquisition procedure and a switching procedure.
  • the passage support information stored in the storage unit is associated with the passage condition regarding the passage of the automatic door, the attribute information of the image around the automatic door, and the attribute information of the sensor data around the automatic door.
  • the sensor data acquisition procedure is as follows. Get sensor data, The sensor data is data acquired by a sensor device attached to an automatic door.
  • the image acquisition procedure is Get real-time images around automatic doors,
  • the identification procedure For the real-time image, the attribute information of the image including the movement information of the moving body is identified, and for the sensor data, the attribute information of the sensor data is identified.
  • the specific motion detection procedure is Using the control area information and the identified attribute information, a specific operation of the moving body is detected.
  • the passage condition selection procedure further includes an opening / closing control procedure for sensor data and an opening / closing control procedure for image analysis.
  • the switching procedure is Depending on the presence or absence of detection of the specific operation, switching between automatic door opening / closing control based on sensor data according to the sensor data opening / closing control procedure and automatic door opening / closing control based on real-time images according to the image analysis opening / closing control procedure is performed. Run and The open / close control procedure for sensor data is described. The passage condition associated with the attribute information of the sensor data of the storage unit that matches the attribute information of the identified sensor data is selected. The opening / closing control procedure for image analysis is When the specific operation is detected, the passage condition associated with the specific operation information of the storage unit that matches the detected specific operation is selected. The output procedure is The program according to any one of Appendix 33 to 36, which outputs the selected passing condition.
  • the identification procedure After detecting the specific motion, the attribute information including the motion information of the moving body is further identified with respect to the real-time image.
  • the specific motion detection procedure is Based on the movement information of the moving body identified after detecting the specific movement, at least one of the end or continuation of the specific movement of the moving body is detected.
  • the switching procedure is Based on the result of detection of at least one of the end or continuation of the specific operation, the automatic door opening / closing control based on the sensor data by the sensor data opening / closing control procedure and the real-time image by the image analysis opening / closing control procedure. Performs switching with automatic door open / close control, The open / close control procedure for sensor data is described.
  • the opening / closing control procedure for image analysis is The program according to Appendix 37, which selects a passage condition associated with the specific operation information of the storage unit that matches the detected specific operation when the continuation of the specific operation is detected.
  • Appendix 39 The program according to any one of Appendix 29 to 38, wherein the attribute information of the storage unit includes a past image.
  • the opening / closing condition of the automatic door is at least one selected from the group consisting of opening, closing, opening timing, closing timing, opening speed, closing speed, opening holding time, and opening width, any of Appendix 29 to 39.
  • the present invention by using an image of the surroundings of an automatic door, it is possible to control, for example, the opening and closing of the automatic door and output guide conditions for the user according to the user of the automatic door and the surrounding conditions.
  • the safety of passers-by is ensured, and smooth passage is possible while suppressing the occurrence of waiting time and congestion.
  • Passage support device 10 Storage unit 11 Image acquisition unit 12 Identification unit 13 Passage condition selection unit 14 Output unit 15 Passage support information 16 Specific motion detection unit 17 Sensor data acquisition unit 18 Switching unit 31 Camera 32 Automatic door 33 Display unit 34 Speaker 2 Communication network

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PCT/JP2020/034548 2019-09-13 2020-09-11 自動ドアの通過支援装置、通過支援方法、プログラム、および記録媒体 Ceased WO2021049636A1 (ja)

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US17/642,569 US20220341247A1 (en) 2019-09-13 2020-09-11 Automatic door passage assistance apparatus, passage assistance method, program, and recording medium
CN202080064206.4A CN114423924A (zh) 2019-09-13 2020-09-11 自动门通过辅助设备、通过辅助方法、程序和记录介质

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CN117328759A (zh) * 2023-09-18 2024-01-02 珠海格力电器股份有限公司 伸缩门及其控制方法、装置、存储介质以及电子设备
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