JP2020084436A - Automatic door system, automatic door sensor, automatic door device, and control method for automatic door system - Google Patents

Abstract

To prevent a passenger from colliding with a door.SOLUTION: An automatic door system includes: a detection section for detecting a person or an object in a door end area set near a door end of a door; a drive section for driving the door; and a control section which causes the drive section to restrict the closing operation of the door or to change an opening/closing control when the detection section detects the person or the object in the door end area of the door when the door is fully opened.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic door system, an automatic door sensor, an automatic door device, and a control method for the automatic door system.

BACKGROUND ART Conventionally, a technique has been proposed in which a vector of a passerby is detected by a plurality of infrared detection spots and an unnecessary opening and closing of an automatic door due to a crossing of a passerby is prevented based on the detected vectors (for example, Patent Document 1). reference).

International publication WO2012/073821

If the passerby tries to enter the opening diagonally from near the side surface of the automatic door with the automatic door in the fully open position, it may be difficult to detect the passerby's vector. Passengers may come into contact with the automatic doors that start operating.

The present invention has been made in consideration of the above points, and an automatic door system, an automatic door sensor, an automatic door device, and a control method of an automatic door system capable of avoiding a collision of a passerby with a door. The purpose is to provide.

The present invention is a detection unit that detects a person or an object in a door tip area set near a door tip of a door, a drive unit that drives the door, and the detection unit when the door is in a fully open state. An automatic door system comprising: a control unit that causes the drive unit to limit the closing operation of the door or change the opening/closing control when a person or an object is detected in the door end area of the door.

In the automatic door system according to the present invention, the restriction of the closing operation may be prohibition of the closing operation.

In the automatic door system according to the present invention, the restriction of the closing operation may be a closing operation of the door at a speed lower than a case where the closing operation is not restricted and at a predetermined speed or less.

In the automatic door system according to the present invention, further comprising a door closer that applies a force in a closing direction to the door, and the restriction of the closing operation means that the door closes against the force in the closing direction that acts on the door by the door closer. It may be driving in the opening direction.

In the automatic door system according to the present invention, at least a part of the door tip area is closer to the door opening direction than the protection area set on the door normal direction side of the door in the fully opened state. It may be set on the side.

In the automatic door system according to the present invention, at least a part of the door tip area may be set adjacent to the protected area on the opening side of the door.

In the automatic door system according to the present invention, the width of the door tip area in the normal direction of the door surface may be greater than or equal to the width of the protected area in the normal direction of the door surface.

In the automatic door system according to the present invention, the control unit controls the drive unit after a predetermined waiting time elapses from a time when a state where a person or an object is detected is switched to a state where the person or the object is not detected. When the door is closed and the state in which a person or an object is detected in the doorway area is switched to a state in which the person or object is not detected, the drive unit is operated without waiting for the predetermined waiting time to elapse. The door may be closed.

In the automatic door system according to the present invention, the control unit limits the opening/closing operation of the door to the drive unit or controls the opening/closing of the door when a person or an object heads to an opening in which the door is provided in the door tip area. May be changed.

The present invention is a detection unit for detecting a person or an object in a door tip area set near the door tip of a door, and when the door is in a fully open state, the detection unit is a person or a person in the door tip area of the door. An automatic door sensor, comprising: a drive unit that drives the door to limit the closing operation of the door or change opening/closing control when an object is detected.

The present invention, when the drive unit for driving the door and the door is in a fully open state, when the detection unit detects a person or an object in the door tip area set near the door tip of the door, An automatic door device, comprising: a drive unit that restricts a closing operation of the door or changes an opening/closing control.

The present invention provides a step of detecting a person or an object in a door tip area set near a door tip of a door, and a door tip area set near a door tip of the door when the door is in a fully opened state. In the case where a person or an object is detected in step 1, the step of limiting the closing operation of the door or changing the opening/closing control is performed.

According to the present invention, a collision of a passerby with a door can be avoided in advance.

It is a block diagram showing an automatic door system by this embodiment. It is a bird's-eye view which shows the automatic door system by this embodiment. It is a flowchart which shows the operation example of the automatic door system by this embodiment. It is a top view showing an example of arrangement of a starting area, a door tip area, and a protection area in an example of operation of an automatic door system by this embodiment. It is a flowchart which shows the operation example of the automatic door system by the 1st modification of this embodiment. It is a flowchart which shows the operation example of the automatic door system by the 2nd modification of this embodiment. It is a block diagram which shows the automatic door system by the 3rd modification of this embodiment. It is a flowchart which shows the operation example of the automatic door system by the 3rd modification of this embodiment. It is a flowchart which shows the operation example of the automatic door system by the 4th modification of this embodiment. It is a flowchart which shows the operation example of the automatic door system by the 5th modification of this embodiment. FIG. 21 is a plan view showing a state of acquiring vectors in a starting area and a door-end area in an operation example of the automatic door system according to the fifth modified example of the present embodiment. It is a block diagram which shows the automatic door system by the 6th modification of this embodiment. It is a top view which shows the example of arrangement|positioning of a starting area, a door front area, and a protection area in the operation example of the automatic door system by the 6th modification of this embodiment. It is a block diagram which shows the automatic door system by the 7th modification of this embodiment. It is a block diagram which shows the automatic door system by the 8th modification of this embodiment.

Hereinafter, an automatic door system according to an embodiment of the present invention will be described in detail with reference to the drawings. The following embodiments are examples of the embodiments of the present invention, and the present invention is not construed as being limited to these embodiments. Further, in the drawings referred to in the present embodiment, the same portions or portions having similar functions are designated by the same reference numerals or similar reference numerals, and repeated description thereof will be omitted. For convenience of description, the dimensional ratios in the drawings may be different from the actual ratios, and a part of the configuration may be omitted from the drawings.

FIG. 1 is a block diagram showing an automatic door system 1 according to this embodiment. FIG. 2 is a bird's-eye view showing the automatic door system 1 according to the present embodiment. As shown in FIG. 1, the automatic door system 1 includes an automatic door device 2 and an automatic door sensor 3. In order for the automatic door system 1 to detect a passerby trying to pass through the opening A provided with the door 21 shown in FIG. 2 with the automatic door sensor 3, and to pass the passerby in accordance with the detection of the automatic door sensor 3. It is a system for opening the door 21. Hereinafter, the components of the automatic door system 1 will be described in detail.

As shown in FIG. 1, the automatic door device 2 includes a door 21, a motor 22 that is an example of a drive unit that drives the door 21, and a door control unit 23 that is an example of a control unit. The motor 22 generates a rotational force for automatically opening and closing the door 21 by electric power supplied from a power source (not shown). The rotational force of the motor 22 is transmitted to the door 21 as a translational force in the opening/closing direction d1 shown in FIG. 2 via a power transmission member such as a pulley or a timing belt (not shown). In the example of FIG. 2, the two doors 21 are draw-type sliding doors. The mode of the door 21 is not limited to the example of FIG. 2, and various types of doors such as a pulling type sliding door, a hinged door, a folding door, a revolving door, and a glide door may be adopted.

The door control unit 23 is connected to the motor 22 and the automatic door sensor 3. The door control unit 23 controls the drive of the motor 22 by outputting a drive signal to the motor 22 based on the signal or information acquired from the automatic door sensor 3 and the motor 22. The drive control of the motor 22 is control of at least one of the presence or absence of drive of the motor 22, the drive speed, the drive torque, and the rotation direction, or a combination of two or more thereof.

The door control unit 23 is not particularly limited in a specific aspect as long as it can communicate with the automatic door sensor 3. For example, the door control unit 23 outputs a PWM (Pulse Width Modulation) signal according to the signal from the automatic door sensor 3, and a CPU that controls the drive speed of the motor 22 according to the duty ratio of the PWM signal, and an on/off control based on the PWM signal. H bridge circuit connected to the motor 22 while having four semiconductor switches (for example, FETs) as an arm and connected to the H bridge circuit, the motor 22 rotates normally or reversely depending on the ON state of the semiconductor switch. A DC power supply for applying a rotation current signal (that is, a drive signal) may be provided.

As shown in FIG. 2, in order to detect a passerby of the door 21, the automatic door sensor 3 is located above the center of the seamless portion 24, more specifically, above the boundary between the two doors 21 in the fully closed state. It is provided in. The automatic door sensor 3 may be provided in a place other than the seamless portion 24 such as the ceiling.

As shown in FIG. 1, the automatic door sensor 3 includes a sensor unit 31 and a sensor control unit 32 which is an example of a detection unit and a control unit. The sensor unit 31 includes a light projecting unit 311 and a light receiving unit 312. The sensor control unit 32 is connected to the sensor unit 31 and the door control unit 23. The sensor control unit 32 is configured by hardware such as a CPU (that is, a processor), for example. You may comprise at least one part of the sensor control part 32 with software.

The sensor control unit 32 stores the detection area. That is, the sensor control unit 32 has a detection area. The detection area is an area 5 on the floor 6 that can be detected by the automatic door sensor 3 for detecting a person or an object, as shown in FIG.

The detection area 5 has an activation area, a door area, and a protection area.

The activation area is an area used to activate the door 21.

The door tip area is an area that is set near the door tip 21a of the door 21 and is used for detecting a person or an object near the door tip 21a. The vicinity of the door tip 21a may be in contact with the door tip 21a or may be separated from the door tip 21a.

The protected area is an area used to protect a person from being pressed by the door 21.

The light projecting unit 311 has a plurality of light projecting elements (not shown). The light projecting unit 311 projects or irradiates pulsed near-infrared light to the detection area 5 from each of the plurality of light projecting elements. The light receiving section 312 has a plurality of light receiving elements (not shown) that optically correspond to the plurality of light projecting elements of the light projecting section 311. The light receiving section 312 receives the near infrared light projected onto the detection area 5 from each of the plurality of light projecting elements of the light projecting section 311 by each of the plurality of light receiving elements, and outputs the near infrared light for each light receiving element. Detect the amount of received light. The light receiving unit 312 outputs the detected amount of received light to the sensor control unit 32 as a detection signal having a signal value according to the amount of received light. The light projecting unit 311 and the light receiving unit 312 may project and receive light other than near infrared light.

In the example of FIG. 2, the detection area 5 is composed of a plurality of small detection areas 51 arranged in front of the two doors 21 at intervals in the opening/closing direction d1 of the door 21 and the front-back direction d2 orthogonal thereto. ing. Specifically, in FIG. 2, there are a total of 72 small detection areas 51 (6 rows×12).

Each small detection area 51 corresponds to an irradiation spot of near-infrared light emitted from each of the plurality of light emitting elements of the light emitting unit 311 and received by each of the plurality of light receiving elements of the light receiving unit 312. .. In the example of FIG. 2, each small detection area 51 has a circular shape. In this case, the diameter of the small detection area 51 on the floor 6 can be set to any value between 10 cm and 30 cm, for example. The small detection area 51 may have a shape other than a circular shape such as an elliptical shape, a rectangular shape, and a polygonal shape.

The sensor control unit 32 causes each light projecting element of the light projecting unit 311 to project near-infrared light toward the corresponding small detection area 51. Then, the sensor control unit 32 causes each light receiving element of the light receiving unit 312 to receive the reflected light of the near infrared light from each small detection area 51. Then, the sensor control unit 32 extracts the detection signal of the preset effective detection area from the detection signals of the small detection areas 51 input from the light receiving unit 312. The effective detection area is an area of at least a part of the detection area 5 set for detecting a person or an object. Then, the sensor control unit 32 detects a person or an object based on the extracted detection signal of the effective detection area. The object is an object other than the person except the door 21 (for example, luggage, animals, etc.).

More specifically, the sensor control unit 32 detects a person or an object in the door tip area based on a detection signal from the door tip area set near the door tip 21a of the door 21. In addition, the sensor control unit 32 detects a person or an object in the activation area based on the detection signal from the activation area. In addition, the sensor control unit 32 detects a person or an object in the protected area based on the detection signal from the protected area.

In order to detect a person or an object, the sensor control unit 32 determines the reference value of the signal value (that is, the amount of received light) of the detection signal in the effective detection area and the change amount of the signal value with respect to the reference value for determining the presence or absence of detection. And the threshold of are stored. Here, the threshold is the sensitivity of the automatic door sensor 3, and the lower the threshold, the higher the sensitivity of the automatic door sensor 3. The sensor control unit 32 determines that a person or an object is detected when the signal value is equal to or more than the threshold value.

Further, the sensor control unit 32 updates the reference value each time when the signal value is not changed for a certain period of time after the reference value is initialized immediately after the automatic door system 1 is powered on.

In addition, the sensor control unit 32 changes the detection logic, that is, the detection algorithm of the person or the object according to the type of the effective detection area. For example, the sensor control unit 32 makes the threshold value of the signal value of the protected area lower than the threshold value of the signal value of the activation area and the door area. In other words, the sensor control unit 32 makes the sensitivity of the sensor in the protected area higher than that in the activation area and the door tip area.

The sensor control unit 32 and the door control unit 23 cause the motor 22 to perform the closing operation of the door 21 when the sensor control unit 32 detects a person or an object in the door end area of the door 21 when the door 21 is in the fully open state. Restrict or change the open/close control.

In the example of FIG. 1, the sensor control unit 32 outputs to the door control unit 23 a closing operation restriction instruction signal for instructing a restriction on the closing operation of the door 21 or an opening/closing control change instruction signal for instructing to change the opening/closing control of the door 21. By doing so, the motor 22 is caused to limit the closing operation of the door 21 or change the opening/closing control.

Here, the fully opened state of the door 21 is a state in which the door 21 is moved to the most opening direction side under the operation mode of the door 21 set in the door control unit 23. For example, when the fully open mode is set in the door control unit 23, the fully open state of the door 21 is a state in which the door 21 is moved to the fully open position on the most opening direction side in the fully open mode. When the half-open mode is set in the door control unit 23, the full-open state of the door 21 is a state in which the door 21 is moved to the half-open position on the most opening direction side in the half-open mode.

The sensor control unit 32 detects that the door 21 is in the fully opened state based on a position signal indicating position information of the door 21. The position signal is not specifically limited as long as it is a signal indicating the position information of the door 21. For example, the motor 22 may be a brushless motor, and the position signal may be a signal generated based on the phase of the Hall element of the brushless motor. Alternatively, the position signal may be a signal based on a rotary encoder that detects the rotation of the motor 22 or a signal based on a linear encoder that is provided to detect the opening/closing position of the door 21. Alternatively, the position signal may be a position signal from a limit switch provided on the rail of the door 21. With these configurations, it is possible to obtain the door stop position by utilizing the existing configuration, and thus it is possible to suppress an increase in cost. The position signal may be transmitted from the automatic door device 2 to the automatic door sensor 3 by CAN communication, for example.

Further, the restriction of the closing operation of the door 21 may be prohibition of the closing operation of the door 21. Alternatively, the closing operation of the door 21 may be restricted by closing the door 21 at a speed lower than that when the closing operation of the door 21 is not restricted and at a predetermined speed or less. In this case, the predetermined speed may be a speed that does not surprise the passerby, that is, a speed that the passerby cannot recognize.

Further, the opening/closing control of the door 21 may be changed by driving the door 21 in the opening direction to oppose the force in the closing direction constantly applied to the door 21 by the door closer.

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

In addition, in the initial state of FIG. 3, it is assumed that the door 21 is in a fully opened state. Then, from the initial state, the sensor control unit 32 acquires the detection signal of the door end area from the sensor unit 31, and is the detection state in which the door end area detects a person or an object based on the acquired detection signal? It is determined whether or not (step S1).

Here, FIG. 4 is a plan view showing an arrangement example of the activation area 5a, the door area 5b, and the protection area 5c in the operation example of the automatic door system 1 according to the present embodiment.

As shown in FIG. 4, at least a part of the door tip area 5b is closer to the door 21 than the protected area 5c set on the side of the opening A of the door 21 in the fully open state on the side of the normal direction d2 of the door 21. It is set on the opening side. More specifically, in the example of FIG. 4, most of the door tip area 5b except the small detection area 51 located closest to the closing direction is set to the opening direction side of the door 21 more than the protection area 5c. Has been done. Note that the invention is not limited to the example of FIG. 4, and the entire area of the door tip area 5b may be set on the opening direction side of the door 21 with respect to the protected area 5c.

Further, as shown in FIG. 4, at least a part of the door tip area 5b is set adjacent to the protected area 5c on the opening side of the door 21. More specifically, in the example of FIG. 4, most of the door tip area 5b except for the small detection area 51 located closest to the closing direction is adjacent to the protected area 5c on the open side of the door 21. Has been set. Further, in the example of FIG. 4, the small detection area 51 located closest to the closing direction side and the opening A side of the door tip area 5b overlaps the protection area 5c. Thus, even if the door-end area 5b and the protected area 5c are overlapped with each other, since the areas 5b and 5c are controlled in parallel by different detection logics, people or persons who meet the purpose of the respective areas 5b and 5c It is possible to properly detect an object. Note that the invention is not limited to the example of FIG. 4, and the entire area of the door tip area 5b may be set adjacent to the protected area 5c on the opening side of the door 21.

Further, as shown in FIG. 4, the width Wb of the door area 5b in the door surface normal direction d2 is greater than or equal to the width Wc of the protected area 5c in the door surface normal direction d2. In the example of FIG. 4, the width Wb of the door area 5b matches the width Wc of the protected area 5c.

In the fully opened state of the door 21, the activation area 5a, the door tip area 5b and the protection area 5c are used to hold the door 21 open.

Then, as shown in FIG. 3, when the door end area 5b is in the detection state (step S1: Yes), the sensor control unit 32 and the door control unit 23 restrict the motor 22 to the closing operation of the door 21 or the door 21. The opening/closing control is changed (step S2). That is, the sensor control unit 32 outputs the closing operation restriction instruction signal or the opening/closing control change instruction signal to the door control unit 23, and the door control unit 23 responds to the input of the closing operation restriction instruction signal or the opening/closing control change instruction signal. The motor 22 is caused to limit the closing operation of the door 21 or change the opening/closing control of the door 21.

On the other hand, when the door end area 5b is not in the detected state (step S1: No), the sensor control unit 32 does not output the closing operation restriction instruction signal and the opening/closing control change instruction signal to the door control unit 23. In this case, the sensor control unit 32 further satisfies the conditions (for example, the activation area 5a and the protected area 5c are not in the detection state) for closing the door 21 except that the door tip area 5b is not in the detection state. If it is, the door control unit 23 outputs a closing signal instructing the closing operation of the door 21. Then, the door control unit 23 closes the door 21 in response to the input of the closing signal (step S3).

As described above, according to the present embodiment, when the sensor control unit 32 (that is, the detection unit) detects a person or an object in the door tip area 5b of the door 21 when the door 21 is in the fully open state, The motor 22 (that is, the drive unit) can be made to limit the closing operation of the door 21 or change the opening/closing control. As a result, it is possible to prevent a passerby attempting to enter the opening A obliquely from the vicinity of the door end 21a of the door 21 from colliding with the door 21.

Further, according to the present embodiment, at least a part of the door tip area 5b is closer to the door 21 than the protection area 5c set on the side of the door 21 in the normal direction d2 with respect to the opening A of the door 21 in the fully opened state. By setting to the opening direction side, it is possible to limit the closing operation of the door 21 or change the opening/closing control according to the detection state in the door tip area 5b set in the area that cannot be covered by the protected area 5c. As a result, it is possible to more effectively prevent a passerby attempting to enter the opening A obliquely from the vicinity of the door end 21a of the door 21 from colliding with the door 21.

Further, according to the present embodiment, by setting at least a part of the door area 5b adjacent to the protected area 5c on the opening side of the door 21, the door 21 due to a pedestrian entering from an oblique direction is set. It is possible to set the door end area 5b at a position where the possibility of collision with is highest. As a result, it is possible to more effectively prevent a passerby attempting to enter the opening A obliquely from the vicinity of the door end 21a of the door 21 from colliding with the door 21.

Further, according to the present embodiment, the width Wb of the door area 5b in the normal direction d2 of the door surface is set to be equal to or larger than the width Wc of the protected area 5c in the normal direction d2 of the door surface. Can have a sufficiently large width Wb. As a result, it is possible to more effectively prevent a passerby attempting to enter the opening A obliquely from the vicinity of the door end 21a of the door 21 from colliding with the door 21.

(First modification)
Next, a first modified example in which the closing operation of the door 21 is prohibited will be described focusing on the differences from FIG. FIG. 5 is a flowchart showing an operation example of the automatic door system 1 according to the first modification of the present embodiment. The flowchart of FIG. 5 is repeated as needed.

As shown in FIG. 5, when the door end area 5b is in the detection state (step S1: Yes), the sensor control unit 32 and the door control unit 23 prohibit the motor 22 from closing the door 21 (step S2a). .. That is, the sensor control unit 32 outputs a closing operation prohibition instruction signal for instructing the door control unit 23 to prohibit the closing operation of the door 21, and the door control unit 23 responds to the input of the closing operation prohibition instruction signal by the motor 22. To prohibit the closing operation of the door 21.

According to the first modified example, by prohibiting the closing operation, it is possible to more effectively prevent a passerby attempting to enter the opening A obliquely from the vicinity of the door end 21a of the door 21 from colliding with the door 21. can do.

(Second modified example)
Next, a second modified example in which the closing speed of the door 21 is limited will be described focusing on the differences from FIG. FIG. 6 is a flowchart showing an operation example of the automatic door system 1 according to the second modified example of the present embodiment. The flowchart of FIG. 6 is repeated as needed.

As shown in FIG. 6, when the door control area 32 is in the detection state (step S1: Yes), the sensor control section 32 and the door control section 23 do not limit the closing operation of the motor 22 (that is, the normal speed). In the case of), the door 21 is closed at a speed lower than the predetermined speed and below a predetermined speed that does not surprise a passerby (step S2b). That is, the sensor control unit 32 outputs a low-speed close signal that instructs the door control unit 23 to close the door 21 at a low speed equal to or lower than a predetermined speed, and the door control unit 23 responds to the input of the low-side close signal. The motor 22 causes the door 21 to close at a low speed below a predetermined speed.

According to the second modified example, by restricting the closing speed, it is possible to prevent a passerby attempting to enter the opening A obliquely from the vicinity of the door end 21a of the door 21 from colliding with the door 21. As well as being able to avoid surprises for passers-by.

(Third Modification)
Next, a third modified example of changing the opening/closing control of the door 21 will be described. FIG. 7 is a block diagram showing an automatic door system 1 according to a third modification of this embodiment. FIG. 8 is a flowchart showing an operation example of the automatic door system 1 according to the third modified example of the present embodiment. The flowchart of FIG. 8 is repeated as needed.

As shown in FIG. 7, the automatic door device 2 in the third modified example further includes a door closer 25 in addition to the configuration of FIG. The door closer 25 always applies a force in the closing direction to the door 21 by the elastic force of a spring or the like to close the door 21. The opening operation or maintenance of the fully opened state of the door 21 is performed by the motor 22 applying a force in the opening direction against the force in the closing direction from the door closer 25 to the door 21.

As shown in FIG. 8, when the door tip area 5b is in the detection state (step S1: Yes), the sensor control unit 32 and the door control unit 23 cause the motor 22 to operate in the closing direction in which the door closer 25 acts on the door 21. The door 21 is driven in the opening direction against the force (step S2c). That is, the sensor control unit 32 outputs an open signal for instructing the door control unit 23 to drive the door 21 in the opening direction, and the door control unit 23 causes the motor 22 to open the door 21 in response to the input of the open signal. Drive in the direction. By driving the door 21 in the opening direction, the door 21 is maintained in the fully opened state.

According to the third modified example, by driving the door 21 in the opening direction against the force acting from the door closer 25, the passage that attempts to enter the opening A obliquely from the vicinity of the door end 21a of the door 21. It is possible to effectively prevent a person from colliding with the door 21.

(Fourth Modification)
Next, a fourth modified example in which the door 21 is immediately closed without down-counting the open timer when the door area 5b is not in a detected state will be described focusing on the differences from FIG. FIG. 9 is a flowchart showing an operation example of the automatic door system 1 according to the fourth modified example of the present embodiment. The flowchart of FIG. 9 is repeated as needed.

The automatic door system 1 according to the fourth embodiment performs the steps S4 to S7 in FIG. 9 before the step (step S1) of determining the detection state of the door end area in the flowchart in FIG.

That is, the sensor control unit 32 determines whether the activation area 5a or the protection area 5c is in the detection state based on the detection signals from the activation area 5a and the protection area 5c, respectively (step S4).

When the activation area 5a or the protected area 5c is in the detection state (step S4: Yes), the sensor control unit 32 sets the open timer to the initial state in which the down count is not progressing (step S5). After the open timer is set, the sensor control unit 32 repeats the determination of whether the activation area 5a or the protection area 5c is in the detection state (step S4).

On the other hand, when the activation area 5a and the protected area 5c are not in the detection state (step S4: No), the sensor control unit 32 down-counts the open timer (that is, decrements the down-counter) (step S6).

After down counting the open timer, the sensor control unit 32 determines whether the open timer is 0 (step S7).

When the open timer is 0 (step S7: Yes), the door 21 is closed (step S3) when the door area 5b is not in the detection state (step S1: No), as in FIG.

On the other hand, when the open timer is not 0 (step S7: No), the sensor control unit 32 repeats the determination of whether the activation area 5a or the protected area 5c is in the detection state (step S4).

According to the fourth modified example, the door 22 is closed by the motor 22 after a lapse of a predetermined waiting time from the time when the state where the person or the object is detected is switched to the state where the person or the object is not detected in the protected area 5c. On the other hand, when the state in which the person or the object is detected in the door tip area 5b is switched to the state in which the person or the object is not detected, the motor 22 closes the door 21 without waiting for a predetermined waiting time to elapse. be able to. As a result, when the door tip area 5b is no longer in the detected state, the door 21 is immediately closed to suppress changes in the environment (for example, temperature) inside the door 21.

(Fifth Modification)
Next, a fifth modification in which the closing operation of the door 21 is prohibited in consideration of the vector of a person or an object will be described. FIG. 10 is a flowchart showing an operation example of the automatic door system 1 according to the tenth modified example of the present embodiment. The flowchart of FIG. 10 is repeated as needed. FIG. 11 is a plan view showing an acquisition state of the vectors V1 and V2 in the activation area 5a and the door tip area 5b in the operation example of the automatic door system 1 according to the fifth modified example of the present embodiment.

As shown in FIG. 10, first, the sensor control unit 32 determines whether or not the activation area 5a is in the detection state based on the detection signal from the activation area 5a (step S41).

When the activation area 5a is in the detection state (step S41: Yes), the sensor control unit 32 acquires the vector V1 of the person or the object in the activation area 5a shown in FIG. 11 (step S42). The vector V1 is an index indicating the traveling direction and the traveling speed of a person or an object in the activation area 5a. The vector V1 may be acquired based on a captured image of a camera that tracks the movement of a person or an object in the activation area 5a.

After acquiring the vector V1 in the activation area 5a, the sensor control unit 32 determines whether or not the acquired vector V1 faces the opening A (step S43).

When the vector V1 faces the opening A (step S43: Yes), the sensor control unit 32 sets the open timer (step S5).

On the other hand, when the activation area 5a is not in the detection state (step S41: No) or the vector V1 is not facing the opening A (step S43: No), the sensor control unit 32 is based on the detection signal from the protected area 5c. Then, it is determined whether or not the protected area 5c is in the detection state (step S44). Note that this determination (step S44) may be replaced with that of step S41.

When the protected area 5c is in the detection state (step S44: Yes), the sensor control unit 32 sets the open timer (step S5).

On the other hand, when the protected area 5c is not in the detected state (step S44: No), the sensor control unit 32 determines the down count of the open timer (step S6) and the open timer being 0 (step S6), as in FIG. After S7: No), it is determined whether or not the door end area 5b is in the detection state (step S1).

When the door area 5b is in the detection state (step S1: Yes), the sensor control unit 32 acquires the vector V2 of the person or the object in the door area 5b shown in FIG. 11 (step S8). The vector V2 is an index indicating the traveling direction and the traveling speed of the person or the object in the door area 5b. The vector V2 may be acquired based on a captured image of a camera that tracks the movement of a person or an object in the door area 5b.

After acquiring the vector V2 in the door area 5b, the sensor control unit 32 determines whether or not the acquired vector V2 faces the opening A (step S9).

When the vector V2 faces the opening A (step S9: Yes), the sensor control unit 32 and the door control unit 23 prohibit the motor 22 from closing the door 21 (step S2a).

On the other hand, when the vector V2 does not face the opening A (step S9: No), the sensor controller 32 and the door controller 23 cause the motor 22 to close the door 21 (step S3).

According to the fifth modified example, the closing operation of the door 21 is performed when it is confirmed that the passerby tries to enter the opening A from the vicinity of the door end 21a of the door 21 in an oblique direction in consideration of the vector. By prohibiting, it is possible to avoid an unnecessary restriction on the closing operation of the door 21.

(Sixth Modification)
Next, a sixth modified example of detecting a person or an object based on a captured image will be described. FIG. 12 is a block diagram showing an automatic door system 1 according to a sixth modified example of this embodiment. FIG. 13 is a plan view showing an arrangement example of the activation area 5a, the door area 5b, and the protection area 5c in the operation example of the automatic door system 1 according to the sixth modified example of the present embodiment.

So far, the example in which the sensor unit 31 has the light projecting unit 311 and the light receiving unit 312 has been described. On the other hand, the sensor unit 31 in the sixth modified example has an imaging unit 313 as shown in FIG. The imaging unit 313 is, for example, a CCD or CMOS camera having sensitivity in the visible light range. The imaging unit 313 may be an infrared camera having sensitivity in the infrared region.

The imaging unit 313 images the detection area 5 shown in FIG. 13 and outputs the image signal of the detection area 5 to the sensor control unit 32 as a detection signal. The detection area 5 shown in FIG. 13 is not divided into the small detection areas 51 corresponding to the irradiation spots of near infrared light, but is divided into a plurality of rectangular areas by the grid G. The sensor control unit 32 detects a person or an object in the detection area 5 based on the image signal. The sensor control unit 32 outputs a signal corresponding to the detection state in each of the activation area 5a, the door area 5b, and the protected area 5c to the door control unit 23, and causes the door control unit 23 to control the operation of the door 21.

According to the sixth modified example, a person or an object can be detected with high accuracy by the imaging unit 313, so that a collision of a passerby with the door 21 can be effectively avoided.

(Seventh Modification)
Next, a seventh modified example in which a person or an object is detected by a combination of a radio wave and a near infrared light irradiation spot will be described. FIG. 14 is a block diagram showing an automatic door system 1 according to a seventh modified example of the present embodiment.

As shown in FIG. 14, the sensor unit 31 in the seventh modified example has a radio wave transmitting/receiving unit 314 in addition to the light projecting unit 311 and the light receiving unit 312. The light projecting unit 311 and the light receiving unit 312 are used to detect a person or an object in the protected area 5c. The radio wave transmitting/receiving unit 314 is used to detect a person or an object in the activation area 5a and the door area 5b.

The radio wave transmitting/receiving unit 314 transmits a radio wave to a person or an object approaching or moving away from the door 21, and detects an interference wave between the transmitted radio wave and a reflected wave from the person or the object. Then, the radio wave transmitting/receiving unit 314 outputs a detection signal of the interference wave as a detection signal to the sensor control unit 32. The frequency of the reflected wave changes from the frequency of the transmitted wave due to the Doppler effect.

The sensor control unit 32 detects a person or an object when the detection signal of the interference wave reaches the detection threshold of the person or the object. The sensor control unit 32 may acquire the vector V1 of the person or the object in the activation area 5a and the vector V2 of the person or the object in the doorway area 5b (see FIG. 11) based on the detection signal of the interference wave.

An operation example of the automatic door system 1 in the seventh modified example may be the same as the flowchart in FIG.

According to the seventh modified example, it is possible to appropriately detect a person or an object in the doorfront area 5b by using a radio wave that is excellent in moving body detection. This makes it possible to properly determine whether or not the closing operation of the door 21 is prohibited.

(Eighth modification)
Next, an eighth modification in which a person or an object is detected on the automatic door device 2 side will be described. FIG. 15 is a block diagram showing an automatic door system 1 according to an eighth modification of this embodiment.

So far, an example has been described in which the sensor control unit 32, which is an example of a detection unit, detects a person or an object based on a detection signal from the sensor unit 31. On the other hand, in the eighth modified example, the door control unit 23, which is an example of a detection unit, detects a person or an object based on the detection signal from the sensor control unit 32. Further, the door control unit 23 detects that the door 21 is in the fully open state based on the position signal from the motor 22. Then, the door control unit 23 causes the motor 22 to detect the door 21 when a person or an object is detected in the door end area of the door 21 based on the detection signal from the sensor control unit 32 when the door 21 is in the fully open state. Restrict the closing operation or change the opening/closing control.

Also in the eighth modification, when a person or an object is detected in the door end area 5b of the door 21 when the door 21 is in the fully open state, the motor 22 is restricted to limit the closing operation of the door 21 or change the opening/closing control. Can be done. As a result, it is possible to prevent a passerby attempting to enter the opening A obliquely from the vicinity of the door end 21a of the door 21 from colliding with the door 21.

Aspects of the present invention are not limited to the individual embodiments described above, but include various modifications that can be conceived by those skilled in the art, and the effects of the present invention are not limited to the contents described above. That is, various additions, changes and partial deletions can be made without departing from the concept and spirit of the present invention derived from the contents defined in the claims and the equivalents thereof.

Further, it is possible to combine or replace a part of the configuration described in the embodiment including the above-described modified example. Furthermore, it is also possible to apply only a part of the configuration described in the embodiment including the modified example described above. In these cases, in addition to those explicitly described in this specification, there is a unique configuration derived from each configuration.

1 Automatic Door System, 5b Door Front Area, 21 Door, 21a Door Front, 22 Motor, 23 Door Control Unit, 3 Automatic Door Sensor, 32 Sensor Control Unit

Claims (12)

A detection unit for detecting a person or an object in the door area set near the door edge of the door,
A drive unit for driving the door,
A control unit that causes the drive unit to limit the closing operation of the door or change the opening/closing control when the detection unit detects a person or an object in the door tip area of the door when the door is fully open. And an automatic door system. The automatic door system according to claim 1, wherein the restriction of the closing operation is prohibiting the closing operation. The automatic door system according to claim 1, wherein the restriction of the closing operation is to close the door at a speed lower than a case where the closing operation is not restricted and at a predetermined speed or less. Further comprising a door closer for applying a force in the closing direction to the door,
The automatic door system according to claim 1, wherein the limitation of the closing operation is to drive the door in the opening direction against a force in the closing direction applied to the door by the door closer. At least a part of the door tip area is set on an opening direction side of the door, compared to a protection area set on a side of a normal direction of the door with respect to an opening of the door in the fully opened state, Item 1. The automatic door system according to item 1. The automatic door system according to claim 5, wherein at least a part of the door tip area is set adjacent to the protected area on the opening side of the door. The automatic door system according to claim 5, wherein a width of the door tip area in a direction normal to the door surface is equal to or larger than a width of the protection area in a direction normal to the door surface. The control unit is
After a lapse of a predetermined waiting time from the time of switching from a state in which a person or an object is detected in the protected area to a state in which the person or the object is not detected, the drive unit is caused to close the door,
When the state in which a person or an object is detected in the doorway area is switched to a state in which no person or object is detected, the drive unit causes the drive unit to close the door without waiting for the predetermined standby time to elapse. Item 5. The automatic door system according to item 5. The control unit causes the drive unit to limit the closing operation of the door or change the opening/closing control when a person or an object is heading to an opening in which the door is provided in the doorfront area. Automatic door system described in. A detection unit for detecting a person or an object in the door area set near the door edge of the door,
When the detection unit detects a person or an object in the door tip area of the door when the door is in the fully open state, the drive unit that drives the door is limited to the closing operation of the door or the opening/closing control is changed. An automatic door sensor including a control unit for performing the operation. A drive unit for driving the door,
When the detection unit detects a person or an object in the door tip area set near the door tip of the door when the door is in the fully open state, the drive section limits or controls opening/closing of the door. And an automatic door device including a control unit for changing the above. A step of detecting a person or an object in a door tip area set near the door tip of the door,
A step of limiting the closing operation of the door or changing the opening/closing control when a person or an object is detected in the door tip area set near the door tip of the door when the door is in the fully open state; A method for controlling an automatic door system, comprising:

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