Automatic door system, sensor for automatic door, control method for automatic door, and control program for automatic door

Abstract

This provides automatic door technology that can improve the accuracy of detecting people or objects. [Solution] The automatic door device includes an infrared sensor 31A having an infrared detection area that includes multiple detection spots, an image sensor 31B having an image detection area, a detection determination unit that determines the detection state of the detection area based on detection information from the infrared sensor 31A and the image sensor 31B, a determination unit 105 that determines the door opening operation based on the determination result of the detection determination unit, a control unit 106 that opens the door based on the determination result, and an area setting unit that sets a predetermined setting area. The dimension of a setting area detection spot in a predetermined direction that overlaps with a part of the setting area is larger than the dimension of the setting area in the same predetermined direction. When a setting area detection spot is in a detection state, the detection determination unit determines the detection state within the setting area based on the detection information from the image sensor 31B within the setting area and within the setting area.

Description

Technical Field

[0006] , , , ,

[0001] The present invention relates to an automatic door device, a sensor for an automatic door, a method for controlling an automatic door, and a control program for an automatic door.

Background Art

[0002] In an automatic door, a technique for detecting an object such as a person by reflection of infrared rays irradiated using an infrared sensor in a predetermined area near the automatic door is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In an automatic door, it is conceivable to detect a person or an object using an image sensor in addition to an infrared sensor. In the technique of detecting a person or an object by using both an infrared sensor and an image sensor, there is room for improvement in detection accuracy.

[0005] In view of the above problems, an object of the present invention is to provide a technology for an automatic door that can improve the accuracy of detecting a person or an object in an automatic door using an infrared sensor and an image sensor.

Means for Solving the Problems

[0006] To solve the above problems, an automatic door device according to one aspect of the present invention includes an infrared detection area comprising a plurality of detection spots around a door provided in an opening, an infrared sensor for detecting a person or object within the infrared detection area, an image detection area that at least partially overlaps with the infrared detection area, an image sensor for detecting a person or object within the image detection area, a detection determination unit that determines the detection state of a person or object in at least one of the infrared detection area and the image detection area based on detection information from the infrared sensor and the image sensor, a determination unit that determines whether or not to perform the door opening operation based on the determination result of the detection determination unit, and the opening The system includes a control unit that opens the door based on a decision to perform an action, and an area setting unit that sets a predetermined setting area, wherein at least one of the plurality of detection spots is a setting area detection spot that overlaps with a part of the setting area within the overlapping area of ​​the infrared detection area and the image detection area, the dimension of the setting area detection spot in a predetermined direction is larger than the dimension of the setting area in that predetermined direction, and the detection determination unit determines the detection state of a person or object within the setting area based on the detection information of the image sensor within the setting area and within the setting area when the setting area detection spot is in a detection state.

[0007] An automatic door sensor according to one aspect of the present invention includes an infrared detection area comprising a plurality of detection spots around a door provided in an opening, and an infrared sensor for detecting a person or object within the infrared detection area; an image detection area comprising an image detection area that at least partially overlaps with the infrared detection area, and an image sensor for detecting a person or object within the image detection area; a detection determination unit for determining the detection state of at least one of the person or object in the infrared detection area and the image detection area based on detection information from the infrared sensor and the image sensor; and an opening unit for opening the door based on the determination result of the detection determination unit. The system includes a transmission determination unit that determines whether or not to transmit an operation signal, and an area setting unit that sets a predetermined setting area, wherein the plurality of detection spots include a setting area detection spot that overlaps with a part of the setting area within the overlapping area of ​​the infrared detection area and the image detection area, the dimension of the setting area detection spot in a predetermined direction is larger than the dimension of the setting area in that predetermined direction, and the detection determination unit determines the detection state of a person or object within the setting area based on the detection information of the image sensor within the setting area and within the setting area when the setting area detection spot is in a detection state.

[0008] An automatic door device according to one aspect of the present invention includes an infrared detection area around a door provided in an opening, an infrared sensor for detecting a person or object within the infrared detection area, an image detection area that overlaps with at least a portion of the infrared detection area, an image sensor for detecting a person or object within the image detection area, a detection determination unit that determines the detection state of a person or object in at least one of the infrared detection area and the image detection area based on detection information from the infrared sensor and the image sensor, a decision unit that determines whether or not to perform an opening operation of the door based on the determination result of the detection determination unit, and a control unit that performs an opening operation of the door based on the decision result of performing the opening operation, wherein the detection determination unit determines which detection information from the infrared sensor and the image sensor to use based on the size of an object detected by at least one of the infrared sensor and the image sensor in the overlapping area of ​​the infrared detection area and the image detection area.

[0009] An automatic door sensor according to one aspect of the present invention includes an infrared sensor that detects a person or object within an infrared detection area located around a door provided in an opening, an image sensor that detects a person or object within an image detection area that overlaps with the infrared detection area in at least a portion thereof, a detection determination unit that determines the detection state of a person or object in at least one of the infrared detection area and the image detection area based on detection information from the infrared sensor and the image sensor, and a transmission determination unit that determines whether or not to transmit an open operation signal to open the door based on the determination result of the detection determination unit, wherein the detection determination unit determines which detection information from the infrared sensor and the image sensor to use based on the size of an object detected by at least one of the infrared sensor and the image sensor in the overlapping area of ​​the infrared detection area and the image detection area.

[0010] An automatic door device according to one aspect of the present invention includes an infrared detection area comprising a plurality of infrared detection blocks around a door provided in an opening, an infrared sensor for detecting a person or object within the infrared detection area, an image detection area that overlaps with at least a portion of the infrared detection area, comprising a plurality of image detection blocks, an image sensor for detecting a person or object within the image detection area, an infrared detection determination unit that classifies each of the plurality of infrared detection blocks into an ON state, which determines that a person or object is present, or an OFF state, which determines that a person or object is not present, and an image detection determination unit that classifies each of the plurality of image detection blocks into one of the ON state, the OFF state, or a provisional ON state, which reserves the determination of whether or not a person or object is present. The system comprises an image detection determination unit, a correction unit that corrects the detection state based on the classification results of the infrared detection determination unit and the image detection determination unit, a decision unit that determines whether or not to perform the door opening operation based on the classification results of the infrared detection determination unit and the image detection determination unit after correction by the correction unit, and a control unit that opens the door based on the decision result to perform the opening operation. The correction unit corrects the infrared detection block that overlaps with the predetermined image detection block to the ON state when a predetermined image detection block among the plurality of image detection blocks is in the ON state or the provisional ON state, an infrared detection block that overlaps with the predetermined image detection block is in the OFF state, and at least one infrared detection block adjacent to the infrared detection block is in the ON state.

[0011] An automatic door sensor according to one aspect of the present invention includes an infrared detection area comprising a plurality of infrared detection blocks around a door provided in an opening, an infrared sensor for detecting a person or object within the infrared detection area, an image detection area that at least partially overlaps with the infrared detection area, comprising a plurality of image detection blocks, an image sensor for detecting a person or object within the image detection area, an infrared detection determination unit that classifies each of the plurality of infrared detection blocks into an ON state, which determines that a person or object is present, or an OFF state, which determines that a person or object is not present, and a provisional ON state for each of the plurality of image detection blocks, which determines whether the determination of whether a person or object is present or not is pending. The system includes an image detection determination unit that classifies the image into one of the following categories, a correction unit that corrects the detection state based on the classification results of the infrared detection determination unit and the image detection determination unit, and a transmission determination unit that determines whether or not to transmit an open operation signal to open the door based on the classification results of the infrared detection determination unit and the image detection determination unit after correction by the correction unit, wherein the correction unit corrects the infrared detection block that overlaps with the predetermined image detection block to the ON state when a predetermined image detection block among the plurality of image detection blocks is in the ON state or the provisional ON state, an infrared detection block that overlaps with the predetermined image detection block is in the OFF state, and at least one infrared detection block adjacent to the infrared detection block is in the ON state.

[0012] Furthermore, any combination of the above, or any substitution of the components or expressions of the present invention between methods, apparatus, programs, temporary or non-temporary storage media recording programs, systems, etc., are also valid embodiments of the present invention. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide an automatic door technology that can improve the accuracy of detecting people or objects in an automatic door using an infrared sensor and an image sensor. [Brief explanation of the drawing]

[0014] [Figure 1] It is a front view schematically showing an automatic door according to a first example of the basic configuration. [Figure 2] It is a block diagram schematically showing the function of the automatic door. [Figure 3] It is a schematic diagram showing the detection areas of the infrared sensor and the image sensor. [Figure 4] It is a schematic diagram showing an enlarged view of a plurality of infrared detection blocks in a partial area of the detection area. [Figure 5] It is a functional block diagram of a controller according to a first example of the basic configuration. [Figure 6] It is a functional block diagram of a door sensor according to a second example of the basic configuration. [Figure 7] In the first embodiment, it is a schematic diagram showing an enlarged view of a plurality of infrared detection blocks in a partial area including a protection area in the detection area. [Figure 8] It is a schematic diagram showing an enlarged view of the setting area detection spot. [Figure 9] It is a flowchart showing an example of processing by an infrared detection determination unit and an image detection determination unit according to the first embodiment. [Figure 10] It is a flowchart showing an example of processing by an infrared detection determination unit and an image detection determination unit according to the second embodiment. [Figure 11] It is a schematic diagram showing an example of the transition of the detection state of the infrared detection block when a person or an object moves toward the door. [Figure 12] It is a schematic diagram showing an example of the transition of the detection state of the infrared detection block when a person or an object moves toward the door. [Figure 13] It is a schematic diagram showing an example of the transition of the detection state of the infrared detection block when a person or an object moves toward the door. [Figure 14] It is a functional block diagram of a controller according to the third embodiment. [Figure 15] It is a functional block diagram of a processing device according to the third embodiment. [Figure 16] It is a flowchart showing an example of the processing of the correction unit according to the third embodiment. [Figure 17] It is a schematic diagram enlarging and showing an example of a part of the detection area to explain the correction processing by the correction unit.

Mode for Carrying Out the Invention

[0015] Among the embodiments disclosed in this specification, those composed of a plurality of objects may integrate the plurality of objects, and conversely, those composed of one object may be divided into a plurality of objects. Whether integrated or not, it should be configured so that the object of the invention can be achieved.

[0016] Among the embodiments disclosed in this specification, those in which a plurality of functions are provided in a distributed manner may provide some or all of the plurality of functions in an aggregated manner, and conversely, those in which a plurality of functions are provided in an aggregated manner may be provided such that some or all of the plurality of functions are distributed. Whether the functions are aggregated or distributed, it should be configured so that the object of the invention can be achieved.

[0017] In addition, separate components with common points are distinguished by attaching "first", "second", etc. at the beginning of the name, and these are omitted when collectively referred to. Also, terms including ordinals such as first and second are used to describe various components, but this term is only used for the purpose of distinguishing one component from another, and the components are not limited by this term.

[0018] Hereinafter, the present disclosure will be described with reference to each drawing based on preferred embodiments. In the embodiments and modification examples, the same or equivalent components and members are denoted by the same reference numerals, and repeated explanations are omitted as appropriate. Also, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. In addition, a part of the members that are not important in explaining the embodiments in each drawing is omitted and shown.

[0019] [Basic Configuration] First, the basic configuration common to each embodiment of this disclosure will be described. Referring to Figures 1 and 2, an overview of the automatic door 100 according to the first example of the basic configuration will be described. Figure 1 is a schematic front view showing the automatic door 100 according to the first example of the basic configuration. The automatic door 100 mainly comprises a door section 10 that is driven to open and close, a controller 20 that controls the entire automatic door 100, a door sensor 30 for detecting passersby, a door engine 40 that generates power, and a power transmission section 50 that transmits power to the door section 10. The automatic door 100 in this example is an example of an automatic door device. In the following description, the left-right direction in Figure 1 is defined as the horizontal direction (opening and closing direction of the automatic door), the up-down direction in Figure 1 is defined as the vertical direction, and the direction perpendicular to the left-right and up-down directions in Figure 1 is defined as the depth direction. However, the automatic door 100 can be installed in any orientation, and its installation direction is not limited to the following example.

[0020] The door section 10 comprises a first movable door 11L and a second movable door 11R, which are provided to move horizontally, a first fixed door 12L and a second fixed door 12R, which are provided in positions that overlap with the first movable door 11L and the second movable door 11R when they are open, and a guide mechanism 13 that guides the horizontal movement of the first movable door 11L and the second movable door 11R. The first movable door 11L, the second movable door 11R, the first fixed door 12L, and the second fixed door 12R are configured in a vertically elongated rectangular shape, with the vertical dimension being larger than the horizontal dimension. When the door section 10 is driven to open, the first movable door 11L, shown on the left in Figure 1, is driven to the left, and the second movable door 11R, shown on the right in Figure 1, is driven to the right. Furthermore, when the door section 10 is driven to close, the first movable door 11L is driven to the right and the second movable door 11R is driven to the left, the opposite of when it is driven to open. Note that the number and shape of the doors constituting the door section 10 are not limited to those described above and can be designed as appropriate to the needs of the installation location. Similarly, the direction of movement of the door section 10 is not limited to the horizontal direction, but may be in an inclined direction from the horizontal direction.

[0021] The guide mechanism 13 comprises a running rail 131, door rollers 132, a guide rail 133, and a sway-preventing section 134. The running rail 131 is a columnar rail member that extends horizontally over the entire range of motion of the movable doors 11L and 11R above them. Two door rollers 132 are provided on the upper part of each of the movable doors 11L and 11R, suspending each of the movable doors 11L and 11R from the running rail 131. When each of the movable doors 11L and 11R is driven to open and close horizontally, the door rollers 132 roll along the running rail 131, enabling smooth opening and closing operation. The guide rail 133 is a groove-shaped rail member that extends horizontally over the entire range of motion of the movable doors 11L and 11R below them. The sway-preventing section 134 protrudes from the lower part of the movable doors 11L and 11R and fits into the groove-shaped guide rail 133. When each of the movable doors 11L and 11R is driven to open and close horizontally, the anti-sway part 134 moves along the guide rail 133, thereby suppressing vibrations of each of the movable doors 11L and 11R in the depth direction.

[0022] The controller 20 can set various parameters related to the opening and closing of the door section 10. For example, the controller 20 can adjust settings such as opening and closing speed, opening and closing strength, and opening width. The opening and closing speed is the horizontal speed of the first movable door 11L and the second movable door 11R, and the directions of the speeds of the two doors are opposite to each other. In addition, different values ​​may be set for normal opening and closing and for other situations. For example, in the case of a so-called reversal, where the drive is switched to open during the normal closing drive of the door section 10 to emergency avoid trapping a passerby between the closing first and second movable doors 11L and 11R, the speed of the first and second movable doors 11L and 11R during the open drive may be set to a different value than the speed during normal opening drive.

[0023] The opening and closing strength is the magnitude of the force applied when opening and closing the movable doors 11L and 11R, and is controlled by the torque value generated by the motor 42, which will be described later. Similar to the opening and closing speed described above, it is generally preferable to have the same opening and closing strength for the movable doors 11L and 11R. Alternatively, different opening and closing strengths may be set for normal opening and closing and for other times. The opening width is the horizontal distance between the first movable door 11L and the second movable door 11R when the door section 10 is fully open. As shown in Figure 1, if W1 is the distance traveled between the fully closed position and the fully open position of the first movable door 11L, and W2 is the distance traveled between the fully closed position and the fully open position of the second movable door 11R, then the opening width is expressed as W1 + W2.

[0024] Refer to Figure 2. Figure 2 is a block diagram illustrating the functions of the automatic door 100. Each functional block shown in the following figures can be implemented in hardware terms using electronic elements and circuits such as a computer processor, CPU, and memory, as well as mechanical parts, and in software terms using computer programs, etc. However, here we depict functional blocks that are implemented through the coordination of these elements. Therefore, it will be understood by those skilled in the art that these functional blocks can be implemented in various ways through combinations of hardware and software.

[0025] The controller 20 comprises a control device 21, a storage device 22, a communication device 23, and a data processing device 24. The control device 21 is implemented as an arithmetic processing device mounted on a microcontroller and is responsible for various information processing and control of the automatic door 100. The control device 21 controls the door engine 40 to open and close the door section 10 based on the detection results of the door sensor 30. The control device 21 can also open and close the automatic door 100 in response to receiving open / close command signals for opening and closing the automatic door 100 from a worker's work terminal or a remote computer via the communication device 23.

[0026] The storage device 22 is a general-purpose memory that stores various data of the automatic door 100.

[0027] The communication device 23 exchanges various information with external communication devices of the automatic door 100 via wired or wireless connection. For example, the communication device 23 can communicate with a work terminal used by workers who visit the site for installation or maintenance of the automatic door 100. This allows workers to check information about various parts of the automatic door 100 and input various data about the automatic door 100 on the work terminal. If the communication device 23 has a communication function via a public information communication network such as the Internet, information about the automatic door 100 and data input can be performed from a remote computer.

[0028] The data processing device 24 processes the infrared data from the infrared sensor 31A and the image data from the image sensor 31B in the sensor unit 31 (described later), and transmits the processing results to the control device 21.

[0029] Refer to Figure 1 again. The door sensor 30 includes a sensor unit 31 and an auxiliary sensor 32. The sensor unit 31 includes an infrared sensor 31A for detecting people or objects within the infrared detection area 71 defined later on the automatic door 100, and an image sensor 31B for detecting people or objects within the image detection area 73 defined later on the automatic door 100. The sensor unit 31 is provided on the indoor side (for example, the front side of the paper in Figure 1) and the outdoor side (for example, the back side of the paper in Figure 1), and can detect passersby approaching from either side. The sensor unit 31 functions, for example, as an activation sensor for activating the automatic door 100.

[0030] The infrared sensor 31A is positioned on the surface of the transom 60 above the door section 10. The infrared sensor 31A includes a light-emitting unit that emits infrared light toward the floor and a light-receiving unit that receives reflected light from the floor. The infrared sensor 31A emits and receives light near the opening of the automatic door 100 and transmits the amount of received light as infrared data to the data processing unit 24. When a person or object, such as a passerby or object, approaches the automatic door 100 and blocks the light, the amount of light received by the light-receiving unit changes. Therefore, a person or object is detected based on the change in the amount of received light. When a person or object is detected based on the amount of light received by the infrared sensor 31A, the door engine 40 is driven by the controller 20 and the door section 10 opens. The infrared detection area 71 (see Figure 3), which is the detection area of ​​the infrared sensor 31A, is set based, for example, on its installation location, the arrangement and type of the light-emitting and light-receiving units, and the direction of light emission and reception.

[0031] The image sensor 31B is an imaging device such as a CMOS, CCD, or TOF (Time Of Flight) camera. The image sensor 31B is positioned, for example, on the surface of the transom 60 above the door section 10, with the optical axis oriented diagonally downward from its position, and captures images of the area in front of the automatic door 100. The image sensor 31B acquires images of people or objects entering the automatic door 100, including the background, in real time, and transmits the acquired image data of the vicinity of the opening to the data processing device 24. The data processing device 24 performs image recognition of people or objects based on the image data. When a person or object is detected based on the image data from the image sensor 31B, the controller 20 drives the door engine 40 and opens the door section 10. The image detection area 73 (see Figure 3), which is the detection area of ​​the image sensor 31B, is set based on its installation location, imaging direction, and field of view.

[0032] Furthermore, as shown in Figure 1, the sensor unit 31 may include a touch plate 31C provided on at least one of the movable doors 11L and 11R, and the door unit 10 may be driven when the touch plate 31C is pressed by a passerby. In addition, in tourist facilities and amusement parks, etc., it is also conceivable that the door unit 10 may be driven by operation by a facility staff member in addition to or instead of detection and operation by passersby. In this case, the facility staff member can drive the door unit 10 remotely using an operation panel located away from the door unit 10 or an operation terminal capable of communicating with the automatic door 100.

[0033] The sensor unit 31 may also function as a protective sensor to protect people or objects present in a predetermined protected area around the automatic door 100. When the sensor unit 31 functions as a protective sensor, if it detects a person or object within the protected area during the closing operation of the movable doors 11L and 11R, the controller 20 performs a closing protection operation. The closing protection operation involves stopping the closing drive and performing inversion control, such as switching to an opening drive, stopping, or reducing the drive speed. Also, when the sensor unit 31 functions as a protective sensor, if it detects a person or object within the protected area during the opening operation of the movable doors 11L and 11R, the controller 20 performs an opening protection operation. The opening protection operation involves stopping the opening drive and performing inversion control, such as switching to a closing drive, stopping, or reducing the drive speed. This prevents people or objects from being caught in the movable doors 11L and 11R.

[0034] The auxiliary sensor 32 is a photoelectric sensor installed on the first fixed door 12L and the second fixed door 12R of the door section 10. The auxiliary sensor 32 comprises a light-emitting unit installed on one of the first fixed door 12L and the second fixed door 12R, and a light-receiving unit installed on the other. The light-emitting unit and the light-receiving unit are installed at the same height from the floor, and the light-receiving unit receives light such as infrared rays emitted horizontally from the light-emitting unit. When the door section 10 is open, if a passerby passes through the opening and blocks the light, the amount of light received by the light-receiving unit changes, so the passerby can be detected. The main purpose of the auxiliary sensor 32 is to prevent passersby from being caught in the closing door (closed protection), and when the auxiliary sensor 32 detects a passerby during the closing operation of the movable doors 11L and 11R, the controller 20 performs inversion control, stopping the closing drive and switching to the opening drive. This prevents passersby from being caught in the closing movable doors 11L and 11R.

[0035] The auxiliary sensor 32 may be configured to detect passersby by reflecting radio waves such as microwaves or ultrasonic waves. Furthermore, the auxiliary sensor 32 may be installed in a location different from the fixed doors 12L and 12R. For example, the auxiliary sensor 32 may be installed on the transom 60 or on the ceiling near the automatic door 100. While installing multiple such auxiliary sensors 32 would increase costs, it would dramatically improve safety.

[0036] The door engine 40 comprises a motor drive unit 41, a motor 42, and a drive pulley 43. The motor drive unit 41 is composed of an intelligent power module (IPM) and generates a voltage or current to drive the motor 42 under the control of the controller 20. The motor 42, which serves as a power source for generating rotational power, can be configured as various known motors, but as an example, it is a brushless motor equipped with an encoder 42A using a Hall element. The position of the rotor of the motor 42 detected by the encoder is input to the motor drive unit 41, and a corresponding drive voltage or drive current is applied to the motor 42 to generate the desired rotational power. The drive pulley 43, which is rotationally driven by the motor 42, is connected to the rotor of the motor 42 via a gear mechanism or the like (not shown) and rotates in conjunction with it.

[0037] The power transmission unit 50 transmits power generated by the door engine 40 to the door unit 10, driving the movable doors 11L and 11R to open and close. The power transmission unit 50 includes a power transmission belt 51, a driven pulley 52, and a connecting member 53. The power transmission belt 51 is an annular timing belt with numerous teeth formed on its inner circumference, and is wrapped around the drive pulley 43 on the right side of Figure 1 and around the driven pulley 52 on the left side of Figure 1. In this state, the horizontal dimension of the power transmission belt 51 is equal to the horizontal distance between the drive pulley 43 and the driven pulley 52, and is also approximately the same as the horizontal dimension of the range of motion of the movable doors 11L and 11R. When the drive pulley 43 rotates due to the motor 42, the driven pulley 52 rotates in conjunction via the power transmission belt 51.

[0038] The connecting member 53 connects the movable doors 11L and 11R to the power transmission belt 51, respectively, and drives them to open and close. Here, one movable door is connected to the upper side of the power transmission belt 51, and the other movable door is connected to the lower side of the power transmission belt 51. In the example shown in Figure 1, when the power transmission belt 51 rotates counterclockwise, the first movable door 11L moves to the left and the second movable door 11R moves to the right, resulting in an opening operation. When the power transmission belt 51 rotates clockwise, the first movable door 11L moves to the right and the second movable door 11R moves to the left, resulting in a closing operation.

[0039] In the automatic door 100 configured as described above, when a passerby is detected based on the detection result of the door sensor 30, and if predetermined sensing conditions are met, the door engine 40 generates counterclockwise rotational power under the control of the controller 20, and drives the door section 10 to open. Furthermore, if no passerby is detected for a predetermined period of time after the door has been opened, the door engine 40 generates clockwise rotational power under the control of the controller 20, and drives the door section 10 to close. If the door sensor 30 detects a passerby while the door is being closed, the controller 20 performs inversion control, switching from closing drive to opening drive.

[0040] Figure 3 is a schematic diagram showing the detection areas of the infrared sensor 31A and the image sensor 31B. The detection area 70 has a three-dimensional range from the floor to the transom 60 where the sensor unit 31 is located and to the ceiling. For simplicity, only the floor is shown in Figure 3 of the detection area 70. The detection area 70 includes the infrared detection area 71, which is the detection area of ​​the infrared sensor 31A, and the image detection area 73, which is the detection area of ​​the image sensor 31B. In this example, the entire infrared detection area 71 overlaps with a part of the image detection area 73. The image detection area 73 also has an image-only detection area 90, which is an area outside the infrared detection area 71.

[0041] The infrared detection area 71 in Figure 3 is composed of multiple infrared detection blocks 72 arranged in 11 rows parallel to the opening and closing direction of the automatic door 100 and in 5 rows in the depth direction. Each infrared detection block 72 is assigned an address 1C, 1D, ..., 5L, 5M corresponding to its position in the arrangement. Each assigned address corresponds to the position information of each infrared detection block 72. The shape of each infrared detection block 72 and the overall shape of the infrared detection area 71 may be a polygon other than a circle, ellipse, rectangle, or rectangle. The shape of the infrared detection block 72 varies depending on its installation location, the arrangement and type of light emitter and receiver, and the direction of light emission and reception.

[0042] The image detection area 73 in Figure 3 is composed of multiple image detection blocks 74 arranged in 15 rows parallel to the opening and closing direction of the automatic door 100 and 10 rows in the depth direction. Each image detection block 74 is assigned an address 1A, 1B, ..., 10N, 10O corresponding to its position in the arrangement. Each assigned address corresponds to the position information of each image detection block 74. In this example, the shape and size of the image detection blocks 74 are set to match the shape and size of the infrared detection blocks 72. The shape of the image detection blocks 74 may vary depending on their installation location, imaging direction, and field of view.

[0043] Hereinafter, the infrared detection block 72 and the image detection block 74 may be collectively referred to as detection blocks. The assignment of various numbers to each detection block shown above is merely an example, and other configurations are also possible. Furthermore, the number of detection blocks in the detection area 70 is arbitrary, and the detection blocks in the detection area 70 can be divided into any shape, not limited to a matrix or grid.

[0044] Figure 4 is a schematic diagram showing an enlarged view of multiple infrared detection blocks 72 in a portion of the detection area 70. Each of the multiple infrared detection blocks 72 contains one infrared detection spot (hereinafter simply referred to as "detection spot 76"). When the infrared sensor 31A detects a person or object located at a detection spot 76, it sets the infrared detection block 72 corresponding to that detection spot 76 to a detection state. One detection spot 76 is smaller than one infrared detection block 72. In other words, an infrared detection block 72 includes areas other than the detection spot 76. It can also be said that there is a gap between adjacent detection spots 76. Therefore, even if a person or object is located within an infrared detection block 72, the infrared sensor 31A may miss detection.

[0045] Figure 5 is a functional block diagram of the controller 20 according to the first example of the basic configuration. The controller 20 comprises an infrared data acquisition unit 101, an image data acquisition unit 102, an infrared detection and judgment unit 103, an image detection and judgment unit 104, a determination unit 105, a control unit 106, and a storage unit 107.

[0046] The infrared data acquisition unit 101 acquires infrared data supplied from the infrared sensor 31A. The image data acquisition unit 102 acquires image data supplied from the image sensor 31B. The infrared detection determination unit 103 determines whether or not a person or object has been detected by the infrared sensor 31A. The image detection determination unit 104 determines whether or not a person or object has been detected by the image sensor 31B. The infrared detection determination unit 103 and the image detection determination unit 104 together constitute a detection determination unit that determines the detection status of a person or object in at least one of the infrared detection area 71 and the image detection area 73 based on the detection information from the infrared sensor 31A and the image sensor 31B.

[0047] Here, the details of the judgment process of the image detection judgment unit 104 will be explained. Based on the image data, the image detection judgment unit 104 classifies the state of each image detection block 74 into one of the following states: ON state, provisional ON state, and OFF state. Here, the ON state is a state in which it is determined that a person or object is present in that detection block, the provisional ON state is a state in which the determination of whether or not a person or object is present in that detection block is postponed, and the OFF state is a state in which it is determined that no person or object is present in that detection block.

[0048] Referring to Figure 3, the ON state, provisional ON state, and OFF state will be explained. For example, if people 81A and 81B are in the image detection area 73, the image data of the corresponding image detection block 74 (for example, the image detection block 74 to which addresses 3F~5F, 3G~5G and 3I~5I, 3J~5J are assigned) will be clearly different from the reference image depending on the presence or absence of people 81A and 81B. As a result, these corresponding image detection blocks 74 are classified as the ON state. For example, if there is a person's shadow 82 in the image detection area 73, the image data of the corresponding image detection block 74 (for example, the image detection block 74 to which addresses 4M~4O, 5M~5O are assigned) will be different from the reference image depending on the presence or absence of the person's shadow 82. However, since the person's shadow 82 is not as clearly visible in the image data as when person 81A is actually present, the difference between the image data and the reference data in the area of ​​the person's shadow 82 is relatively small. As a result, these corresponding image detection blocks 74 are classified as the provisional ON state. For example, an image detection block 74 in which there are no people, objects, shadows, etc., and the image data is nearly identical to the reference image, is classified as being in the off state.

[0049] Specifically, the image detection determination unit 104 compares the reference image with the image data and determines the number of pixels in the image data for each image detection block 74 whose difference from the brightness value of the reference image is greater than or equal to a predetermined threshold. For example, if the number of pixels is greater than the first pixel count threshold, the image detection determination unit 104 classifies the image detection block 74 into an ON state. If the number of pixels is less than the second pixel count threshold, which is less than the first pixel count threshold, the image detection determination unit 104 classifies the image detection block 74 into an OFF state. If the number of pixels is less than or equal to the first pixel count threshold and greater than or equal to the second pixel count threshold, the image detection determination unit 104 classifies the image detection block 74 into a provisional ON state.

[0050] Next, the details of the determination process of the infrared detection determination unit 103 will be explained. Based on the infrared data, the infrared detection determination unit 103 classifies the state of each infrared detection block 72 into one of the following: ON state, temporary ON state, or OFF state. Refer to Figure 3 again. For example, if there is a person 81B in the infrared detection area 71, the amount of light received in the infrared data of the corresponding infrared detection block 72 (for example, the infrared detection block 72 to which addresses 3I~5I, 3J~5J are assigned) will be greater than the reference value for that infrared detection block. As a result, that infrared detection block 72 is classified as ON state. In the case of an infrared detection block 72 where there is no person, object, puddle, etc., the amount of light received in the corresponding infrared detection block 72 will not deviate much from the reference value for that infrared detection block 72. As a result, that infrared detection block 72 is classified as OFF state. If, for example, there is a puddle 83 in the infrared detection area 71, the amount of light received in the infrared data of the corresponding infrared detection block 72 (for example, the infrared detection block 72 to which addresses 3C to 3E are assigned) will fluctuate from the reference value of that infrared detection block 72, but will be smaller than the amount of light received when a person 81B is detected. As a result, that infrared detection block 72 is classified as being in a provisional ON state.

[0051] Specifically, the infrared detection determination unit 103 calculates the difference between the amount of light received from each infrared detection block 72 and a reference value for each infrared detection block 72, based on the infrared data. If the difference is greater than the first light reception threshold, the infrared detection block 72 is classified as ON. If the difference is less than the second light reception threshold, which is less than the first light reception threshold, the infrared detection block 72 is classified as OFF. If the difference is less than or equal to the first light reception threshold and greater than or equal to the second light reception threshold, the infrared detection block 72 is classified as provisionally ON. In this embodiment, the second light reception threshold is set so that the amount of light received by a person's shadow 82 is less than or equal to the second light reception threshold. Therefore, infrared detection blocks 72 in which a person's shadow 82 is present are classified as OFF.

[0052] The decision unit 105 decides whether or not to open the movable door 11 of the automatic door 100 based on the determination results of the infrared detection determination unit 103 and the image detection determination unit 104. The control unit 106 opens the movable door 11 based on the decision result of the decision unit 105, which is to open the door.

[0053] The memory unit 107 stores various data of the automatic door 100. For example, the memory unit 107 stores the reference light reception amount for each infrared detection block 72, which is the amount of light reflected by each infrared detection block 72 and received by the infrared sensor 31A, and a reference image of the image detection area 73. These reference light reception amounts for each infrared detection block 72 and reference images of the image detection area 73 may be generated by machine learning from time-series data of infrared data and image data when there is no object to be detected in the detection area 70, or predetermined values ​​may be used. The memory unit 107 also stores various threshold values. Furthermore, the memory unit 107 stores infrared data and image data in time series.

[0054] The storage unit 107 may further store information for a predetermined setting area. In this case, the storage unit 107 functions as an area setting unit for setting a predetermined setting area. The setting area may be, for example, the protection area described above, or it may be any other area that is set specifically for detecting a person or object.

[0055] The following describes a second example of the basic configuration. In the drawings and description of this example, components and members that are the same as or equivalent to those in the first example are denoted by the same reference numerals. Explanations that overlap with the first example will be omitted as appropriate, and the explanation will focus on the configurations that differ from the first example.

[0056] In the first example of the basic configuration, the controller 20 determines whether it has detected a person or an object, but is not limited to this. In the second example, the door sensor 30 determines whether it has detected a person or an object.

[0057] Figure 6 is a functional block diagram of a door sensor 30 according to a second example of the basic configuration. The door sensor 30 in this example includes an infrared sensor 31A, an image sensor 31B, and a processing unit 35. The processing unit 35 includes an infrared data acquisition unit 101, an image data acquisition unit 102, an infrared detection and determination unit 103, an image detection and determination unit 104, a storage unit 107, a transmission determination unit 108, and a transmission unit 109. The controller 20 includes a control unit 106 and a receiving unit 110.

[0058] The transmission decision unit 108 decides whether or not to transmit a detection signal to the controller 20 indicating that a person or object has been detected, based on the determination results of the infrared detection decision unit 103 and the image detection decision unit 104. In this example, the detection signal is an example of an open operation signal for opening the movable door 11. The transmission unit 109 transmits the detection signal to the controller 20 according to the decision of the transmission decision unit 108.

[0059] The receiving unit 110 receives the detection signal transmitted from the transmitting unit 109 and supplies it to the control unit 106. In response to the detection signal, the control unit 106 controls the door engine 40 to open the movable door 11.

[0060] [First Embodiment] The first embodiment of this disclosure will be described below. In the drawings and description of the first embodiment, components and members that are the same or equivalent as those in the basic configuration described above will be denoted by the same reference numerals. Descriptions that overlap with the basic configuration will be omitted as appropriate, and the description will focus on the configurations that are added to the basic configuration and the configurations that differ from the basic configuration.

[0061] First, let's explain the problem that this embodiment aims to solve. As explained using Figure 4, the infrared sensor 31A detects a person or object at the location of the detection spot 76. When attempting to detect a predetermined set area having dimensions smaller than the dimensions of one detection spot 76, the detection spot 76 also has a detection range that extends beyond the set area. Therefore, even if a person or object is not located within the set area, the detection spot 76 may over-detect, assuming that a person or object is within the set area.

[0062] On the other hand, since the image sensor 31B can detect within the image detection block 74 at a pixel unit smaller than the detection spot 76 of the infrared sensor 31A, it is thought that it can detect whether or not a person or object is located in the set area with higher accuracy than the infrared sensor 31A. However, if only the image sensor 31B is used, the image sensor 31B may mistakenly detect the shadow of an object located outside the image detection block 74 as a person or object within the image detection block 74.

[0063] In view of the above issues, the objective of this embodiment is to provide a technology that can reduce the effects of overdetection by the infrared sensor 31A and false detection by the image sensor 31B in an automatic door device using an infrared sensor 31A and an image sensor 31B.

[0064] The configuration of the automatic door device according to this embodiment is the same as that of the automatic door 100 according to the first example of the basic configuration described above. Furthermore, the configuration of the door sensor according to this embodiment is the same as that of the door sensor 30 according to the second example of the basic configuration described above. Note that processing of the infrared detection and determination unit 103 and the image detection and determination unit 104 in this embodiment that was not described in the basic configuration will be described later.

[0065] Figure 7 is a schematic diagram showing an enlarged view of multiple infrared detection blocks 72 in a portion of the detection area 70, including the protective area 80, in the first embodiment. The area of ​​the detection area 70 shown in Figure 7 is the overlapping area of ​​the infrared detection area 71 and the image detection area 73. The protective area 80 is set to a range within which the movable door 11 can move, for example. In the example shown in Figure 7, the protective area 80 is positioned to span two infrared detection blocks 72 in the depth direction and is located in an area that extends in the direction of movement.

[0066] The six detection spots 76 shown in Figure 7 all overlap with a portion of the protected area 80. As explained regarding the storage unit 107 of the basic configuration, the protected area 80 is an example of a set area. Thus, in the overlapping area between the infrared detection area 71 and the image detection area 73, the detection spots 76 that overlap with a portion of the set area are also called set area detection spots 78. The set area detection spots 78 are detection spots 76 for detecting the presence of a person or object in the set area.

[0067] The dimensions of the setting area detection spot 78 in a predetermined direction are larger than the dimensions of the protection area 80 in the same predetermined direction. In the example shown in Figure 7, the predetermined direction is the depth direction. For example, the setting area detection spot 78 is approximately circular, with a diameter of 270 mm to 360 mm. The depth dimension of the protection area 80 is approximately 200 mm.

[0068] Figure 8 is a schematic diagram showing a magnified view of the setting area detection spot 78. In Figure 8, the setting area detection spot 78 located in the upper left of Figure 7 is shown. The overlapping area between the setting area detection spot 78 and the protected area 80 includes multiple pixels 84 of the image sensor 31B.

[0069] Figure 9 is a flowchart showing an example of processing by the infrared detection determination unit 103 and the image detection determination unit 104 according to the first embodiment. First, the infrared detection determination unit 103 determines whether or not a detection spot 78 in the set area of ​​detection state exists (S10). If the infrared detection determination unit 103 determines that a detection spot 78 in the set area of ​​detection state does not exist (N in S10), it determines that no person or object has been detected within the set area (S16) and terminates the process.

[0070] When the infrared detection determination unit 103 determines that there are detection spots 78 in the set area that are in a detection state (Y in S10), the process proceeds to step S12. In the example shown in Figure 7, since the object 86 is detected by two detection spots 78 in the set area, it is determined that there are detection spots 78 in the set area that are in a detection state.

[0071] In step S12, the image detection determination unit 104 determines whether a predetermined number or more of the pixels 84 of the image sensor 31B are in a detection state in the overlapping area between the detection spot 78 of the detection state setting area and the setting area. If the image detection determination unit 104 determines that the number of pixels 84 in a detection state is less than the predetermined number (N in S12), it determines that no person or object has been detected in the setting area (S16) and terminates the process. In the example shown in Figure 8, since none of the pixels 84 in the overlapping area between the detection spot 78 of the detection state setting area and the protection area 80 overlap with the object 86, it is determined that the number of pixels 84 in a detection state is less than the predetermined number.

[0072] When the image detection determination unit 104 determines that a predetermined number or more pixels 84 are in a detection state (Y in S12), it determines that a person or object has been detected within the set area (S14) and terminates the process.

[0073] In step S12, the criterion for determining whether the number of detected pixels 84 is greater than or equal to a predetermined number is to prevent the detection of a person or object even if fewer than the predetermined number of pixels 84 are detected due to false detection.

[0074] Furthermore, if the illuminance in the area including the set area is below a predetermined value, the determination process in step S12 may be omitted, and the detection of a person or object within the set area may be determined based solely on the information from the infrared sensor 31A. This is because, if the illuminance is below a predetermined value, the reliability of detection by the image sensor 31B decreases, and therefore, not using the information from the image sensor 31B may improve the accuracy of detection.

[0075] As described above, the automatic door device of this embodiment includes an infrared detection area 71 containing a plurality of detection spots 76 around a door provided in an opening, an infrared sensor 31A that detects people or objects within the infrared detection area 71, an image detection area 73 that at least partially overlaps with the infrared detection area 71, an image sensor 31B that detects people or objects within the image detection area 73, a detection determination unit that determines the detection state of at least one person or object in the infrared detection area 71 and the image detection area 73 based on the detection information from the infrared sensor 31A and the image sensor 31B, and a determination unit 105 that determines whether or not to perform a door opening operation based on the determination result of the detection determination unit. The system includes a control unit 106 that opens the door based on a decision to open it, and an area setting unit that sets a predetermined setting area. At least one of the plurality of detection spots 76 is a setting area detection spot 78 that overlaps with a part of the setting area, within the overlapping area of ​​the infrared detection area 71 and the image detection area 83, and the dimension of the setting area detection spot 78 in a predetermined direction is larger than the dimension of the setting area in the same predetermined direction. When the setting area detection spot 78 is in a detection state, the detection determination unit determines the detection state of a person or object within the setting area based on the detection information of the image sensor 31B within the setting area and within the setting area.

[0076] This allows the system to first determine whether a person or object may be present within the set area using the infrared sensor 31A's detection spot 78, and then confirm the presence of a person or object within the set area using the image sensor 31B's pixels 84. Therefore, it is possible to reduce the effects of overdetection by the infrared sensor 31A and false detection by the image sensor 31B, thereby improving detection accuracy.

[0077] Furthermore, the set area detection spots 78 are not necessarily arranged regularly within the infrared detection block 72. For example, as shown in Figure 7, the positions of different set area detection spots 78 may be misaligned in at least one of the directions of movement and depth. Even in such cases, this embodiment can improve the accuracy of detection.

[0078] [Second Embodiment] The following describes a second embodiment of this disclosure. In the drawings and description of the second embodiment, components and members that are the same or equivalent as those in the basic configuration and the first embodiment described above are denoted by the same reference numerals. Descriptions that overlap with the basic configuration and the first embodiment will be omitted as appropriate, and the description will focus on the configurations that are added to the basic configuration and the first embodiment, as well as configurations that differ from them.

[0079] First, let's explain the problems that this embodiment aims to solve. As explained using Figure 4, there is a gap between adjacent detection spots 76 in the infrared sensor 31A. Therefore, the infrared sensor 31A may fail to detect people or objects. In addition, the image sensor 31B may mistakenly detect the shadow of an object located outside the image detection block 74 as a person or object within the image detection block 74.

[0080] In view of the above issues, the objective of this embodiment is to provide a technology that can reduce the effects of detection failures by the infrared sensor 31A and false detections by the image sensor 31B in an automatic door device using an infrared sensor 31A and an image sensor 31B.

[0081] The configuration of the automatic door device according to this embodiment is the same as that of the automatic door 100 according to the first example of the basic configuration described above. Furthermore, the configuration of the door sensor according to this embodiment is the same as that of the door sensor 30 according to the second example of the basic configuration described above. Note that processing of the infrared detection and determination unit 103 and the image detection and determination unit 104 in this embodiment that was not described in the basic configuration will be described later.

[0082] Figure 10 is a flowchart showing an example of processing by the infrared detection and determination unit 103 and the image detection and determination unit 104 according to the second embodiment. First, the infrared data acquisition unit 101 acquires detection information from the infrared sensor 31A, and the image data acquisition unit 102 acquires detection information from the image sensor 31B (S20).

[0083] Next, the infrared data acquisition unit 101 and the image data acquisition unit 102 determine whether the size of the detected object acquired is below a predetermined threshold (S22). That is, the infrared data acquisition unit 101 determines whether the size of the detected object based on the detection information of the infrared sensor 31A acquired by the infrared data acquisition unit 101 is below a predetermined threshold, and whether the size of the detected object based on the detection information of the image sensor 31B acquired by the image data acquisition unit 102 is below the same predetermined threshold. Here, whether the size of the detected object is below a predetermined threshold may be based on the number of consecutive ON infrared detection blocks 72 or ON image detection blocks 74, or on the number aligned in a predetermined direction.

[0084] When the infrared data acquisition unit 101 and the image data acquisition unit 102 determine that the size of the detection target is both below a predetermined threshold (Y in S22), they use only the information from the image sensor 31B to determine whether the detection target is a person or an object (S24). Detection failures by the infrared sensor 31A are likely to occur when the detection target is a small object that can fit into the gaps between adjacent detection spots 76. On the other hand, the image sensor 31B can detect even such small objects as long as they are larger than the pixels 84. Therefore, when the detection target is such a small object, the effect of detection failures by the infrared sensor 31A can be avoided by determining the detection status using only the image sensor 31B as in step S24.

[0085] If the infrared data acquisition unit 101 and the image data acquisition unit 102 determine that the size of the detected object is not both below a predetermined threshold, that is, if at least one of the size of the detected object based on the detection information of the infrared sensor 31A and the size of the detected object based on the detection information of the image sensor 31B exceeds a predetermined threshold (N in S22), the process proceeds to step S26.

[0086] In step S26, the infrared data acquisition unit 101 and the image data acquisition unit 102 determine whether the size of the acquired detection target exceeds a predetermined threshold. If the infrared data acquisition unit 101 and the image data acquisition unit 102 determine that the size of the detection target exceeds a predetermined threshold (Y in S26), they determine whether the detection status of the detection target is a person or an object using only the information from the infrared sensor 31A (S28). False detection by the image sensor 31B is likely to occur when the detection target is relatively large, as it is difficult to determine whether the detection target is a shadow or a person. On the other hand, the infrared sensor 31A is less likely to miss detections when the detection target is relatively large. Therefore, when the detection target is relatively large in this way, the influence of false detection by the image sensor 31B can be avoided by determining the detection target using only the infrared sensor 31A as in step S28.

[0087] If the infrared data acquisition unit 101 and the image data acquisition unit 102 determine that the size of the detected object is not both above a predetermined threshold (N in S26), they determine the detection status of a person or object for that object using the detection information from the infrared sensor 31A and the detection information from the image sensor 31B (S30). Here, the condition for determining N in step S26, in conjunction with the determination result in step S22, may be that the size of the detected object based on the detection information from the infrared sensor 31A and the size of the detected object based on the detection information from the image sensor 31B are below a predetermined threshold, while the size of the other detected object exceeds a predetermined threshold. It is also possible that one of the infrared sensor 31A and the image sensor 31B has not detected the object.

[0088] In step S22, instead of the above determination process, it may be determined whether the size of the object detected by at least one of the infrared sensor 31A and the image sensor 31B is less than or equal to a predetermined threshold (referred to as "S22'"). Similarly, in step S26, instead of the above determination process, it may be determined whether the size of the object detected by at least one of the infrared sensor 31A and the image sensor 31B exceeds a predetermined threshold (referred to as "S26'").

[0089] Then, if the size of the object detected by at least one sensor is below a predetermined threshold (Y in S22'), the process proceeds to step S24. On the other hand, if the size of the object detected by either sensor is not below a predetermined threshold (N in S22'), the process proceeds to step S26'. If the size of the object detected by at least one sensor is above a predetermined threshold (Y in S26'), the process proceeds to step S28. On the other hand, if the size of the object detected by either sensor is not above a predetermined threshold, that is, if, in conjunction with the result of step S22', no object is detected by any sensor (N in S26'), the process terminates.

[0090] When the object to be detected is black, the image sensor 31B is particularly prone to misidentifying the shadow of an object located outside the image detection block 74 as a person or object within the image detection block 74. Therefore, the process shown in Figure 10 may be executed only when the image sensor 31B determines that the object to be detected is black.

[0091] As described above, the automatic door device of this embodiment includes an infrared detection area 71 around a door provided in an opening, an infrared sensor 31A that detects people or objects within the infrared detection area 71, an image detection area 73 that overlaps with the infrared detection area 71 in at least part, an image sensor 31B that detects people or objects within the image detection area 73, a detection determination unit that determines the detection state of at least one of the people or objects in the infrared detection area 71 and the image detection area 73 based on the detection information from the infrared sensor 31A and the image sensor 31B, a decision unit 105 that determines whether or not to perform a door opening operation based on the determination result of the detection determination unit, and a control unit 106 that performs a door opening operation based on the decision result that the door should be opened. The detection determination unit determines which detection information from the infrared sensor 31A and the image sensor 31B to use based on the size of the object detected by at least one of the infrared sensor 31A and the image sensor 31B in the overlapping area of ​​the infrared detection area 71 and the image detection area 73.

[0092] This allows for the appropriate use of the infrared sensor 31A, which is suitable for detecting relatively large targets, and the image sensor 31B, which is suitable for detecting relatively small targets, thereby reducing the impact of detection failures by the infrared sensor 31A and false detections by the image sensor 31B.

[0093] In the automatic door device of this embodiment, the detection determination unit may determine the detection status of a person or object in the overlapping area by using only the detection information from the image sensor 31B when the size of the object detected by at least one of the infrared sensor 31A and the image sensor 31B is below a predetermined threshold, and by using only the detection information from the infrared sensor 31A when the size exceeds the threshold. This effectively reduces the impact of detection failures by the infrared sensor 31A and false detections by the image sensor 31B, as the infrared sensor 31A, which is suitable for detecting relatively large objects, is used when the size of the detected object exceeds a predetermined threshold, and the image sensor 31B, which is suitable for detecting relatively small objects, is used when the size of the detected object is below a predetermined threshold.

[0094] In the automatic door device of this embodiment, the detection determination unit may determine the detection status of a person or object in the overlapping area by using only the detection information from the image sensor 33B when the size of the object detected by both the infrared sensor 33A and the image sensor 33B is below a threshold, and by using only the detection information from the infrared sensor 33A when both sizes exceed the threshold. This allows the size of the object to be detected to be determined based on the detection information from both the infrared sensor 31A and the image sensor 31B, enabling the selection of the sensor to be used for detecting the object based on relatively accurate information about the size of the object.

[0095] [Third Embodiment] A third embodiment of this disclosure is described below. In the drawings and description of the third embodiment, components and members that are the same or equivalent as those in the basic configuration and the first and second embodiments described above are denoted by the same reference numerals. Descriptions that overlap with the basic configuration and the first and second embodiments will be omitted as appropriate, and the description will focus on the configurations that are added to the basic configuration and the first and second embodiments, as well as configurations that differ.

[0096] First, let's explain the problem that this embodiment aims to solve. In areas where the infrared detection area 71 by the infrared sensor 31A and the image detection area 73 by the image sensor 31B overlap, it is conceivable to prioritize the detection result of the infrared sensor 31A in order to avoid false detection of shadows by the image sensor 31B.

[0097] Figures 11 to 13 are schematic diagrams showing an example of the transition in the detection state of the infrared detection block 72 of the infrared sensor 31A when a person or object moves toward the door section 10. The detection area 70 shown in Figures 11 to 13 is the overlapping area of ​​the infrared detection area 71 and the image detection area 73. In Figures 11 to 13, the infrared detection block 72 in the ON state is indicated by hatching.

[0098] As shown in Figure 11, the detection area 70 contains an infrared detection block group 88, which consists of a series of infrared detection blocks 72 that have been turned on to detect a person or object. As the person or object moves toward the door 10, the position of the infrared detection block group 88 moves toward the door 10, resulting in the state shown in Figure 12. In Figure 12, due to a detection failure by the infrared sensor 31A, the infrared detection block group 88 is divided into a first part 88A and a second part 88B. As the person or object continues to move toward the door 10, the first part 88A and the second part 88B are combined to form an infrared detection block group 88, as shown in Figure 13. Thus, detection failures can occur in the infrared sensor 31A, and the block may be temporarily divided.

[0099] For example, it is conceivable to determine the direction of movement of a person or object (hereinafter referred to as "movement path") based on the movement of the infrared detection block group 88. In this case, when the infrared detection block group 88 is divided into a first part 88A and a second part 88B as shown in Figure 12, and then recombined as shown in Figure 13 to form the infrared detection block group 88, the movement path is determined based on the change in position over time from the position of the first part 88A, which was closest to the door 10, to the infrared detection block group 88. Therefore, since the information on the movement path up to that point is lost when the first part 88A is generated, the movement path determination process may be delayed.

[0100] In view of the above issues, the objective of this embodiment is to provide a technology that can improve the tracking ability of detection accompanying the movement of a person or object in an automatic door device using an infrared sensor 31A and an image sensor 31B.

[0101] The configuration of the automatic door device according to this embodiment differs from the configuration of the automatic door 100 according to the first example of the basic configuration described above, except for the configuration of the controller 20. Furthermore, the configuration of the door sensor according to this embodiment differs from the configuration of the door sensor 30 according to the second example of the basic configuration described above, except for the configuration of the processing unit 35.

[0102] Figure 14 is a functional block diagram of the controller 20A according to the third embodiment. The controller 20A includes an infrared data acquisition unit 101, an image data acquisition unit 102, an infrared detection and determination unit 103, an image detection and determination unit 104, a determination unit 105, a control unit 106, a storage unit 107, a correction unit 112, and an output unit 114. Of these, the components other than the correction unit 112 and the output unit 114 are common to the components of the controller 20 according to the first example of the basic configuration, so similar functions will not be explained.

[0103] The correction unit 112 corrects the detection state of the infrared data acquisition unit 101 based on the classification results of the infrared detection judgment unit 103 and the image detection judgment unit 104. The detection state of the infrared data acquisition unit 101 corrected by the correction unit 112 is sent to the infrared detection judgment unit 103 as the corrected detection state.

[0104] If correction has been made by the correction unit 112, the decision unit 105 decides whether or not to open the movable door 11 based on the classification results of the infrared detection judgment unit 103 and the image detection judgment unit 104 after correction.

[0105] The storage unit 107 stores information about the infrared sensor 31A before and after correction by the correction unit 112. This information includes, for example, information on the time-dependent changes in the ON state of the infrared detection block 72 before and after correction. The storage unit 107 may further store information about the image sensor 31B before and after correction by the correction unit 112. This information includes, for example, information on the time-dependent changes in the ON state and the temporarily ON state of the image detection block 74 before and after correction.

[0106] The output unit 114 outputs information about the infrared sensor 31A before and after correction by the correction unit 112. The output unit 114 may further output information about the image sensor 31B before and after correction by the correction unit 112. This information can be used by an external computer or the like for purposes such as analysis.

[0107] Figure 15 is a functional block diagram of the processing device 35A according to the third embodiment. The processing device 35A includes an infrared data acquisition unit 101, an image data acquisition unit 102, an infrared detection and determination unit 103, an image detection and determination unit 104, a storage unit 107, a transmission determination unit 108, a transmission unit 109, a correction unit 112, and an output unit 114. Of these, the configurations other than the correction unit 112 and the output unit 114 are the same as the configurations in the processing device 35 according to the second example of the basic configuration, so the explanation of similar functions is omitted. Also, the explanation of each configuration described above for the controller 20A is the same for the processing device 35A, so the explanation is omitted.

[0108] Figure 16 is a flowchart showing an example of the processing performed by the correction unit 112 according to the third embodiment. The processing described with reference to Figure 16 is the correction processing performed by the correction unit 112; other processing will not be described.

[0109] The correction unit 112 determines whether there are any image detection blocks 74 in the ON state or a temporarily ON state among the multiple image detection blocks 74 in the area where the infrared detection area 71 by the infrared sensor 31A and the image detection area 73 by the image sensor 31B overlap (S40). If there are no image detection blocks 74 in the ON state or a temporarily ON state (N in S40), the correction unit 112 terminates the process. If there are image detection blocks 74 in the ON state or a temporarily ON state (Y in S40), the process proceeds to step S42.

[0110] The correction unit 112 determines whether the infrared detection block 72 located in a position overlapping with the image detection block 74, which is in the ON state or temporarily ON state, is in the OFF state (S42). If the determined infrared detection block 72 is not in the OFF state (N in S42), the correction unit 112 terminates the process. If the determined infrared detection block 72 is in the OFF state (Y in S42), the process proceeds to step S44.

[0111] The correction unit 112 determines whether at least one of two infrared detection blocks 72 adjacent to the infrared detection block 72 determined to be in the off state, in the depth direction, i.e., in the direction toward the door 10 or away from the door 10, is in the on state (S44). If neither of the two infrared detection blocks 72 determined to be in the on state is (N in S44), the correction unit 112 terminates the process. If at least one of the two infrared detection blocks 72 determined to be in the on state is (Y in S44), the process proceeds to step S46.

[0112] The correction unit 112 determines whether a predetermined infrared detection block 72 located on the opposite side from the infrared detection block 72 determined to be ON in step S44 is ON (S46). Here, the predetermined infrared detection block 72 in step S42 will be explained with reference to Figure 17. Figure 17 is a schematic diagram showing an enlarged example of a part of the detection area 70 to explain the correction process by the correction unit 112. In Figure 17, an ON infrared detection block 72 is indicated by hatching.

[0113] Figure 17 shows a total of nine infrared detection blocks 72, arranged in three rows in the movable direction and three rows in the depth direction. The position of each infrared detection block 72 is expressed as (movable direction position, depth direction position) using the movable direction positions "-1", "0", and "1" and the depth direction positions "-1", "0", and "1". For example, an infrared detection block 72 located at "0" in the movable direction and "1" in the depth direction is expressed as (0,1).

[0114] Assume that the infrared detection block 72 located at (0,0) is the infrared detection block 72 to be determined in step S42. In this case, since the infrared detection block 72 at (0,0) and the infrared detection block 72 at (0,1), which is adjacent in the depth direction, are both in the ON state, the determination in step S44 is Y.

[0115] In this case, the predetermined infrared detection block 72 in step S46 may be, for example, the infrared detection block 72 (0,-1) adjacent to the infrared detection block 72 (0,1) on the opposite side from the side where the infrared detection block 72 (0,1) adjacent to the infrared detection block 72 (0,0) in the depth direction is located. Also, the infrared detection blocks 72 (-1,-1) and (1,-1) adjacent to the infrared detection block 72 (0,-1) in the movable direction may also be included in the predetermined infrared detection block 72. That is, if any of the infrared detection blocks 72 (-1,-1), (0,-1), and (1,-1) are in the ON state, it may be determined that the conditions of step S46 are satisfied.

[0116] Returning to Figure 16, in step S46, if the determined predetermined infrared detection block 72 is not in the ON state (N in S46), the correction unit 112 terminates processing. If the determined predetermined infrared detection block 72 is in the ON state (Y in S46), the correction unit 112 corrects the infrared detection block 72 that was the target of determination in step S42 to the ON state (S48). In Figure 17, the infrared detection block 72 at (0,0) is corrected to the ON state.

[0117] The processing in steps 44 to S48 can also be expressed as follows: If a pair of infrared detection blocks 72, which are positioned with at least two adjacent infrared detection blocks 72 in between, out of the eight infrared detection blocks 72 surrounding the infrared detection block 72 that is the target of determination in step S42, are both in the ON state (Y in S44, Y in S46), the infrared detection block 72 that is the target of determination in step S42 is corrected to the ON state (S48). To explain using Figure 17 as an example, out of the eight infrared detection blocks 72 surrounding the infrared detection block 72 at (0,0) that is the target of determination in step S42, a pair of infrared detection blocks 72 ((0,1), (1,-1)) positioned with two adjacent infrared detection blocks 72 in between, are both in the ON state, so the infrared detection block 72 at (0,0) is corrected to the ON state.

[0118] Returning to Figure 16, the correction unit 112 determines whether the size of the infrared detection block group 88 (see Figure 11, etc.), which consists of multiple infrared detection blocks 72 in the ON state after correction, is less than or equal to a predetermined ratio of the size of the infrared detection block group 88 before correction (S50). If the correction unit 112 finds that the size exceeds the predetermined ratio (N in S50), it terminates the process. In this case, the correction unit 112 may return to the corrected state just before the size exceeded the predetermined ratio. If the correction unit 112 finds that the size is less than or equal to the predetermined ratio (Y in S50), it confirms the correction (S52) and terminates the process. Here, since the number of infrared detection blocks 72 in the ON state increases due to the correction by the correction unit 112 in step S48, the predetermined ratio used in step S50 is set to a value greater than 1, within a range where the size of the infrared detection block group 88 does not become unnaturally large due to the correction.

[0119] Instead of making the determinations in steps S44 and S46 described above, for example, if at least one infrared detection block 72 adjacent to the infrared detection block 72 to be determined in step S42 is in the ON state, the infrared detection block 72 to be determined in step S42 may be corrected to the ON state.

[0120] As described above, the automatic door device of this embodiment includes an infrared detection area 71 around a door provided in an opening, which includes a plurality of infrared detection blocks 72, an infrared sensor 31A that detects people or objects within the infrared detection area 71, an image detection area 73 that overlaps with the infrared detection area 71 in at least part, which includes a plurality of image detection blocks 74, an image sensor 31B that detects people or objects within the image detection area 73, an infrared detection determination unit 103 that classifies each of the plurality of infrared detection blocks 72 into an ON state, which determines that a person or object is present, or an OFF state, which determines that a person or object is not present, and an infrared detection determination unit 103 that classifies each of the plurality of image detection blocks 74 into one of the ON state, an OFF state, or a provisional ON state, which suspends the determination of whether or not a person or object is present. The system includes an image detection determination unit 104, a correction unit 112 that corrects the detection state based on the classification results of the infrared detection determination unit 103 and the image detection determination unit 104, a decision unit 105 that determines whether or not to perform a door opening operation based on the classification results of the infrared detection determination unit 103 and the image detection determination unit 104 after correction by the correction unit 112, and a control unit 106 that performs a door opening operation based on the decision result that the door should be opened. The correction unit 112 corrects the infrared detection block 72 that overlaps with the predetermined image detection block 74 to an ON state when a predetermined image detection block 74 among a plurality of image detection blocks 74 is ON or temporarily ON, an infrared detection block 72 that overlaps with the predetermined image detection block 74 is OFF, and at least one infrared detection block 72 adjacent to the infrared detection block 72 is ON.

[0121] This allows the system to correct to an ON state if there is a high probability of a missed detection, based on the detection information of the image detection block 74 that overlaps with the OFF state of the infrared detection block 72 and the detection information of the adjacent infrared detection block 72. This reduces missed detections and improves the tracking ability of detection as people or objects move.

[0122] In the automatic door device of this embodiment, the multiple infrared detection blocks 72 are arranged in a grid pattern, and the correction unit 112 may correct the infrared detection block 72 that overlaps with the predetermined image detection block 74 to the ON state if a predetermined image detection block 74 is ON or temporarily ON, and an infrared detection block 72 that overlaps with the predetermined image detection block 74 is OFF, and furthermore, a pair of infrared detection blocks 72 that are arranged with at least two adjacent infrared detection blocks 72 among the eight infrared detection blocks 72 surrounding the infrared detection block 72 are both ON. This corrects the infrared detection block 72 that overlaps with the predetermined image detection block 74 to the ON state, thereby further reducing detection omissions.

[0123] Furthermore, in the automatic door sensor of this embodiment, at least one of the pair of infrared detection blocks 72 may be an infrared detection block 72 adjacent to an infrared detection block 72 that overlaps with a predetermined image detection block 74, either in the direction toward the door or away from the door. This allows for correction of the off-state infrared detection block 72 based on the detection information of the infrared detection block 72 adjacent in the direction along the movement path of the person or object using the automatic door 100, thereby reducing detection omissions more effectively.

[0124] The embodiments of the present invention have been described in detail above. The embodiments described above are merely examples of how to implement the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes, such as changes, additions, and deletions of components, are possible as long as they do not depart from the spirit of the invention as defined in the claims. In the embodiments described above, such design changes are described with notations such as "of the embodiments" or "in the embodiments," but design changes may also be permitted in contents without such notations.

[0125] Any combination of the embodiments and modifications described above is also useful as an embodiment of the present invention. The new embodiments resulting from these combinations possess the combined effects of the respective embodiments and modifications.

[0126] In the embodiments disclosed herein, those in which multiple functions are provided in a distributed manner may have some or all of those multiple functions integrated into a single unit, and conversely, those in which multiple functions are integrated may have some or all of those functions provided in a distributed manner. Whether the functions are integrated or distributed, the configuration should be such that the objective of the invention can be achieved. [Explanation of symbols]

[0127] 10...Door section, 31A...Infrared sensor, 31B...Image sensor, 70...Detection area, 71...Infrared detection area, 72...Infrared detection block, 73...Image detection area, 74...Image detection block, 76...Detection spot, 78...Setting area detection spot, 84...Pixel, 88...Infrared detection block group, 100...Automatic door, 103...Infrared detection judgment unit, 104...Image detection judgment unit, 105...Decision unit, 106...Control unit, 107...Storage unit, 108...Transmission decision unit, 112...Correction unit, 114...Output unit.

Claims

1. An infrared sensor is provided that detects a person or object within an infrared detection area, which includes multiple detection spots around a door installed in an opening, and which detects a person or object within the infrared detection area. An image sensor having an image detection area that overlaps with at least a portion of the infrared detection area, and which detects a person or object within the image detection area, A detection determination unit that determines the detection status of a person or object in at least one of the infrared detection area and the image detection area based on the detection information of the infrared sensor and the image sensor, A decision unit that determines whether or not to perform the door opening operation based on the judgment result of the detection and determination unit, A control unit that opens the door based on the decision result to perform the aforementioned opening operation, It comprises a region setting unit for setting a predetermined setting area, At least one of the plurality of detection spots is a set area detection spot that overlaps with a portion of the set area, within the overlapping area of ​​the infrared detection area and the image detection area. The dimension of the setting area detection spot in a predetermined direction is greater than the dimension of the setting area in that predetermined direction. When the set area detection spot is in a detection state, the detection unit determines the detection state of a person or object within the set area based on the detection information of the image sensor within the set area and within the set area. Automatic door system.

2. An infrared sensor is provided that detects a person or object within an infrared detection area, which includes multiple detection spots around a door installed in an opening, and which detects a person or object within the infrared detection area. An image sensor having an image detection area that overlaps with at least a portion of the infrared detection area, and which detects a person or object within the image detection area, A detection determination unit that determines the detection status of a person or object in at least one of the infrared detection area and the image detection area based on the detection information of the infrared sensor and the image sensor, A transmission decision unit that determines whether or not to transmit an open operation signal to open the door based on the determination result of the detection decision unit, It comprises a region setting unit for setting a predetermined setting area, The plurality of detection spots include a set area detection spot that overlaps with a part of the set area, within the overlapping area of ​​the infrared detection area and the image detection area. The dimension of the setting area detection spot in a predetermined direction is greater than the dimension of the setting area in that predetermined direction. When the set area detection spot is in a detection state, the detection unit determines the detection state of a person or object within the set area based on the detection information of the image sensor within the set area and within the set area. Sensor for automatic doors.

3. The process involves providing an infrared detection area around a door installed in an opening, which includes multiple detection spots, and acquiring infrared data from an infrared sensor that detects a person or object within the infrared detection area. The steps include acquiring image data from an image sensor that detects a person or object within the image detection area, which has an image detection area that overlaps with at least a portion of the infrared detection area; A step of determining the detection status of a person or object in at least one of the infrared detection area and the image detection area based on the infrared data and the image data, A step of determining whether or not to perform the door opening operation based on the detection state, The steps include: opening the door based on the decision result to perform the aforementioned opening operation; The step of setting a predetermined setting area includes, The plurality of detection spots include a set area detection spot that overlaps with a part of the set area, within the overlapping area of ​​the infrared detection area and the image detection area. The dimension of the setting area detection spot in a predetermined direction is greater than the dimension of the setting area in that predetermined direction. In the step of determining the detection state, when the set area detection spot is in a detection state, the detection state of a person or object within the set area is determined based on the detection information of the image sensor within the set area detection spot and within the set area. Automatic door control methods.

4. The process involves providing an infrared detection area around a door installed in an opening, which includes multiple detection spots, and acquiring infrared data from an infrared sensor that detects a person or object within the infrared detection area. The steps include acquiring image data from an image sensor that detects a person or object within the image detection area, which has an image detection area that overlaps with at least a portion of the infrared detection area; A step of determining the detection status of a person or object in at least one of the infrared detection area and the image detection area based on the infrared data and the image data, A step of determining whether or not to perform the door opening operation based on the detection state, The steps include: opening the door based on the decision result to perform the aforementioned opening operation; A control program for an automatic door that causes a processor to perform the steps of setting a predetermined setting area, The plurality of detection spots include a set area detection spot that overlaps with a part of the set area, within the overlapping area of ​​the infrared detection area and the image detection area. The dimension of the setting area detection spot in a predetermined direction is greater than the dimension of the setting area in that predetermined direction. In the step of determining the detection state, when the set area detection spot is in a detection state, the detection state of a person or object within the set area is determined based on the detection information of the image sensor within the set area detection spot and within the set area. Control program for automatic doors.

5. An infrared detection area is provided around a door installed in an opening, and an infrared sensor detects a person or object within the infrared detection area. An image sensor having an image detection area that overlaps with at least a portion of the infrared detection area, and which detects a person or object within the image detection area, A detection determination unit that determines the detection status of a person or object in at least one of the infrared detection area and the image detection area based on the detection information of the infrared sensor and the image sensor, A decision unit that determines whether or not to perform the door opening operation based on the judgment result of the detection and determination unit, The system includes a control unit that opens the door based on the decision result to perform the aforementioned opening operation, The detection determination unit determines, in the overlapping area between the infrared detection area and the image detection area, which detection information from the infrared sensor or the image sensor to use, based on the size of the object detected by at least one of the infrared sensor and the image sensor. Automatic door system.

6. The detection determination unit determines the detection status of a person or object within the overlapping area by using only the detection information from the image sensor when the size of the object detected by at least one of the infrared sensor and the image sensor is less than or equal to a predetermined threshold, and by using only the detection information from the infrared sensor when the size exceeds the threshold. The automatic door device according to claim 5.

7. The detection determination unit determines the detection status of a person or object within the overlapping area by using only the detection information from the image sensor when the size of the object detected by both the infrared sensor and the image sensor is below a threshold, and by using only the detection information from the infrared sensor when both sizes exceed the threshold. The automatic door device according to claim 5.

8. An infrared detection area is provided around a door installed in an opening, and an infrared sensor detects a person or object within the infrared detection area. An image sensor having an image detection area that overlaps with at least a portion of the infrared detection area, and which detects a person or object within the image detection area, A detection determination unit that determines the detection status of a person or object in at least one of the infrared detection area and the image detection area based on the detection information of the infrared sensor and the image sensor, The system includes a transmission decision unit that determines whether or not to transmit an open operation signal to open the door based on the determination result of the detection decision unit, The detection determination unit determines, in the overlapping area between the infrared detection area and the image detection area, which detection information from the infrared sensor or the image sensor to use, based on the size of the object detected by at least one of the infrared sensor and the image sensor. Sensor for automatic doors.

9. The process involves providing an infrared detection area around a door installed in an opening, and acquiring infrared data from an infrared sensor that detects a person or object within the infrared detection area. The steps include acquiring image data from an image sensor that detects a person or object within the image detection area, which has an image detection area that overlaps with at least a portion of the infrared detection area; A step of determining the detection status of a person or object in at least one of the infrared detection area and the image detection area based on the infrared data and the image data, A step of determining whether or not to perform the door opening operation based on the detection state, The step of opening the door based on the decision result to perform the aforementioned opening operation, In the step of determining the detection state, in the overlapping area between the infrared detection area and the image detection area, it is determined which detection information from the infrared sensor and the image sensor to use, based on the size of the object detected by at least one of the infrared sensor and the image sensor. Automatic door control methods.

10. The process involves providing an infrared detection area around a door installed in an opening, and acquiring infrared data from an infrared sensor that detects a person or object within the infrared detection area. The steps include acquiring image data from an image sensor that detects a person or object within the image detection area, which has an image detection area that overlaps with at least a portion of the infrared detection area; A step of determining the detection status of a person or object in at least one of the infrared detection area and the image detection area based on the infrared data and the image data, A step of determining whether or not to perform the door opening operation based on the detection state, An automatic door control program for causing a processor to perform the steps of opening the door based on the decision result to perform the aforementioned opening operation, In the step of determining the detection state, in the overlapping area between the infrared detection area and the image detection area, it is determined which detection information from the infrared sensor and the image sensor to use, based on the size of the object detected by at least one of the infrared sensor and the image sensor. Control program for automatic doors.

11. An infrared detection area is provided around a door installed in an opening, including multiple infrared detection blocks, and an infrared sensor detects a person or object within the infrared detection area. An image detection area that overlaps with the infrared detection area in at least part, and comprises an image sensor that detects a person or object within the image detection area, An infrared detection determination unit classifies each of the aforementioned plurality of infrared detection blocks into an ON state, which determines that a person or object is present, or an OFF state, which determines that a person or object is not present. An image detection determination unit classifies each of the plurality of image detection blocks into one of the following states: the ON state, the OFF state, and a provisional ON state in which the determination of whether or not a person or object is present is postponed. A correction unit corrects the detection state based on the classification results of the infrared detection determination unit and the image detection determination unit, A decision unit determines whether or not to perform the door opening operation based on the classification results of the infrared detection determination unit and the image detection determination unit after correction by the correction unit, The system includes a control unit that opens the door based on the decision result to perform the aforementioned opening operation, The correction unit corrects the infrared detection block overlapping with the predetermined image detection block to the ON state when a predetermined image detection block among the plurality of image detection blocks is in the ON state or the provisional ON state, an infrared detection block overlapping with the predetermined image detection block is in the OFF state, and at least one infrared detection block adjacent to the infrared detection block is in the ON state. Automatic door system.

12. The plurality of infrared detection blocks are arranged in a grid pattern. The correction unit corrects the infrared detection block overlapping the predetermined image detection block to the ON state when the predetermined image detection block is in the ON state or the provisional ON state, the infrared detection block overlapping the predetermined image detection block is in the OFF state, and a pair of infrared detection blocks arranged with at least two adjacent infrared detection blocks in between are both in the ON state. The automatic door device according to claim 11.

13. At least one of the pair of infrared detection blocks is an infrared detection block adjacent to the infrared detection block that overlaps with the predetermined image detection block, in a direction toward the door or away from the door. The automatic door device according to claim 12.

14. The correction unit confirms the correction when the size of the group of infrared detection blocks, in which multiple infrared detection blocks are arranged in a series after the correction, is less than or equal to a predetermined ratio of the size of the group of infrared detection blocks before the correction. The automatic door device according to claim 11.

15. The system further includes a storage unit that stores information about the infrared sensor before and after correction by the correction unit. The automatic door device according to any one of claims 11 to 14.

16. The system further includes an output unit that outputs information about the infrared sensor before and after correction by the correction unit. The automatic door device according to any one of claims 11 to 14.

17. An infrared detection area is provided around a door installed in an opening, including multiple infrared detection blocks, and an infrared sensor detects a person or object within the infrared detection area. An image detection area that overlaps with the infrared detection area in at least part, and comprises an image sensor that detects a person or object within the image detection area, An infrared detection determination unit classifies each of the aforementioned plurality of infrared detection blocks into an ON state, which determines that a person or object is present, or an OFF state, which determines that a person or object is not present. An image detection determination unit classifies each of the plurality of image detection blocks into one of the following states: the ON state, the OFF state, and a provisional ON state in which the determination of whether or not a person or object is present is postponed. A correction unit corrects the detection state based on the classification results of the infrared detection determination unit and the image detection determination unit, The system includes a transmission decision unit that determines whether or not to transmit an opening operation signal to open the door based on the classification results of the infrared detection decision unit and the image detection decision unit after correction by the correction unit, The correction unit corrects the infrared detection block overlapping with the predetermined image detection block to the ON state when a predetermined image detection block among the plurality of image detection blocks is in the ON state or the provisional ON state, an infrared detection block overlapping with the predetermined image detection block is in the OFF state, and at least one infrared detection block adjacent to the infrared detection block is in the ON state. Sensor for automatic doors.

18. The process involves providing an infrared detection area around a door installed in an opening, which includes multiple infrared detection blocks, and acquiring infrared data from an infrared sensor that detects a person or object within the infrared detection area. The steps include: acquiring image data from an image sensor that detects a person or object within an image detection area, the image detection area comprising a plurality of image detection blocks, which overlaps with the infrared detection area in at least part of the image detection area; The steps include classifying each of the aforementioned multiple infrared detection blocks into an ON state, which indicates the presence of a person or object, or an OFF state, which indicates the absence of a person or object. The steps include classifying each of the plurality of image detection blocks into one of the following states: the ON state, the OFF state, and a provisional ON state in which the determination of whether or not a person or object is present is postponed; A step of correcting the detection state based on the classification results for each of the plurality of infrared detection blocks and the classification results for each of the plurality of image detection blocks, A step of determining whether or not to perform the door opening operation based on the classification results for each of the multiple infrared detection blocks after correction and the classification results for each of the multiple image detection blocks, The step of opening the door based on the decision result to perform the aforementioned opening operation, In the step of correcting the detection state, if a predetermined image detection block among the plurality of image detection blocks is in the ON state or the provisional ON state, and an infrared detection block overlapping with the predetermined image detection block is in the OFF state, and at least one infrared detection block adjacent to the infrared detection block is in the ON state, the infrared detection block overlapping with the predetermined image detection block is corrected to the ON state. Automatic door control methods.

19. The process involves providing an infrared detection area around a door installed in an opening, which includes multiple infrared detection blocks, and acquiring infrared data from an infrared sensor that detects a person or object within the infrared detection area. The steps include: acquiring image data from an image sensor that detects a person or object within an image detection area, the image detection area comprising a plurality of image detection blocks, which overlaps with the infrared detection area in at least part of the image detection area; The steps include classifying each of the aforementioned multiple infrared detection blocks into an ON state, which indicates the presence of a person or object, or an OFF state, which indicates the absence of a person or object. The steps include classifying each of the plurality of image detection blocks into one of the following states: the ON state, the OFF state, and a provisional ON state in which the determination of whether or not a person or object is present is postponed; A step of correcting the detection state based on the classification results for each of the plurality of infrared detection blocks and the classification results for each of the plurality of image detection blocks, A step of determining whether or not to perform the door opening operation based on the classification results for each of the multiple infrared detection blocks after correction and the classification results for each of the multiple image detection blocks, An automatic door control program for causing a processor to perform the steps of opening the door based on the decision result to perform the aforementioned opening operation, In the step of correcting the detection state, if a predetermined image detection block among the plurality of image detection blocks is in the ON state or the provisional ON state, and an infrared detection block overlapping with the predetermined image detection block is in the OFF state, and at least one infrared detection block adjacent to the infrared detection block is in the ON state, the infrared detection block overlapping with the predetermined image detection block is corrected to the ON state. Control program for automatic doors.

Images