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

Abstract

This invention provides an automatic door device, an automatic door sensor, an automatic door control program, and an automatic door control method that can prevent setting errors caused by manually setting the angle of the image sensor's imaging unit. [Solution] An automatic door device comprising: an image sensor that detects a person or object within a detection area provided around a door installed in an opening; and a calculation unit that calculates the angle of the imaging part of the image sensor based on the mounting height information of the installed image sensor and information of a marker placed within the imaging area of ​​the image sensor.

Description

Technical Field

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

Background Art

[0002] There is known an automatic door device that automatically opens and controls the door when a person or an object existing near the door is detected by an activation sensor (see, for example, Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional technology as described above, since the angle of the imaging unit of the image sensor used as the activation sensor was set manually, there was a case where a setting error occurred due to manual setting of the angle. In the conventional technology, for example, an operator manually adjusted the angle of the imaging unit while looking at the scale of the device, and manually input the angle of the imaging unit read from the scale into the device.

[0005] The present disclosure has been made in consideration of such circumstances, and an object thereof is to provide an automatic door device, a sensor for an automatic door, a control program for an automatic door, and a method for controlling an automatic door that can prevent setting errors caused by manually setting the angle of the imaging unit of an image sensor.

Means for Solving the Problems

[0006] An automatic door device according to one embodiment includes an image sensor that detects a person or object within a detection area provided around a door installed in an opening, and a calculation unit that calculates the angle of the imaging part of the image sensor based on the mounting height information of the installed image sensor and information of a marker placed within the imaging area of ​​the image sensor. This configuration prevents setting errors in automatic door systems that would otherwise occur due to manually setting the angle of the image sensor's imaging unit.

[0007] In the above configuration, the information of the marker in the automatic door device is image information of the marker captured by the image sensor. With this configuration, an automatic door system can calculate the angle of the imaging unit using an image sensor, even if it does not have an infrared sensor.

[0008] In the above configuration, the automatic door device further includes an infrared sensor positioned in synchronization with the image sensor, and the information of the marker is reflected light received by the infrared sensor. With this configuration, if an automatic door system is equipped with an infrared sensor, for example, the angle of the imaging unit can be calculated using the infrared sensor.

[0009] An automatic door sensor according to one embodiment includes an image sensor that detects a person or object within a detection area provided around a door installed in an opening, and a calculation unit that calculates the angle of the imaging part of the image sensor based on the mounting height information of the installed image sensor and information of a marker placed within the imaging area of ​​the image sensor. This configuration prevents setting errors in automatic door sensors that would otherwise occur due to manually setting the angle of the image sensor's imaging unit.

[0010] An automatic door control program according to one embodiment is an automatic door control program that causes a computer processor to execute the following steps: an information acquisition step of acquiring information on the mounting height of an image sensor installed around a door provided in an opening and information on a marker placed within the imaging area of ​​the image sensor; and a calculation step of calculating the angle of the imaging part of the image sensor based on the acquired information. This configuration prevents setting errors that can occur when manually setting the angle of the image sensor's imaging unit in the program.

[0011] One embodiment of an automatic door control method includes, with respect to an image sensor installed around a door in an opening that detects a person or object within a detection area, an information acquisition step of acquiring information on the mounting height of the installed image sensor and information on a marker placed within the imaging area of ​​the image sensor, and a calculation step of calculating the angle of the imaging part of the image sensor based on the acquired information. This configuration prevents setting errors in automatic door control methods, which can occur when manually setting the angle of the image sensor's imaging unit. [Effects of the Invention]

[0012] According to this disclosure, in an automatic door device, an automatic door sensor, an automatic door control program, and an automatic door control method, it is possible to prevent setting errors caused by manually setting the angle of the image capturing part of the image sensor. [Brief explanation of the drawing]

[0013] [Figure 1] This figure shows an example configuration of an automatic door device and detection area according to an embodiment. [Figure 2] This figure shows an example of the configuration of a functional block in an automatic door device according to an embodiment. [Figure 3] This figure shows a side view of the automatic door device according to the embodiment. [Figure 4]It is a diagram showing an example of the procedure of processing during construction performed in the automatic door device according to the embodiment.

Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0015] [Automatic Door Device] FIG. 1 is a diagram showing a configuration example of an automatic door device 100 and a detection area A1 according to the embodiment. In the present embodiment, a schematic configuration of the automatic door device 100 is shown. The automatic door device 100 includes a blind part and the like which are omitted in the present embodiment.

[0016] In FIG. 1, for convenience of explanation, an XY orthogonal coordinate system is shown. The XY plane is included in the floor surface F and is a plane parallel to the floor surface F. In the example of FIG. 1, the positive side of the X-axis is taken as the right side and the negative side of the X-axis is taken as the left side for explanation. Also, in the example of FIG. 1, the positive side of the Y-axis is taken as the front side when viewed from the automatic door, and the negative side of the Y-axis is taken as the back side when viewed from the automatic door for explanation.

[0017] The automatic door device 100 includes a fixed door 12, a door part 10, a sensor device 30, an automatic door controller 20, an automatic door engine 40, and an automatic door setter 60. The fixed door 12 includes a left fixed door 12L which is a fixed door on one side of the X-axis and a right fixed door 12R which is a fixed door on the other side of the X-axis. In the present embodiment, the fixed door 12 is composed of this pair of fixed doors (left fixed door 12L and right fixed door 12R). The door part 10 includes a left door 11L which is a door on one side of the X-axis and a right door 11R which is a door on the other side of the X-axis. In the present embodiment, the door 11 is composed of this pair of doors (left door 11L and right door 11R).

[0018] In this embodiment, a sliding-type automatic door is described in which two sliding doors (door section 10) slide in the -X direction and +X direction in the figure, but the invention is not limited to this. The automatic door device 100 can also be applied to other types of automatic doors, such as revolving automatic doors and hinged / folding automatic doors.

[0019] The sensor device 30 is an example of an activation sensor that activates door opening control. The sensor device 30 includes an image sensor 31A and an infrared sensor 31B. In this embodiment, the sensor device 30 is shown as a hybrid type sensor device equipped with both an image sensor 31A and an infrared sensor 31B, but as another example, the sensor device may be equipped with at least an image sensor.

[0020] The sensor device 30 is attached, for example, to the transom. The sensor device 30 is installed in the center of the transom, more specifically, above the boundary between the two door sections 10, in order to detect passersby, etc. The sensor device 30 may also be installed in a location other than the transom, such as the ceiling or the underside of the transom. In the automatic door device 100, when the sensor device 30 detects a pedestrian or the like attempting to pass through the door section 10, the device executes an operation to open the door section 10. This creates a door opening that allows the pedestrian to pass through. For example, if a predetermined period of time has passed without any pedestrians present, the automatic door device 100 executes an operation to close the door section 10. This closes the door opening.

[0021] As another example, the sensor device 30 may be a protective sensor, or it may be used as both an activation sensor and a protective sensor. The protective sensor is a sensor that monitors the operating range of the door 11 to prevent people passing through the door 11 or people standing close to the door 11 from coming into contact with (colliding with) the closing door 11.

[0022] Detection area A1 is located on the side (front) facing the two door sections 10 installed in the opening. In the example shown in Figure 1, the detection area A1 is shown as the image detection area 71, which is the area where the image sensor 31A captures an image. The image detection area 71 is composed of multiple small detection areas (image detection spots 72) of the same size and in a square shape. Multiple small detection areas are arranged at predetermined intervals in the X direction, where the door section 10 opens and closes, and in the Y direction, which is perpendicular to the X direction. In the example shown in Figure 1, the small detection areas are arranged in 6 columns in the Y direction and in 12 rows in the X direction, for a total of 72 areas.

[0023] In this embodiment, the infrared detection area, which is the detection area by the infrared sensor 31B, is the same region as the image detection area 71. However, as an alternative example, it may be smaller than the image detection area 71 and included in the image detection area 71, or it may be larger than the image detection area 71 and included in the image detection area 71. Furthermore, the infrared detection area is composed of, for example, multiple small detection areas (infrared detection spots) of the same size and shape (or square, etc.), and each infrared detection spot is equivalent to (or corresponds to) each image detection spot 72.

[0024] Figure 2 shows an example of the configuration of a functional block in the automatic door device 100 according to this embodiment. Figure 2 shows the image sensor 31A, the infrared sensor 31B, the automatic door controller 20, the automatic door engine 40, and the automatic door setting device 60. The image sensor 31A includes an imaging unit 211. The imaging unit 211 is configured, for example, using a camera. The image sensor 31A is a sensor that detects a person or object based on image data captured by the imaging unit 211. The infrared sensor 31B comprises, for example, a light-emitting unit and a light-receiving unit. The infrared sensor 31B is a sensor that detects a person or object by having the light-receiving unit receive the reflected light of the detection light emitted by the light-emitting unit.

[0025] The automatic door controller 20 performs various control and processing functions by having a processor, such as a CPU (Central Processing Unit), execute a predetermined program. The automatic door controller 20 transmits signals to the automatic door engine 40 to control the opening and closing of the automatic door. For example, when the automatic door controller 20 detects a person passing through the automatic door based on image data captured by the image sensor 31A, it transmits a signal to the automatic door engine 40 to open the door section 10 (left door 11L and right door 11R). After the person has passed through, the automatic door controller 20 transmits a signal to the automatic door engine 40 to close the door section 10 (left door 11L and right door 11R). The automatic door engine 40 includes, for example, a motor that opens and closes the automatic door, and opens or closes the door section 10 (left door 11L and right door 11R) based on a signal from the automatic door controller 20.

[0026] The automatic door setting device 60 comprises a calculation unit 311, a storage unit 312, and a display unit 313. The calculation unit 311 calculates the angle of the imaging unit 211 based on the information of the mounting height of the imaging unit 211 of the image sensor 31A and the information of the marker 511. The memory unit 312 stores information such as the calculated angle. The display unit 313 displays the information to be displayed on the screen. In this embodiment, the automatic door setting device 60 displays a predetermined input screen to the user via the display unit 313. The automatic door setting device 60 also has an operation unit for inputting information by receiving operations from the user. This operation unit may be, for example, a keyboard or a mouse, or, as an example, a touch panel provided on the display unit 313.

[0027] Figure 3 shows a side view of the automatic door device according to this embodiment. For the sake of explanation, Figure 3 shows the X and Y axes shown in Figure 1, as well as the Z axis representing the height direction. In this embodiment, the positive side of the Z axis is the upper side, and the negative side of the Z axis is the lower side. Figure 3 shows a door section 10 having a door surface formed in the vertical direction, an imaging unit 211 (imaging unit 211 of the image sensor 31A) provided on the upper side of the door section 10, a floor surface F, and a marker 511 placed on the floor surface F. Figure 3 also shows the area (imaging area R1) to be imaged by the imaging unit 211.

[0028] Figure 3 also shows the mounting height H1 of the imaging unit 211 and the angle θ of the imaging unit 211. The mounting height H1 of the imaging unit 211 is, for example, the height from the floor surface F to the imaging surface (the side that takes images) of the imaging unit 211, but a height from the floor surface F to another location may also be defined and used. The mounting angle θ of the imaging unit 211 represents, for example, the angle between the line in the direction the imaging surface (the side that takes the image) of the imaging unit 211 faces and the downward line formed by the door surface, but other angles may be defined and used.

[0029] [Calculation process for the angle of the imaging unit] Figure 4 shows an example of the procedure for processing during installation in the automatic door device 100 according to this embodiment. In this embodiment, during installation, the user installs the automatic door image sensor 31A (imaging unit 211) and inputs the height of the imaging unit 211 from the floor surface F (installation height H1) into the automatic door setting device 60. Then, when the user adjusts the angle of the imaging unit 211, the image sensor 31A measures the position of the marker 511 placed on the floor surface F, and the automatic door setting device 60 automatically calculates the mounting angle θ by combining this with the previously input mounting height. In this embodiment, since the image sensor 31A and the infrared sensor 31B are integrated as a sensor device 30, the installation of the image sensor 31A (imaging unit 211) is performed as a unit of the sensor device 30. In this embodiment, the user is the installer (installation worker) of the automatic door.

[0030] Now, let me explain marker 511. In this embodiment, the marker 511 is a reflector. This reflector is, for example, a board to which a retroreflective material with a reflectivity close to 100% is attached. In this embodiment, the angle of the image sensor 31A (imaging unit 211) corresponds to the angle of the sensor device 30. This angle also corresponds to the angle of the light emission direction of the light emission unit and the angle of the light reception direction of the light receiving unit of the infrared sensor 31B.

[0031] (Step S1) The user places the marker 511 at a predetermined position on the floor surface F. In this embodiment, the marker 511 is placed at a predetermined distance from the door portion 10 in the Y direction opposite to the door portion 10. The marker 511 may be placed, for example, in a position corresponding to one small detection area, or in a position spanning two adjacent small detection areas in the X direction. The position where marker 511 is placed may be predetermined.

[0032] (Step S2) The user selects the "Mounting Height" item on the sensor area setting screen displayed by the automatic door setting device 60 and enters the value (Mounting Height H1).

[0033] (Step S3) The user selects "Test Operation" on the sensor area setting screen displayed by the automatic door setting device 60. This initiates and executes a test operation by the automatic door setting device 60.

[0034] (Step S4) The user adjusts the angle of the image sensor 31A (imaging unit 211). In this embodiment, the user adjusts the angle of the image sensor 31A (imaging unit 211) by turning a predetermined area adjustment screw (depth range adjustment screw).

[0035] In this embodiment, the sensor device 30 switches the illumination state of the operation indicator LED (Light Emitting Diode) based on the detection result information of the marker 511 by the infrared sensor 31B, depending on whether the marker 511 is in a predetermined positional relationship with the infrared sensor 31B or not. The operation indicator LED is provided on the sensor device 30, for example, but may be provided in other locations. The conditions for determining when the marker 511 is within a predetermined positional range relative to the infrared sensor 31B (the conditions for the detection result of the marker 511 by the infrared sensor 31B) are, for example, pre-set and stored in the sensor device 30. For example, the operation indicator LED blinks orange when it is within a predetermined positional range, and blinks white otherwise. In this case, the user adjusts the mounting angle of the image sensor 31A (imaging unit 211) using the boundary where the operation indicator LED switches from blinking white to blinking orange as a guide.

[0036] As another example, information regarding the detection result of the marker 511 by the infrared sensor 31B may be transmitted to the automatic door setting device 60, and the automatic door setting device 60 may determine whether the marker 511 is within a predetermined range relative to the infrared sensor 31B. In this case, the conditions for determining whether the marker 511 is within a predetermined range relative to the infrared sensor 31B (the conditions for the detection result of the marker 511 by the infrared sensor 31B) may be set in advance and stored in the automatic door setting device 60, for example. As another example, whether or not the marker 511 is within a predetermined positional range relative to the infrared sensor 31B may be determined, for example, by the user's visual inspection.

[0037] (Step S5) The user determines whether the indicator LED has changed. As a result, if the display on the operation indicator LED changes (YES in step S5), the process proceeds to step S6. On the other hand, if the indicator LED does not change as a result (NO in step S5), the process returns to step S4 and the angle adjustment is repeated.

[0038] (Step S6) As described above, when the display on the operation indicator LED changes, it is considered that the area adjustment of the image sensor 31A (imaging unit 211) is complete, and the "test operation" is terminated. Here, the end of the "test operation" may be indicated, for example, by the user operating the automatic door setting device 60, or the automatic door setting device 60 may automatically detect (determine) the end based on the display status of the operation indicator LED (whether or not the marker 511 is in a predetermined positional relationship with respect to the infrared sensor 31B).

[0039] (Step S7) At the end of the "test operation," the image sensor 31A (imaging unit 211) measures the position of the marker 511 placed on the floor surface F. The automatic door setting device 60 then uses the calculation unit 311 to automatically calculate the mounting angle θ of the image sensor 31A (imaging unit 211) by combining the information of the marker 511 in the captured image data (for example, the position of the marker 511) with the previously input mounting height H1. In this embodiment, a calculation formula or corresponding table for calculating the angle θ based on the information of the marker 511 and the mounting height H1 is pre-stored in the storage unit 312 of the automatic door setting device 60 and used by the calculation unit 311.

[0040] Here, the process of measuring the position of the marker 511 using the image sensor 31A (imaging unit 211) may be controlled by, for example, the automatic door setting device 60. Alternatively, the automatic door setting device 60 may acquire information about the marker 511 by acquiring image data captured by the image sensor 31A (imaging unit 211). As another example, the sensor device 30 may automatically measure the position of the marker 511 using the image sensor 31A (imaging unit 211) based on the display status of the operation indicator LED (whether or not the marker 511 is within a predetermined positional range relative to the infrared sensor 31B).

[0041] In this embodiment, the process of measuring the position of the marker 511 by the image sensor 31A (imaging unit 211) is, for example, to acquire image data of the image detection area 71 including the marker 511. However, for example, the sensor device 30 may acquire information such as the position of the marker 511 based on the image data and notify the automatic door setting device 60.

[0042] (Step S8) In the automatic door setting device 60, the memory unit 312 stores the measured value of the marker 511 (for example, the measured position of the marker 511) and the calculated angle value (angle θ). Then, the processing of this flow is completed.

[0043] In this example, we showed a case where the mounting height H1 information is entered before the marker 511 information is acquired. However, in other examples, the mounting height H1 information may be entered after the marker 511 information is acquired.

[0044] Here, the above shows an example configuration and operation when using the infrared sensor 31B in step S4 of the processing flow shown in Figure 4. However, the infrared sensor 31B is not necessarily used, and the same processing may be performed using the image sensor 31A instead of the infrared sensor 31B. Specifically, the sensor device 30 switches the illumination state of the operation indicator LED based on information from an image captured by the image sensor 31A, for example, depending on whether the marker 511 is within a predetermined positional range relative to the image sensor 31A or not. The conditions for determining whether the marker 511 is within a predetermined positional range relative to the image sensor 31A (conditions for the image capture result of the marker 511 by the image sensor 31A) are, for example, pre-set and stored in the sensor device 30. Regarding the other details, in the configuration example and operation example described above for the processing of step S4, the infrared sensor 31B may be replaced with an image sensor 31A.

[0045] As described above, in the automatic door device 100 according to this embodiment, the mounting angle θ of the imaging unit 211 of the image sensor 31A is automatically acquired, thus preventing setting errors caused by manually setting the angle of the imaging unit 211 of the image sensor 31A.

[0046] In this embodiment, when installing the sensor device 30 of the automatic door device 100 and adjusting the angle of the sensor device 30 (image sensor 31A's imaging unit 211), the image sensor 31A is used to measure the position of the marker 511 placed on the floor surface F, and the mounting angle θ of the imaging unit 211 is automatically calculated based on the measurement result and the mounting height H1. Therefore, in this embodiment, the angle of the installed sensor device 30 (angle of the imaging unit 211) can be automatically recognized and set, which reduces the effort required from the user compared to conventional methods, enabling faster construction with fewer human errors. In other words, conventionally, after installing and adjusting the angle of the sensor device, workers had to read the scale on the sensor device and manually set the installation angle on the sensor device. This was time-consuming and prone to human error, but this embodiment can eliminate these problems. The mounting angle may also be referred to as the inclination, for example.

[0047] (Example configuration according to this embodiment) In the automatic door device 100, the image sensor 31A detects a person or object within a detection area (image detection area 71) provided around the door (door 11) installed in the opening. The calculation unit 311 calculates the angle θ of the imaging unit 211 of the image sensor 31A based on the mounting height information (mounting height H1 information) of the installed image sensor 31A and the information of the marker 511 placed within the imaging area (imaging region R1) of the image sensor 31A. This configuration prevents setting errors in the automatic door device 100, which can occur when manually setting the angle θ of the imaging unit 211 of the image sensor 31A.

[0048] In this embodiment, for the sake of simplicity, we have shown the case where the image detection area 71 of the image sensor 31A and the imaging area R1 coincide. However, as another example, a portion of the imaging area R1 may be set as the image detection area 71. Furthermore, the angle θ of the imaging unit 211 of the image sensor 31A may be used, for example, as a parameter for trapezoidal correction of the captured image data.

[0049] In the automatic door device 100, the information of the marker 511 is image information of the marker 511 captured by the image sensor 31A. With this configuration, the automatic door device 100 can calculate the angle θ of the imaging unit 211 using the image sensor 31A, even if, for example, an infrared sensor 31B is not provided. For example, in situations where a reflector is difficult to use for recognition, it is possible to use a measuring instrument specified in the JIS safety standard as Marker 511.

[0050] In this example, the marker 511 is recognized based on the image data captured by the image sensor 31A. In this example, the conditions for determining when the marker 511 is within a predetermined positional range relative to the image sensor 31A (imaging unit 211) (conditions for the detection result of the marker 511 by the image sensor 31A) are, for example, pre-set and stored in the sensor device 30 or the automatic door setting device 60. These conditions may be, for example, conditions relating to one or more of the following: the position of the marker 511 as captured in the field of view of the imaging unit 211, the shape of the marker 511 as captured in the image, or the size of the marker 511 as captured in the image.

[0051] The automatic door device 100 is further equipped with an infrared sensor 31B positioned in synchronization with the image sensor 31A, and the information of the marker 511 is the reflected light (reflected light from the marker 511 of the irradiated (projected) light) received by the infrared sensor 31B. With this configuration, the automatic door device 100 can, for example, use the infrared sensor 31B to calculate the angle θ of the imaging unit 211 if the device is equipped with an infrared sensor 31B.

[0052] In this example, the mounting angle (angle θ) of the image sensor 31A and the mounting angle of the infrared sensor 31B are synchronized. In a hybrid sensor device 30 having an image sensor 31A and an infrared sensor 31B, for example, by adjusting the mounting angle of the image sensor 31A (imaging unit 211), it is possible to correct the discrepancy between the image detection spot recognized by the automatic door device 100 and the infrared detection spot. Such corrections can also be made, for example, by having a person pass through an automatic door once, based on the information gathered at that time.

[0053] In this embodiment, a control program for automatic doors can also be provided. The automatic door control program is a program for causing a computer processor to execute the following steps regarding an image sensor 31A that detects a person or object within a detection area (image detection area 71) provided around a door (door 11) installed in an opening: an information acquisition step that acquires information on the installation height of the installed image sensor 31A (information on the installation height H1) and information on a marker 511 placed within the imaging area (imaging region R1) of the image sensor 31A; and a calculation step that calculates the angle θ of the imaging unit 211 of the image sensor 31A based on the acquired information. This configuration prevents setting errors that can occur when manually setting the angle of the imaging unit 211 of the image sensor 31A in the program.

[0054] This embodiment can also provide a method for controlling automatic doors. The automatic door control method includes an information acquisition step of acquiring information on the mounting height of the installed image sensor 31A (information on the mounting height H1) and information on the marker 511 placed within the imaging area (imaging area R1) of the image sensor 31A, and a calculation step of calculating the angle θ of the imaging unit 211 of the image sensor 31A based on the acquired information. This configuration prevents setting errors in the automatic door control method, which would otherwise occur if the angle θ of the imaging unit 211 of the image sensor 31A were set manually.

[0055] In this embodiment, a sensor for automatic doors can also be provided. This example configuration is, for example, one in which the functions of the calculation unit 311 are incorporated into the activation sensor. The automatic door sensor includes an image sensor 31A that detects a person or object within a detection area (image detection area 71) provided around a door (door 11) installed in an opening, and a calculation unit (a functional unit similar to the calculation unit 311) that calculates the angle θ of the imaging unit 211 of the image sensor 31A based on the mounting height information (mounting height H1 information) of the installed image sensor 31A and information of a marker 511 placed within the imaging area (imaging region R1) of the image sensor 31A. This configuration prevents setting errors in automatic door sensors, which can occur when manually setting the angle θ of the imaging unit 211 of the image sensor 31A.

[0056] For example, if the automatic door sensor includes all the functions of the automatic door setting device 60, the angle θ information calculated by the calculation unit is stored in the automatic door sensor. As another example, if the automatic door sensor includes the functions of the calculation unit 311 of the automatic door setting device 60 but does not include the functions of the storage unit 312 and the display unit 313, the angle θ information calculated by the automatic door sensor is transmitted to the automatic door setting device 60 and stored in the storage unit 312 of the automatic door setting device 60.

[0057] (Other configuration examples) In this embodiment, an example configuration is shown in which the imaging unit 211 of the image sensor 31A calculates the angle θ from the mounting height H1 information and the marker 511 information. However, as an example of other configurations, a configuration in which the mounting height H1 information is calculated from the angle θ information and the marker 511 information may be implemented. In other words, in the automatic door device 100, the calculation unit 311 calculates the mounting height information (mounting height H1 information) of the imaging unit 211 of the image sensor 31A based on the mounting angle information (angle θ information) of the installed image sensor 31A and the information of the marker 511 placed within the imaging area (imaging region R1) of the image sensor 31A. The angle θ information is input to the automatic door device 100, for example, by user operation. This configuration prevents setting errors in the automatic door device 100, which can occur when manually setting the mounting height information (mounting height H1 information) of the imaging unit 211 of the image sensor 31A.

[0058] A program to implement the functions of any component in any device described above may be recorded on a computer-readable recording medium, and the program may be loaded into a computer system and executed. Here, "computer system" includes hardware such as an operating system or peripheral devices. "Computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs (Read Only Memory), CDs (Compact Disc)-ROMs, and storage devices such as hard disks built into a computer system. "Computer-readable recording medium" also includes volatile memory within a computer system that acts as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line, which retains the program for a certain period of time. Such volatile memory may be RAM. The recording medium may also be a non-temporary recording medium.

[0059] The above program may be transmitted from a computer system that stores this program in a memory device or the like to another computer system via a transmission medium, or by transmission waves within the transmission medium. The "transmission medium" used to transmit the program refers to a medium that has the function of transmitting information, such as a network like the Internet or a communication line like a telephone line. The above program may be intended to implement some of the functions described above. The above program may also be a so-called differential file, capable of implementing the aforementioned functions in combination with programs already recorded in the computer system. A differential file may also be called a differential program.

[0060] The functions of any component in any device described above may be implemented by a processor. Each process in the embodiment may be implemented by a processor that operates based on information such as a program, and a computer-readable recording medium that stores information such as a program. The functions of each part of the processor may be implemented by separate hardware, or the functions of each part may be implemented by integrated hardware. The processor includes hardware, and the hardware may include at least one of a circuit that processes digital signals and a circuit that processes analog signals. The processor may be configured using one or more circuit devices or one or both of one or more circuit elements mounted on a circuit board. ICs (Integrated Circuits) may be used as circuit devices, and resistors or capacitors may be used as circuit elements.

[0061] The processor may be a CPU. However, the processor is not limited to a CPU; various types of processors such as a GPU (Graphics Processing Unit) or a DSP (Digital Signal Processor) may be used. The processor may be a hardware circuit using an ASIC (Application Specific Integrated Circuit). The processor may consist of multiple CPUs, or it may consist of hardware circuits using multiple ASICs. The processor may consist of a combination of multiple CPUs and hardware circuits using multiple ASICs. The processor may include one or more amplifier circuits or filter circuits that process analog signals.

[0062] Although embodiments have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and includes designs and the like that do not depart from the gist of this disclosure. In the embodiments and modifications disclosed herein, if multiple functions are provided in a distributed manner, some or all of those functions may be provided in a consolidated manner, and conversely, if multiple functions are provided in a consolidated manner, some or all of those functions may be provided in a distributed manner. Regardless of whether the functions are consolidated or distributed, it is sufficient that the invention's objective can be achieved. [Explanation of symbols]

[0063] 10...Door section, 11...Door, 11L...Left door, 11R...Right door, 12...Fixed door, 12L...Left fixed door, 12R...Right fixed door, 20...Automatic door controller, 30...Sensor device, 31A...Image sensor, 31B...Infrared sensor, 40...Automatic door engine, 60...Automatic door setting device, 71...Image detection area, 72...Image detection spot, 100...Automatic door device, 211...Imaging unit, 311...Calculation unit, 312...Storage unit, 313...Display unit, A1...Detection area, F...Floor surface, R1...Imaging area

Claims

1. An image sensor that detects a person or object within a detection area provided around a door installed in an opening, A calculation unit calculates the angle of the imaging part of the image sensor based on the mounting height information of the installed image sensor and the information of a marker placed within the imaging area of ​​the image sensor. An automatic door system equipped with the following features.

2. The information of the marker is image information of the marker captured by the image sensor. The automatic door device according to claim 1.

3. Furthermore, it includes an infrared sensor positioned in synchronization with the image sensor, The information of the marker is the reflected light received by the infrared sensor. The automatic door device according to claim 1.

4. An image sensor that detects a person or object within a detection area provided around a door installed in an opening, A calculation unit calculates the angle of the imaging part of the image sensor based on the mounting height information of the installed image sensor and the information of a marker placed within the imaging area of ​​the image sensor. A sensor for automatic doors that includes the following features.

5. Regarding an image sensor that detects a person or object within a detection area provided around a door installed in an opening, the information acquisition step involves acquiring information on the mounting height of the installed image sensor and information on a marker placed within the imaging area of ​​the image sensor. A calculation step of calculating the angle of the imaging part of the image sensor based on the acquired information, A control program for automatic doors that causes a computer processor to execute.

6. Regarding an image sensor that detects a person or object within a detection area provided around a door installed in an opening, the information acquisition step involves acquiring information on the mounting height of the installed image sensor and information on a marker placed within the imaging area of ​​the image sensor. A calculation step of calculating the angle of the imaging part of the image sensor based on the acquired information, including, Automatic door control methods.

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