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 improve the accuracy of detecting people. [Solution] An automatic door device comprising: a door that is automatically controlled to open and close and installed in an opening; an activation sensor that detects a person or object within a detection area; a detection determination unit that recognizes a detection mass based on the detection information from the activation sensor and determines that a moving person has been detected when it detects a change in the movement and stopping of the detection mass based on the amount of movement of the detection mass per unit time; and a control unit that controls the opening and closing drive of the door based on the determination result of the detection determination unit.

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 the door when a person or 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, the conventional technologies as described above still have insufficient points in accurately detecting a person, and further development has been desired.

[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 improve the detection accuracy of a person.

Means for Solving the Problems

[0006] An automatic door device according to one embodiment includes: an automatically opening and closing controlled door provided in an opening; an activation sensor that detects a person or object within a detection area; a detection determination unit that recognizes a detection mass based on the detection information from the activation sensor and determines that a moving person has been detected when it detects a change in the movement and stopping of the detection mass based on the amount of movement of the detection mass per unit time; and a control unit that controls the opening and closing drive of the door based on the determination result of the detection determination unit. With this configuration, the automatic door system can improve the accuracy of detecting people by determining that a moving person has been detected when it detects a change in the movement and stopping of the detection mass, making it possible, for example, to distinguish between a person and a silhouette.

[0007] In the above configuration, the automatic door device operates by opening the door when the detection and determination unit determines that there is a person moving in the opening direction. This configuration allows for improved accuracy in opening and closing automatic doors.

[0008] In the above configuration, the automatic door device determines that a moving person has been detected when the amount of movement of the detected mass becomes greater than or equal to the threshold after being less than or equal to the threshold, or when it becomes less than or equal to the threshold after being greater than or equal to the threshold. With this configuration, the automatic door system can detect a person with minimal processing load.

[0009] In the above configuration, the automatic door device determines that the detection unit is stopped when the amount of movement of the detection mass is less than a first threshold, determines that the amount of movement of the detection mass is greater than or equal to a second threshold, and determines that a moving person has been detected when a determination of movement after stopping or stopping after moving is obtained. This configuration allows the automatic door system to more reliably detect and determine if a person is present.

[0010] In the above configuration, the automatic door device determines that a moving person has been detected when a first condition is met, which includes the difference in the amount of movement being greater than or equal to a threshold on the positive side and the difference in the next amount of movement being greater than or equal to a threshold on the negative side, or when a second condition is met, which includes the difference in the amount of movement being greater than or equal to a threshold on the negative side and the difference in the next amount of movement being greater than or equal to a threshold on the positive side. With this configuration, the automatic door system can detect a person with minimal processing load.

[0011] In the above configuration, the automatic door device further includes the first condition that the difference in the following movement amounts is greater than or equal to a threshold on the positive side, and the second condition further includes the difference in the following movement amounts being greater than or equal to a threshold on the negative side. This configuration allows the automatic door system to more reliably detect and determine if a person is present.

[0012] In the above configuration, the automatic door device determines that a moving person has been detected when the amount of movement of the detected mass is less than a threshold, greater than or equal to a threshold, and less than a threshold in chronological order, or when it is greater than or equal to a threshold, less than a threshold, and greater than or equal to a threshold in chronological order. This configuration allows the automatic door system to more reliably detect and determine if a person is present.

[0013] In the above configuration, the automatic door device determines that the detection unit is stopped when the amount of movement of the detection mass is less than a first threshold, and determines that the mass is moving when the amount of movement of the detection mass is equal to or greater than a second threshold. When the determinations of stopped, moving, stopped or moving, stopped, moving in chronological order are obtained, the device determines that a moving person has been detected. This configuration allows the automatic door system to more reliably detect and determine if a person is present.

[0014] In the above configuration, the automatic door device determines that a moving person has been detected when a third condition is met, which includes the difference in the amount of movement being greater than or equal to the third threshold on the positive side and the difference in the next amount of movement being greater than or equal to the fourth threshold on the negative side, or when a fourth condition is met, which includes the difference in the amount of movement being greater than or equal to the fourth threshold on the negative side and the difference in the next amount of movement being greater than or equal to the third threshold on the positive side. This configuration allows the automatic door system to more reliably detect and determine if a person is present.

[0015] In the above configuration, the automatic door device includes a storage unit that stores detection information from the activation sensor or the judgment result of the detection judgment unit. This configuration allows for retrospective analysis of the characteristics of the sensor installation locations in automatic door systems.

[0016] In the above configuration, the automatic door device includes an output unit that outputs detection information from the activation sensor or the judgment result of the detection judgment unit. This configuration allows the automatic door system to understand the characteristics of the sensor installation location.

[0017] In one embodiment of an automatic door device, the device includes a door that is automatically controlled to open and close and is installed in an opening; an activation sensor that detects a person or object within a detection area; a detection determination unit that recognizes a detection mass based on the detection information from the activation sensor and determines whether a person has been detected; and a control unit that controls the opening and closing drive of the door based on the determination result of the detection determination unit. The detection determination unit determines that a person is a person when the opening width direction of the detection area is the X-axis and the depth direction is the Y-axis, and the detection mass has an X-width greater than or equal to a threshold value in the region above the height of the Y-axis where the X-width of the detection mass is minimum. With this configuration, the automatic door system can improve the accuracy of detecting people by determining that a moving person has been detected based on the X-width of the detection area, making it possible, for example, to distinguish between a person and a silhouette.

[0018] In the above configuration, the automatic door device includes a threshold setting unit that sets the threshold used by the detection determination unit. The threshold setting unit determines a value based on the position of the detection mass in the detection area as the threshold and sets it as the threshold used by the detection determination unit. With such a configuration, the automatic door device can distinguish between a person entering diagonally and a human shadow.

[0019] In the above configuration, in the automatic door device, the threshold setting unit sets the threshold based on at least one of the distance from the detection mass to the door surface or the activation sensor and the angle of the detection mass from the door surface or the activation sensor. With such a configuration, in the automatic door device, by setting (for example, it may also be changed) the threshold according to the position, it is possible to more reliably determine the detection of a person.

[0020] In the above configuration, the automatic door device includes a storage unit that stores the detection information of the activation sensor or the determination result of the detection determination unit. With such a configuration, the automatic door device can analyze the characteristics of the sensor installation location later.

[0021] In the above configuration, the automatic door device includes an output unit that outputs the detection information of the activation sensor or the determination result of the detection determination unit. With such a configuration, the automatic door device can know the characteristics of the sensor installation location.

[0022] In one embodiment of an automatic door device, the device includes an automatically opening and closing controlled door provided in an opening, an image detection area which is set further away from the opening than an infrared detection area which is set away from the opening, and an activation sensor which detects a person or object within the detection area by image detection and infrared detection, a detection determination unit which recognizes a detection mass based on the detection information of the activation sensor and determines whether a person moving toward the opening has been detected, and a control unit which controls the opening and closing drive of the door based on the determination result of the detection determination unit, wherein the detection determination unit determines that the person is moving toward the opening when the amount of change per unit time at both ends of the opening width direction of the detection mass detected in the image detection area is less than or equal to a threshold and the detection mass is detected in the infrared detection area which is closest to the image detection area. This configuration allows for improved accuracy in detecting people in automatic door systems, and for example, it can suppress delays in the opening of automatic doors caused by detecting movement paths that differ from actual human movement within the imaging area (image detection area).

[0023] In the above configuration, the automatic door device includes a storage unit that stores detection information from the activation sensor or the judgment result of the detection judgment unit. This configuration allows for retrospective analysis of the characteristics of the sensor installation locations in automatic door systems.

[0024] In the above configuration, the automatic door device includes an output unit that outputs detection information from the activation sensor or the judgment result of the detection judgment unit. This configuration allows the automatic door system to understand the characteristics of the sensor installation location.

[0025] An automatic door sensor according to one embodiment includes: an activation sensor installed around an automatically opening and closing controlled door provided in an opening, which detects a person or object within a detection area; and a detection determination unit that recognizes a detection mass based on the detection information from the activation sensor, and determines that a moving person has been detected when it detects a change in the movement and stopping of the detection mass based on the amount of movement of the detection mass per unit time, and transmits a signal to control the opening and closing drive of the door based on the determination result of the detection determination unit. This configuration allows for improved accuracy in detecting people in automatic door sensors.

[0026] An automatic door sensor according to one embodiment includes an activation sensor installed around an automatically opening and closing controlled door provided in an opening, which detects a person or object within a detection area, and a detection determination unit that recognizes a detection mass based on the detection information from the activation sensor and determines whether a person has been detected. The detection determination unit defines the detection mass as a person when the X-axis is the width direction of the opening of the detection area and the Y-axis is the depth direction, and the X-width of the detection mass is in a region above the height on the Y-axis where the X-width of the detection mass is minimum, and the X-width of the detection mass is greater than or equal to a threshold value. Based on the determination result of the detection determination unit, it transmits a signal to control the opening and closing drive of the door. This configuration allows for improved accuracy in detecting people in automatic door sensors.

[0027] In one embodiment of an automatic door sensor, the sensor is installed around an automatically opening and closing controlled door provided in an opening, and the image detection area is installed further away from the opening than the infrared detection area. The sensor includes an activation sensor that detects a person or object within the detection area by image detection and infrared detection, and a detection determination unit that recognizes a detection mass based on the detection information from the activation sensor and determines whether a person moving towards the opening has been detected. The detection determination unit determines that a person is moving towards the opening when the amount of change per unit time at both ends of the opening width direction of the detection mass detected in the image detection area is less than or equal to a threshold, and the detection mass is detected in the infrared detection area closest to the image detection area. Based on the determination result of the detection determination unit, the sensor transmits a signal to control the opening and closing drive of the door. This configuration allows for improved accuracy in detecting people in automatic door sensors.

[0028] An automatic door control program according to one embodiment is an automatic door control program installed around a door that is to be automatically opened and closed and provided in an opening. Based on detection information from an activation sensor that detects a person or object within a detection area, the program causes a computer processor to execute the following steps: a detection determination step in which the program recognizes a detection mass, and when it detects a change in the movement and stopping of the detection mass based on the amount of movement of the detection mass per unit time, it determines that a moving person has been detected; and a control step in which the program controls the opening and closing drive of the door based on the determination result of the detection determination step. This configuration allows for improved accuracy in detecting people in automatic door control programs.

[0029] An automatic door control program according to one embodiment is a control program for an automatic door that is installed around a door that is to be automatically opened and closed and provided in an opening, and causes a computer processor to execute the following steps: a detection determination step which recognizes a detection mass and determines whether a person has been detected based on detection information from an activation sensor that detects a person or object within a detection area, and a control step which controls the opening and closing drive of the door based on the determination result of the detection determination step, wherein the detection determination step determines that a person is a person when the opening width direction of the detection area is the X-axis and the depth direction is the Y-axis, and the detection mass has an X-width greater than or equal to a threshold value relative to the X-width in an area above the height of the Y-axis where the X-width of the detection mass is minimum. This configuration allows for improved accuracy in detecting people in automatic door control programs.

[0030] A control program for an automatic door according to one embodiment is installed around a door that is to be automatically opened and closed and controlled, which is provided in an opening, and the image detection area is installed further away from the opening than the infrared detection area is installed, and the control program causes a computer processor to execute the following steps: a detection determination step which recognizes a detection mass based on detection information from an activation sensor that detects a person or object in the detection area by image detection and infrared detection and determines whether a person moving toward the opening has been detected; and a control step which controls the opening and closing drive of the door based on the determination result of the detection determination step, wherein the detection determination step determines that the person is moving toward the opening when the amount of change per unit time at both ends of the opening width direction of the detection mass detected in the image detection area is less than or equal to a threshold and the detection mass is detected in the infrared detection area that is closest to the image detection area. This configuration allows for improved accuracy in detecting people in automatic door control programs.

[0031] A control method for an automatic door according to one embodiment includes a detection determination step in which a detection group is recognized based on detection information from an activation sensor installed around an automatically opening and closing controlled door provided in an opening and detecting a person or object within a detection area, and when a change in the movement and stopping of the detection group is detected based on the amount of movement of the detection group per unit time, it is determined that a moving person has been detected; and a control step in which the opening and closing drive of the door is controlled based on the determination result of the detection determination step. This configuration allows for improved accuracy in detecting people in automatic door control systems.

[0032] A control method for an automatic door according to one embodiment includes a detection determination step in which a detection mass is recognized and whether a person is detected based on detection information from an activation sensor installed around a door that is automatically opened and closed and installed in an opening, and which detects a person or object within a detection area, and a control step in which the opening and closing drive of the door is controlled based on the determination result of the detection determination step, wherein the detection determination step determines that a person is a person when the opening width direction of the detection area is the X axis and the depth direction is the Y axis, and the detection mass has an X width of a threshold or greater in the region above the height of the Y axis where the X width of the detection mass is smallest. This configuration allows for improved accuracy in detecting people in automatic door control systems.

[0033] In one embodiment of an automatic door control method, a detection determination step is performed to recognize a detection mass based on detection information from an activation sensor that detects a person or object within the detection area by image detection and infrared detection, and to determine whether a person moving toward the opening has been detected, and to control the opening and closing drive of the door based on the determination result of the detection determination step, wherein the detection determination step determines that the person is moving toward the opening when the amount of change per unit time at both ends of the opening width direction of the detection mass detected in the image detection area is less than or equal to a threshold and the detection mass is detected in the infrared detection area closest to the image detection area. This configuration allows for improved accuracy in detecting people in automatic door control systems. [Effects of the Invention]

[0034] According to this disclosure, the accuracy of detecting people can be improved in automatic door devices, sensors for automatic doors, control programs for automatic doors, and methods for controlling automatic doors. [Brief explanation of the drawing]

[0035] [Figure 1] This is a schematic front view showing an automatic door according to the embodiment. [Figure 2] This diagram schematically shows the various components of an automatic door according to the embodiment. [Figure 3] This diagram schematically shows the detection area of ​​the sensor according to the embodiment. [Figure 4] This is a functional block diagram of an automatic door according to an embodiment. [Figure 5] This is a flowchart of the detection process for an automatic door according to the embodiment. [Figure 6] This is a flowchart of the infrared detection process for an automatic door according to the embodiment. [Figure 7] This is a flowchart of the complex detection process for an automatic door according to the embodiment. [Figure 8] This is a diagram illustrating gait determination according to the first embodiment. [Figure 9] This figure shows an example of the procedure for processing performed in the automatic door device according to the first embodiment. [Figure 10] This figure shows an example of the procedure for image infrared hybrid processing performed in an automatic door device according to the first embodiment. [Figure 11] This figure shows an example of the procedure for changing spot information based on gait in an automatic door device according to the first embodiment. [Figure 12] This figure shows an example of the procedure for determining the movement path in an automatic door device according to the first embodiment. [Figure 13] This is a diagram illustrating the determination of a person's feet according to the second embodiment. [Figure 14] This figure shows an example of the procedure for processing performed in the automatic door device according to the second embodiment. [Figure 15] This figure shows an example of the procedure for image infrared hybrid processing performed in an automatic door device according to the second embodiment. [Figure 16] This figure shows an example of the procedure for identifying a person's feet according to the second embodiment. [Figure 17] This figure shows an example of the procedure for the inverted triangle detection process according to the second embodiment. [Figure 18] This is a diagram illustrating the threshold creation according to the second embodiment. [Figure 19] This figure shows an example of the procedure for processing performed in the automatic door device according to the second embodiment. [Figure 20] This figure shows an example of the procedure for adaptive threshold creation processing performed in an automatic door device according to the second embodiment. [Figure 21A] This is a diagram illustrating a simplified determination of door-direction entry according to the third embodiment. [Figure 21B] This is a diagram illustrating a simplified determination of door-direction entry according to the third embodiment. [Figure 21C]This is a diagram illustrating a simplified determination of door-direction entry according to the third embodiment. [Figure 21D] This is a diagram illustrating a simplified determination of door-direction entry according to the third embodiment. [Figure 22] This figure shows an example of the procedure for processing performed in the automatic door device according to the third embodiment. [Figure 23] This figure shows an example of the procedure for the simplified door-direction entry determination process according to the third embodiment. [Modes for carrying out the invention]

[0036] The embodiments of this disclosure will be described below with reference to the drawings.

[0037] (Hybrid automatic door system) Referring to Figures 1 to 7, an example of a hybrid automatic door system having an image sensor and an infrared sensor is shown. In the first to third embodiments described later, a hybrid automatic door system will be explained as an example of its application. However, the first and second embodiments do not necessarily have to be applied to a hybrid automatic door system, and may be applied to an automatic door system equipped with only an image sensor or an infrared sensor. Furthermore, the configuration and operation of the hybrid automatic door system do not necessarily have to be as shown in Figures 1 to 7.

[0038] An overview of the automatic door 100 of the embodiment will be described with reference to Figures 1 and 2. Figure 1 is a schematic front view showing the automatic door 100 of this embodiment. The automatic door 100 mainly comprises a door section 10 (the door part) 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 unit 50 that transmits power to the door section 10. The automatic door 100 of this embodiment is an example of an automatic door device. In the following explanation, the left-right direction in Figure 1 is defined as the horizontal direction (the 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 examples.

[0039] The door section 10 includes 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 greater 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. Conversely, 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 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 a direction inclined from the horizontal direction.

[0040] The guide mechanism 13 comprises a running rail 131, a door roller 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 above the movable doors 11L and 11R. Two door rollers 132 are provided on the upper part of each movable door 11L and 11R, suspending each movable door 11L and 11R from the running rail 131. When each movable door 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 across the entire range of motion of the movable doors 11L and 11R below them. The anti-sway 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 movable door 11L and 11R is driven to open and close horizontally, the anti-sway section 134 moves along the guide rail 133, thereby suppressing vibrations of each movable door 11L and 11R in the depth direction.

[0041] 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 the 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 an opening drive to emergency avoid trapping a passerby between the closing first and second movable doors 11L and 11R during the normal closing drive of the door section 10, the speed of the first and second movable doors 11L and 11R during the opening drive may be set to a different value than the speed during normal opening drive.

[0042] 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.

[0043] 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 diagrams is implemented in hardware terms by a computer with arithmetic, control, memory, input, and output functions, as well as various electronic elements and mechanical parts, and in software terms by computer programs, etc. However, what is depicted here is the functional block that is realized through the coordination of these elements. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various forms by combinations of hardware and software.

[0044] 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.

[0045] The storage device 22 is a general-purpose memory that stores various data of the automatic door 100. 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. 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 activation sensor unit 31 (described later), and transmits the processing results to the control device 21.

[0046] Refer to Figure 1 again. The door sensor 30 includes an activation sensor unit 31 for activating the automatic door 100 and an auxiliary sensor 32. The activation sensor unit 31 includes an infrared sensor 31A (an example of an activation sensor) for detecting people or objects within the infrared detection area 71 defined later on the automatic door 100, and an image sensor 31B (an example of an activation sensor) for detecting people or objects within the image detection area 73 defined later on the automatic door 100. The activation sensor unit 31 is provided on both 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), so that it can detect pedestrians approaching from either side.

[0047] 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 unit and light-receiving unit, and the direction of light emission and reception.

[0048] 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 door engine 40 is driven by the controller 20 and the door section 10 opens. 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.

[0049] Furthermore, as shown in Figure 1, the activation 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.

[0050] 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.

[0051] 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.

[0052] 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 in this embodiment, as an example, a brushless motor equipped with an encoder 42A using a Hall element is used. 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, thereby generating 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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 extending from the floor to the transom 60 where the activation sensor unit 31 is located and to the ceiling. In Figure 3, for simplification, only the floor is shown for 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 embodiment, the entire infrared detection area 71 overlaps with a portion of the image detection area 73.

[0057] The infrared detection area 71 in Figure 3 consists of multiple infrared detection spots 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 spot 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 spot 72. The shape of each infrared detection spot 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 spots 72 will vary depending on their installation location, the arrangement and type of the light emitter and receiver, and the direction of light emission and reception.

[0058] The image detection area 73 in Figure 3 consists of multiple image detection spots 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 spot 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 spot 74. The shape of the image detection spots 74 in this embodiment is set to match the shape of the infrared detection spots 72. The shape of the image detection spots 74 changes depending on their installation location, imaging direction, and field of view.

[0059] Hereinafter, the infrared detection spot 72 and the image detection spot 74 may be collectively referred to as detection spots. The assignment of various numbers to each detection spot shown above is merely an example, and other configurations are also possible. Furthermore, the number of detection spots in the detection area 70 is arbitrary, and the detection spots in the detection area 70 can be divided into any shape, not limited to a matrix or grid.

[0060] Figure 4 is a functional block diagram of the controller 20 in this embodiment. The controller 20 includes 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, a storage unit 107, an output unit P2, and a threshold setting unit P3. As an alternative configuration, some or all of the functions of the infrared data acquisition unit 101, image data acquisition unit 102, infrared detection and judgment unit 103, image detection and judgment unit 104, determination unit 105, control unit 106, storage unit 107, output unit P2, and threshold setting unit P3 may be provided in the activation sensor unit 31 instead of the controller 20. If some of these functions are provided in the activation sensor unit 31, the same processing as that performed by the controller 20 in this embodiment will be realized by exchanging the necessary information between the activation sensor unit 31 and the controller 20. Furthermore, if all of these functions are provided in the activation sensor unit 31, all of the functions of the controller 20 will be integrated into the activation sensor unit 31, and therefore, a separate controller 20 may not be required.

[0061] 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.

[0062] The decision unit 105 decides whether or not to open the movable doors 11L and 11R 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 doors 11L and 11R based on the decision result of the decision unit 105, which is to open the doors.

[0063] 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 spot 72, which is the amount of light reflected by each infrared detection spot 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 spot 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.

[0064] In this embodiment, for the sake of explanation, the functional portion including the infrared detection and determination unit 103, the image detection and determination unit 104, and the determination unit 105 is shown as the detection and determination unit P1. In other configuration examples, the functions of the determination unit 105 may be provided separately from the detection and determination unit P1. The output unit P2 outputs one or more pieces of information from among the infrared data acquired by the infrared data acquisition unit 101, the image data acquired by the image data acquisition unit 102, and the judgment result from the detection judgment unit P1. The output destination is not particularly limited and may be a device that informs the user of information, such as a display screen, or it may be an external computer. The output unit P2 may also output the information by communicating it using the functions of the communication device 23. The threshold setting unit P3 sets a threshold based on at least one of the determination results from the infrared detection determination unit 103 and the determination results from the image detection determination unit 104. The threshold setting unit P3 stores the set threshold in the storage unit 107. The threshold setting unit P3 may, for example, set an initial value for the threshold, or it may change the value of an already set threshold.

[0065] The processing of the controller 20 in this embodiment will be explained using Figure 5. Figure 5 is a flowchart showing the person or object detection process (processing in step S100) in the controller 20 of this embodiment.

[0066] The detection process S100 is executed at predetermined time intervals. In step S101, the image data acquisition unit 102 acquires image data from the image sensor 31B. The image data acquisition unit 102 supplies the acquired image data to the image detection and judgment unit 104.

[0067] In step S102, the image detection determination unit 104 classifies the state of each image detection spot 74 into one of the following states based on the image data: ON state, provisional ON state, or OFF state. Here, the ON state is a state in which it is determined that a person or object is present at the detection spot, the provisional ON state is a state in which the determination of whether or not a person or object is present at the detection spot is reserved, and the OFF state is a state in which it is determined that no person or object is present at the detection spot.

[0068] 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 spots 74 (e.g., image detection spots 74 assigned addresses 3F~5F, 3G~5G and 3I~5I, 3J~5J) 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 spots 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 spot 74 (e.g., image detection spots 74 assigned addresses 4M~4O, 5M~5O) 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 spots 74 are classified as the provisional ON state. For example, an image detection spot 74 in which there are no people, objects, shadows, etc., and whose image data is nearly identical to that of the reference image, is classified as being in the "off" state.

[0069] 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 spot 74 whose difference in brightness value from 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 spot 74 as ON. 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 spot 74 as OFF. 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 spot 74 as provisionally ON.

[0070] In step S103, the image detection determination unit 104 determines whether all image detection spots 74 are in the off state. If all image detection spots 74 are in the off state (Y in step S103), the image detection determination unit 104 determines that no person or object has been detected by the image sensor 31B, and supplies the determination result that all image detection spots 74 are in the off state to the infrared data acquisition unit 101, and the detection process S100 proceeds to step S109. In step S109, after the infrared detection process is executed, the detection process S100 ends. The infrared detection process will be described later. If not all image detection spots 74 are in the off state (N in step S103), the detection process S100 proceeds to step S104. In the flowchart explanation, Y in a branching step represents YES, and N represents NO.

[0071] In step S104, the image detection determination unit 104 determines whether or not there are any image detection spots 74 that are in an ON state. If there are no image detection spots 74 that are in an ON state (N in step S104), then there are image detection spots 74 that are in a provisional ON state in the image detection area 73. This is because in step S103 it was determined that all image detection spots 74 are not in an OFF state, and in step S104 it was determined that there are no image detection spots that are in an ON state. At this time, the image detection determination unit 104 provisionally determines that a person or object has been detected and supplies a provisional ON state signal to the determination unit 105, and the detection process S100 proceeds to step S110. After the composite detection process is executed in step S110, the detection process S100 ends. The composite detection process will be described later. If there is an ON image detection spot 74 (Y in step S104), the image detection determination unit 104 determines that a person or object has been detected by the image sensor 31B, and the detection process S100 proceeds to step S105.

[0072] In step S105, the determination unit 105 determines whether the detected person or object is moving. For example, the determination unit 105 reads previous image data (e.g., image data from one frame ago) from the storage unit 107 and determines whether the position of the ON-state image detection spot 74 is different between the previous image data and the current image data. The determination unit 105 determines that the detected person or object is moving if the position of the ON-state image detection spot 74 is different. Similarly, when a person or object is detected using the infrared sensor 31A, the determination unit 105 determines that the detected person or object is moving if the position of the ON-state infrared detection spot 72 is different between the previous infrared data and the current infrared data. If the person or object is moving (Y in step S105), the detection process S100 proceeds to step S106. If the person or object is not moving (N in step S105), the detection process S100 ends.

[0073] In step S106, the determination unit 105 determines whether the motion vector of the detected person or object is directed toward the opening. For example, the determination unit 105 determines the motion vector as the change from the position of the ON state image detection spot 74 in the previous image data to the position of the ON state image detection spot 74 in the current image data. Here, if multiple adjacent image detection spots 74 are ON, the unit considers that a person or object is composed of a collection of these multiple image detection spots 74, and calculates the motion vector of the person or object by this collection of image detection spots (see Figure 3). In this case, the starting or ending point of this motion vector can be, for example, the position of the center of gravity in the opening direction of the collection of image detection spots for the opening and closing direction of the automatic door 100, and the position of the point closest to the opening of the automatic door 100 at the image detection spot 74 closest to the opening of the automatic door 100 for the depth direction of the automatic door 100. As in the example in Figure 3, if person 81A is walking toward the opening of the automatic door 100, it is determined that the motion vector of person 81A is directed toward the opening of the automatic door 100. On the other hand, if person 81B passes directly in front of the automatic door 100, it is determined that person 81B's motion vector is not directed towards the opening of the automatic door 100. If it is directed towards the opening (Y in step S106), the detection process S100 proceeds to step S107. If it is not directed towards the opening (N in step S106), the detection process S100 terminates.

[0074] In step S107, the determination unit 105 transmits a start signal to the control unit 106 to activate the automatic door 100.

[0075] In step S108, the control unit 106 controls the door engine 40 to open the movable doors 11L and 11R in response to the activation signal. This allows pedestrians to pass through the automatic door 100. After step S108, the detection process S100 ends.

[0076] The infrared detection process S109 will be explained using Figure 6. Steps S114 to S117 are essentially the same as steps S105 to S108 described above, except for points that are specifically mentioned, so their explanation will be omitted.

[0077] In step S111, the infrared data acquisition unit 101 acquires infrared data from the infrared sensor 31A. The infrared data acquisition unit 101 supplies the acquired infrared data to the infrared detection and determination unit 103.

[0078] In step S112, the infrared detection determination unit 103 classifies the state of each infrared detection spot 72 into one of the following states based on the infrared data: ON state, temporary ON state, or OFF state. Refer to Figure 3 again. For example, if a person 81B is in the infrared detection area 71, the amount of light received in the infrared data of the corresponding infrared detection spot 72 (for example, the infrared detection spot 72 to which addresses 3I~5I, 3J~5J are assigned) will be greater than the reference value for that infrared detection spot. As a result, that infrared detection spot 72 is classified as ON state. In the case of an infrared detection spot 72 where there is no person, object, puddle, etc., the amount of light received at the corresponding infrared detection spot 72 will not deviate significantly from the reference value for that infrared detection spot 72. As a result, that infrared detection spot 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 spot 72 (for example, the infrared detection spot 72 to which addresses 3C to 3E are assigned) will fluctuate from the reference value of that infrared detection spot 72, but will be smaller than the amount of light received when a person 81B is detected. As a result, that infrared detection spot 72 is classified as being in a provisional ON state.

[0079] Specifically, the infrared detection determination unit 103 calculates the difference between the amount of light received from each infrared detection spot 72 and a reference value for each infrared detection spot 72, based on the infrared data. If the difference is greater than the first light reception threshold, the infrared detection spot 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 spot 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 spot 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 spots 72 where a person's shadow 82 is present are classified as OFF.

[0080] In step S113, the infrared detection determination unit 103 determines whether or not there is an infrared detection spot 72 that is ON. If there is an infrared detection spot 72 that is ON (Y in step S113), the determination result indicating that there is an infrared detection spot 72 that is ON is supplied to the determination unit 105, and the detection process S100 proceeds to step S114. Cases in which all image detection spots 74 are OFF and any infrared detection spot 72 is ON include, for example, when the color of the clothing worn by a person passing through the automatic door 100 is similar to the color of the flooring. Also, if the infrared detection area 71 has a separate detection area outside the image detection area 73, it is possible that a person or object is present in this separate detection area. On the other hand, if there is no infrared detection spot 72 that is ON (N in step S113), no person or object is detected near the opening of the automatic door 100, and the infrared detection process S109 ends. Since detection processing S100 terminates after infrared detection processing S109 is completed, in this case, the movable doors 11L and 11R will not open.

[0081] In step S114, the determination unit 105 determines whether the detected person or object is moving. If it is moving (Y in step S114), the infrared detection process S109 proceeds to step S115. If it is not moving (N in step S114), the infrared detection process S109 ends.

[0082] In step S115, the determination unit 105 determines whether the motion vector of the detected person or object is directed towards the opening. If it is directed towards the opening (Y in step S115), the infrared detection process S109 proceeds to step S116. If it is not directed towards the opening (N in step S115), the infrared detection process S109 terminates.

[0083] In step S116, the determination unit 105 transmits a start signal to the control unit 106 to activate the automatic door 100.

[0084] In step S117, the control unit 106 controls the door engine 40 to open the movable doors 11L and 11R in response to the activation signal. After step S117, the infrared detection process S109 is completed.

[0085] The combined detection process S110 will be explained using Figure 7. Steps S121 and S126-S128 are essentially the same as steps S105 and S106-S108 described above, except for points that are specifically mentioned, so their explanation will be omitted.

[0086] In step S121, the determination unit 105 determines whether the detected person or object is moving. If it is moving (Y in step S121), the combined detection process S110 proceeds to step S122. If it is not moving (N in step S121), the combined detection process S110 terminates.

[0087] In step S122, the infrared data acquisition unit 101 acquires infrared data from the infrared sensor 31A. The infrared data acquisition unit 101 supplies the acquired infrared data to the infrared detection and determination unit 103.

[0088] In step S123, the infrared detection determination unit 103 classifies the state of each infrared detection spot 72 into one of the following states based on the infrared data: ON state, temporarily ON state, or OFF state. Step S123 is the same as step S112 except for points that are specifically mentioned, so its explanation is omitted.

[0089] In step S124, the infrared detection determination unit 103 determines whether the infrared detection spot 72 corresponding to the temporarily on image detection spot 74 is on or temporarily on. Step S124 will be explained using the example in Figure 3 where the image detection spot 74 with the person's shadow 82 (image detection spot 74 with addresses 4M-4O, 5M-5O) is classified as temporarily on. The infrared detection determination unit 103 determines whether the infrared detection spot 72 (infrared detection spot 72 with addresses 4M, 5M) located in a position overlapping with the temporarily on image detection spot 74 is on or temporarily on. Here, as described above, in this embodiment, the second light reception threshold is set so that the amount of light received by the person's shadow 82 is less than or equal to the second light reception threshold. Therefore, the infrared detection spot 72 where the person's shadow 82 is present is not classified as on or temporarily on, but is classified as off. In this case, the infrared detection determination unit 103 determines that the infrared detection spot 72 with addresses 4M, 5M is neither on nor temporarily on.

[0090] If the corresponding infrared detection spot 72 is in the ON state or temporarily ON state (Y in step S124), the infrared detection determination unit 103 supplies an image ON switching signal to the determination unit 105, and the combined detection process S110 proceeds to step S125. If the corresponding infrared detection spot 72 is not in the ON state or temporarily ON state, that is, if the corresponding infrared detection spot 72 is OFF state (N in step S124), the infrared detection determination unit 103 determines that no person or object has been detected by the infrared sensor 31A, and the combined detection process S110 ends. Therefore, if the image detection spot 74 is in the temporarily ON state and the infrared detection spot 72 corresponding to that image detection spot 74 is OFF state, no person or object will be detected, and the movable doors 11L and 11R will not open.

[0091] In step S125, the determination unit 105 considers the temporarily ON image detection spot 74 to be ON and switches the state of the image detection spot 74 from temporarily ON to ON. Therefore, the determination unit 105 determines that a person or object has been detected by the image sensor 31B.

[0092] If, in S126, it is determined that the motion vector is directed towards the opening (Y in step S126), then after the execution of steps S127 and S128, the movable doors 11L and 11R will open. Therefore, if the image detection spot 74 is in a temporary ON state and the infrared detection spot 72 corresponding to that image detection spot 74 is ON or temporarily ON, then if the sensing conditions of step S126 are met (Y in step S126), the movable doors 11L and 11R will open. However, if the image detection spot 74 is in a temporary ON state and the infrared detection spot 72 corresponding to that image detection spot 74 is OFF, then even if an infrared detection spot 72 at a different location than that image detection spot 74 is in a temporary ON state, that image detection spot 74 will not be considered ON, and the movable doors 11L and 11R will not open.

[0093] In summary, if at least one of the infrared detection spot 72 and the image detection spot 74 is ON, that is, if at least one of the infrared detection determination unit 103 and the image detection determination unit 104 determines that a person or object has been detected, the automatic door 100 will be activated if the predetermined sensing conditions (steps S105, S106, S114, S115, etc.) are met. If the image detection spot 74 is in a temporary ON state, the automatic door 100 will be activated if the infrared detection spot 72 corresponding to that image detection spot 74 is ON or in a temporary ON state and the predetermined sensing conditions (steps S121, S126, etc.) are met.

[0094] In this embodiment, the status of an image detection spot 74 classified as temporarily on was determined based on the status of the infrared detection spot 72 (for example, step S124), but this is not limited to this. For example, the status of an infrared detection spot 72 classified as temporarily on may be determined based on the status of the image detection spot 74 located at the same position as the infrared detection spot 72. That is, if one of the detection spots, the infrared detection spot 72 or the image detection spot 74, is classified as temporarily on, the status of the other detection spot located at the same position may be determined based on its classification.

[0095] The following describes some variations. In this embodiment, the controller 20 determines whether a person or object has been detected, but it is not limited to this. For example, the activation sensor unit 31 may determine whether a person or object has been detected. In this case, the activation sensor unit 31 may include an infrared detection determination unit 103 and an image detection determination unit 104, and further include a transmission determination unit 108 (see Figure 8) that determines whether or not to transmit a detection signal indicating that a person or object has been detected to the control unit 106 of the controller based on the determination results of the infrared detection determination unit 103 and the image detection determination unit 104. In this case, the activation sensor unit 31 is an example of a sensor for an automatic door.

[0096] In this embodiment, in step S125, the image detection spot 74, which is in a temporarily ON state, is considered to be in the ON state. However, the embodiment is not limited to this, and the infrared detection spot 72, which is in a temporarily ON state, may be considered to be in the OFF state.

[0097] In this embodiment, the infrared detection determination unit 103 determined that a person or object had been detected based on the presence of at least one ON infrared detection spot 72, but is not limited to this. The infrared detection determination unit 103 may also determine that a person or object has been detected based on the number of ON infrared detection spots 72 being greater than or equal to a predetermined number, or the total area of ​​the ON infrared detection spots 72 being greater than or equal to a predetermined total area. Similarly, the image detection determination unit 104 may determine that a person or object has been detected based on the presence of a predetermined number of ON image detection spots 74 or a predetermined total area or equal to a predetermined total area.

[0098] In this embodiment, the state of the image detection spot 74 is classified based on a comparison between the number of pixels whose brightness difference is greater than or equal to a predetermined threshold and a pixel count threshold, but the embodiment is not limited to this. For example, if the edge of a person or object is detected in the image detection spot 74 because pixels whose brightness difference is greater than or equal to a predetermined threshold are consecutive adjacent pixels, the image detection spot 74 may be classified as ON. Alternatively, the ON, temporary ON, and OFF states of the image detection spot 74 may be classified based on a comparison between the total area of ​​pixels whose brightness difference is greater than or equal to a predetermined threshold and a predetermined first and second area threshold. Furthermore, for example, the ON, temporary ON, and OFF states of the image detection spot 74 may be classified by image recognition.

[0099] In this embodiment, the number of pixels whose difference in luminance value is greater than or equal to a predetermined threshold was determined, but the method is not limited to this. For example, the number of pixels whose difference in color difference between the image data of the image detection spot 74 and the reference image of the image detection spot 74 is greater than or equal to a predetermined threshold may be determined. Therefore, the number of pixels whose difference in at least one of the luminance value and the color value is greater than or equal to a predetermined threshold may be determined.

[0100] In this embodiment, the states of the infrared detection spot 72 and the image detection spot 74 were classified into ON state, temporary ON state, and OFF state, respectively, but the embodiment is not limited to this. For example, the states of the infrared detection area 71 and the image detection area 73 may also be classified into ON state, temporary ON state, and OFF state, respectively. In this case, for example, similar to the case of the infrared detection spot 72 and the image detection spot 74, if both the infrared detection area 71 and the image detection area 73 are in a temporary ON state, at least one of the infrared detection area 71 and the image detection area 73 may be considered to be in the ON state.

[0101] In this embodiment, image data is acquired first in step S101 and processing for classifying the image detection spots 74 based on the image data is performed, but this is not limited to this. Infrared data may be acquired first and processing for classifying the infrared detection spots 72 may be performed before processing for classifying the image detection spots 74 based on the image data is performed.

[0102] In this embodiment, the infrared detection area 71 is configured within the image detection area 73, but it is not limited to this and may have an area outside the image detection area 73. In this case, the determination unit 105 may decide whether or not to open the automatic door 100 in the area of ​​the infrared detection area 71 outside the image detection area 73 based on the determination result of the infrared detection determination unit 103. Furthermore, the infrared detection area 71 may be larger than the image detection area 73. Moreover, the infrared detection area 71 and the image detection area 73 may completely overlap.

[0103] In this embodiment, the infrared detection area 71 and the image detection area 73 overlapped at least partially, but this is not limited to this. For example, the infrared detection area 71 and the image detection area 73 do not have to overlap. In this case, for example, if there are a predetermined number or more of the temporarily on infrared detection spots 72 and image detection spots 74, at least one of the temporarily on infrared detection spots 72 and image detection spots 74 may be considered to be on.

[0104] In this embodiment, after determining whether the detected person or object is moving (e.g., step S105), it is determined whether the motion vector of the person or object is directed toward the opening of the automatic door 100 (e.g., step S106), but this is not limited to this. For example, the motion vector of the person or object may be determined from the change in position of the detection spot in a temporarily on state, and it may be determined whether that motion vector is directed toward the opening of the automatic door 100. In this case, for example, if the image detection spot 74 is classified as being in a temporarily on state and the motion vector of the image detection spot 74 in the temporarily on state is directed toward the opening of the automatic door 100, the decision unit 105 may decide to perform the opening operation when the infrared detection spot 72, which is located at a position overlapping with the image detection spot 74 in the temporarily on state, is classified as being in a temporarily on state. Similarly, if the processing for classifying the infrared detection spot 72 is performed before the processing for classifying the image detection spot 74 as described above, the determination unit 105 may determine that if the infrared detection spot 72 is classified as being in a temporary-on state and the motion vector of the infrared detection spot 72 in the temporary-on state is directed toward the opening of the automatic door 100, then the opening operation may be performed when the image detection spot 74 located in a position overlapping with the infrared detection spot 72 in the temporary-on state is classified as being in a temporary-on state. Therefore, if one of the infrared detection spot 72 and the image detection spot 74 is classified as being in a temporary-on state and the motion vector of the detection spot in the temporary-on state is directed toward the opening of the automatic door 100, the opening operation of the movable doors 11L and 11R may be performed when the other of the infrared detection spot 72 and image detection spot 74 located in a position overlapping with the detection spot in the temporary-on state is classified as being in a temporary-on state.

[0105] In this embodiment, when both the infrared detection spot 72 and the image detection spot 74, which are located in overlapping positions, are in a temporarily on state, the state of the temporarily on detection spot is considered to be on so that the automatic door 100 opens for safety reasons. However, the state of the temporarily on detection spot may also be considered to be off.

[0106] In this embodiment, the infrared detection spot 72 and the image detection spot 74 were the same size, but are not limited to this, and their sizes may be different. If the sizes of the two are different, for example, if one of the infrared detection spot 72 and the image detection spot 74 is in a temporary on state, the state of the overlapping portion of the other spot can be classified into on state, temporary on state, and off state, and based on that classification, the detection spot in the temporary on state can be considered to be in the on state or off state.

[0107] The determination (judgment) of the motion vector in step S126 may be performed after step S121 instead of after step S125. If step S126 is performed after step S121 and it is determined that the motion vector is pointing towards the aperture in the image detection area 73, then steps S127 and S128 may be performed in response to the fact that the temporarily on image detection spot 74 is considered to be on in step S125 (when the infrared detection spot 72 is on or temporarily on). In particular, if it is determined that the motion vector is pointing towards the aperture in the image detection area 73 outside the infrared detection area 71, then steps S127 and S128 may be performed in response to the fact that the temporarily on image detection spot 74 is considered to be on in step S125, without determining the motion vector in the infrared detection area 71.

[0108] The automatic door system is not limited to the form of the embodiment; for example, an automatic door with individual control using a linear motor, or an automatic door that uses a chain or chain wire to pull the door may be used.

[0109] (First Embodiment) Figure 8 is a diagram illustrating gait determination according to the first embodiment. Figure 8 shows the door section 10 of the automatic door 100, the detection area 70, person 281A, person 281B, and the shadow 282 of person 281B. The detection area 70 includes an infrared detection area 71 and an image detection area 73. The infrared detection area 71 includes the infrared detection spot 72. The image detection area 73 includes the image detection spot 74.

[0110] In this example, the image detection area 73 is wider than the infrared detection area 71 and includes the infrared detection area 71. In other words, the infrared detection area 71 is an area that is monitored using both images and infrared light. The areas of the image detection area 73 other than the infrared detection area 71 are monitored using images only.

[0111] In the example in Figure 8, the X-axis represents the direction parallel to the door section 10. The Y-axis represents the direction perpendicular to the door section 10. In the illustrated example, the distance from the door section 10 (the distance between the door section 10 and the object) increases as you move in the positive direction of the Y-axis, with the door section 10 as the reference point. The XY plane represents the ground (or the floor of a building, etc.).

[0112] When the center of gravity of the detection mass (spot mass) is at the feet of a person, as in person 281A, the object repeatedly moves and stops. In this embodiment, it is determined from this movement whether or not it is a gait. On the other hand, in cases like the shadow 282 of person 281B, where the center of gravity of the detected mass (spot mass) is the shadow (assuming a head shadow, etc.), the position of the shadow's center of gravity does not repeatedly move and stop, unlike the movement of the feet. In the example in Figure 8, the spots that were determined to be "temporarily on" are highlighted for illustrative purposes.

[0113] Figure 9 shows an example of the procedure for processing performed in the automatic door device according to the first embodiment. (Step S201) The automatic door system performs image infrared hybrid processing.

[0114] (Step S202) The automatic door system performs a process to create clusters (detection clusters) based on ON and temporary ON spots.

[0115] (Step S203) The automatic door system performs spot information modification processing based on gait.

[0116] (Step S204) The automatic door system performs a process to determine the flow of movement. Then, the processing of this flow is completed.

[0117] Figure 10 shows an example of the procedure for image infrared hybrid processing performed in an automatic door device according to the first embodiment. (Step S221) The automatic door system performs spot detection processing using images captured by the image sensor 31B.

[0118] (Step S222) The automatic door system determines whether spot detection is turned off or not. As a result, if spot detection is turned off (Y in step S222), the automatic door device proceeds to the process in step S223. On the other hand, as a result, if spot detection is not turned off (N in step S222), the automatic door device proceeds to the process in step S224.

[0119] (Step S223) The automatic door system will turn off spot information. Then, the processing of this flow is completed.

[0120] (Step S224) The automatic door system determines whether spot detection is turned on or not. As a result, if spot detection is turned on (Y in step S224), the automatic door device proceeds to the process in step S225. On the other hand, as a result, if spot detection is not turned on (N in step S224), the automatic door device proceeds to the process in step S226.

[0121] (Step S225) The automatic door system will turn on spot information. Then, the processing of this flow is completed.

[0122] (Step S226) The automatic door system determines whether spot detection is temporarily enabled or disabled. In this example, the answer to step S226 is YES. As a result, if spot detection is temporarily turned on (Y in step S226), the automatic door device proceeds to the process in step S227.

[0123] (Step S227) The automatic door device determines whether the temporarily activated spot is a spot that overlaps with the image detection area 73 and the infrared detection area 71 (an overlapping spot). As a result, if the temporary ON spot is a duplicate spot (Y in step S227), the automatic door device proceeds to the process in step S228. On the other hand, as a result, if the temporary ON spot is not an overlapping spot (N in step S227), the automatic door device proceeds to the process in step S229.

[0124] (Step S228) The automatic door device determines whether the corresponding spot on the infrared sensor 31A (in this example, the same spot in both the image and the infrared sensor) is on for the temporarily on spot. As a result, if the corresponding spot on the infrared sensor 31A is turned on for a temporarily ON spot, the automatic door device proceeds to the process in step S225 (Y in step S228). On the other hand, as a result, if the automatic door device finds that the corresponding spot on the infrared sensor 31A is not on (N in step S228) for a spot that is temporarily on, it proceeds to the process in step S229.

[0125] (Step S229) The automatic door system temporarily activates the spot information. Then, the processing of this flow is completed.

[0126] Figure 11 shows an example of the procedure for changing spot information based on gait in an automatic door device according to the first embodiment. (Step S241) The automatic door system performs gait analysis.

[0127] (Step S242) The automatic door system determines whether the detected mass is the movement of a person walking. As a result, if the automatic door device determines that the mass (detected mass) is the movement of a person's gait (Y in step S242), it proceeds to the processing in step S243. On the other hand, if the automatic door device determines that the mass (detected mass) is not the movement of a person walking (N in step S242), it terminates the processing of this flow.

[0128] (Step S243) The automatic door system determines whether or not the target spot of the cluster (detection cluster) is temporarily turned on. As a result, if the automatic door device determines that the target spot of the cluster (detection cluster) is temporarily ON (Y in step S243), it proceeds to the process in step S244. On the other hand, if the automatic door device determines that the target spot of the cluster (detection cluster) is not temporarily ON (N in step S243), it terminates the processing of this flow.

[0129] (Step S244) The automatic door system changes the temporarily ON spots that form a cluster (detection cluster) to ON spots. Then, the processing of this flow is terminated.

[0130] Figure 12 shows an example of the procedure for determining the movement path in an automatic door device according to the first embodiment. (Step S261) The automatic door system determines whether the vector component of a block (detected block) intersects with the virtual door width. As a result, if the automatic door device determines that the vector component of the block (detected block) intersects with the virtual door width (Y in step S261), it proceeds to the processing in step S262. On the other hand, if the automatic door device determines that the vector component of the block (detected block) does not intersect with the virtual door width (N in step S261), it proceeds to the process in step S265.

[0131] (Step S262) The automatic door system determines whether {(distance between the detected object and the door) / (velocity of the detected object)} is below a threshold. This threshold may be set as appropriate. As a result, if the automatic door device determines that {(distance between the detected mass and the door) / (velocity of the detected mass)} is below a threshold (Y in step S262), it proceeds to the process in step S263. On the other hand, if the automatic door device determines that {(distance between the detected mass and the door) / (velocity of the detected mass)} is not below the threshold (N in step S262), it proceeds to the process in step S265.

[0132] (Step S263) The automatic door system determines whether a cluster (detection cluster) has been formed in a temporary-on state. As a result, if the automatic door device determines that a cluster (detection cluster) has not been formed in a temporary ON state (step S263: YES), it proceeds to the process in step S264. On the other hand, if the automatic door device determines that a cluster (detection cluster) is formed in a temporary ON state (step S263: NO), it proceeds to the process in step S265.

[0133] (Step S264) The automatic door system outputs a detection signal for a cluster (detected cluster). This detection signal indicates that a person has been detected. Then, the processing of this flow is terminated.

[0134] (Step S265) The automatic door system does not output a detection signal for clusters (detected clusters). Then, the processing of this flow is terminated.

[0135] (Example configuration according to the first embodiment) In an automatic door system, an activation sensor (e.g., an image sensor 31B) is installed around the door (door section 10) that is automatically opened and closed and provided in the opening, to detect a person or object within a detection area (e.g., an image detection area 73). The detection and judgment unit P1 (for example, the image detection and judgment unit 104) recognizes a detection cluster (a cluster of detection spots) based on the detection information from the activation sensor, and determines that a moving person has been detected when it detects a change in the movement and stopping of the detection cluster based on the amount of movement of the detection cluster per unit time. The control unit 106 controls the opening and closing of the door based on the judgment result of the detection and judgment unit P1. With this configuration, the automatic door system can improve the accuracy (reliability of detection) of human detection by determining that a moving person has been detected when it detects changes in the movement and stopping of the detection mass (a person's gait), making it possible, for example, to distinguish between a person and a human silhouette.

[0136] In this example, an image sensor 31B that detects a person or object within the image detection area 73 is used as an example of a startup sensor, and the detection and determination unit P1 is shown as an image detection and determination unit 104 (which may also include the functions of the determination unit 105). As another example, an infrared sensor 31A that detects a person or object within the infrared detection area 71 may be used as an example of a startup sensor, and the detection and determination unit P1 may be an infrared detection and determination unit 103 (and may also include the functions of a determination unit 105).

[0137] In this embodiment, the position of the detected block is the position of the centroid of the detected block. In the detection judgment unit P1, the timing of the calculation of the centroid is not particularly limited and may be performed, for example, at intervals of a few milliseconds. Thus, any time may be set as the unit time. In this embodiment, movement and stopping only need to occur at least once, but detecting that these actions are repeated two or more times improves the accuracy of human detection. Some or all of the functions of the detection and judgment unit P1 may be provided, for example, on the side of the activation sensor, or on the side of the control unit 106. In the case of an image, a detected cluster is, for example, a cluster where at least one of the brightness value or color difference of the detected spot is equal to or greater than a reference value. In the case of infrared radiation, a detected cluster is, for example, a cluster where the amount of reflected light received from the detection spot exceeds a certain threshold.

[0138] In an automatic door system, when the detection and judgment unit P1 determines that a person is moving in the direction of the opening, the control unit 106 opens the door. This configuration allows for improved accuracy in opening and closing automatic doors. In this embodiment, for example, the activation sensor may be configured to activate when the motion vector of the detected mass (in this case, a person) is directed toward the door.

[0139] In an automatic door system, the detection and judgment unit P1 determines that a moving person has been detected when the amount of movement of the detected mass becomes less than a threshold and then greater than or equal to a threshold, or when it becomes greater than or equal to a threshold and then less than or equal to a threshold. With this configuration, the automatic door system can detect a person with minimal processing load. In this configuration, human detection is determined when a state transition between movement (movement) and stopping occurs at least once, making the decision-making process simple. However, the accuracy improves when determining a state transition based on two or more state transitions rather than just one.

[0140] In an automatic door system, the detection and judgment unit P1 determines that the detected mass is stopped when its movement is less than the first threshold, determines that it is moving when its movement is equal to or greater than the second threshold, and determines that a moving person has been detected when it obtains a determination that the mass is moving after stopping or stopping after moving. This configuration allows the automatic door system to more reliably detect and determine if a person is present. Here, the first threshold corresponds to the amount of movement that can be considered as stopping. On the other hand, the second threshold corresponds to the amount of movement that can be considered as continuing. Note that the first threshold and the second threshold are, for example, different values.

[0141] In an automatic door system, the detection and determination unit P1 determines that a moving person has been detected when a first condition is met, which includes the difference in the amount of movement being greater than or equal to a threshold on the positive side and the difference in the next amount of movement being greater than or equal to a threshold on the negative side, or when a second condition is met, which includes the difference in the amount of movement being greater than or equal to a threshold on the negative side and the difference in the next amount of movement being greater than or equal to a threshold on the positive side. With this configuration, the automatic door system can detect a person with minimal processing load. Here, if we represent the position of the detected mass (in this embodiment, the position of the center of gravity) as x (representing the amount of movement) and time as t, then the difference in the amount of movement is expressed as (dx / dt). When the difference in the amount of movement is greater than or equal to the threshold on the positive side, it corresponds to a change from stopping to moving. On the other hand, when the difference in the amount of movement is greater than or equal to the threshold on the negative side, it corresponds to a change from moving to stopping. The positive threshold and the negative threshold may be the same value, or they may be different values.

[0142] In an automatic door system, the first condition further includes that the difference in the next movement is greater than or equal to a threshold on the positive side, and the second condition further includes that the difference in the next movement is greater than or equal to a threshold on the negative side. This configuration allows the automatic door system to more reliably detect and determine if a person is present.

[0143] In an automatic door system, the detection and judgment unit P1 determines that a moving person has been detected when the amount of movement of the detected mass is below a threshold, above a threshold, and below a threshold in chronological order, or when it is above a threshold, below a threshold, and above a threshold in chronological order. This configuration allows the automatic door system to more reliably detect and determine if a person is present.

[0144] In an automatic door system, the detection and judgment unit P1 determines that the detected mass is stopped when its movement is less than a first threshold, and that it is moving when its movement is equal to or greater than a second threshold. When it obtains determinations of stopped, moving, stopped, or moving, stopped, moving in chronological order, it determines that a moving person has been detected. This configuration allows the automatic door system to more reliably detect and determine if a person is present.

[0145] In an automatic door system, the detection and determination unit P1 determines that a moving person has been detected when a third condition is met, which includes the difference in the amount of movement being greater than or equal to the third threshold on the positive side and the difference in the next amount of movement being greater than or equal to the fourth threshold on the negative side, or when a fourth condition is met, which includes the difference in the amount of movement being greater than or equal to the fourth threshold on the negative side and the difference in the next amount of movement being greater than or equal to the third threshold on the positive side. This configuration allows the automatic door system to more reliably detect and determine if a person is present. Here, when the difference in the amount of movement is greater than or equal to the third threshold on the positive side, it corresponds to a change from stopping to moving. On the other hand, when the difference in the amount of movement is greater than or equal to the fourth threshold on the negative side, it corresponds to a change from moving to stopping. Note that the third threshold and the fourth threshold are, for example, different values.

[0146] In the automatic door system, the memory unit 107 stores the detection information from the activation sensor or the judgment result from the detection judgment unit P1. This configuration allows for retrospective analysis of the characteristics of the sensor installation locations in automatic door systems.

[0147] In an automatic door system, the output unit P2 outputs detection information from the activation sensor or the judgment result from the detection judgment unit P1. This configuration allows the automatic door system to understand the characteristics of the sensor installation location. As a specific example, the output destination of output unit P2 may be a server or the installer's terminal. The threshold values ​​used in the gait determination process may, for example, be the same values ​​set from the beginning of construction, or they may be changed (for example, updated) based on the contents of the memory unit 107 or the output results of the output unit P2. In this embodiment, the first to fourth threshold values ​​are examples of threshold values ​​used in the gait determination process.

[0148] In this embodiment, a control program for automatic doors can also be provided. The automatic door control program is installed around a door that is automatically opened and closed and controlled, located in an opening. Based on detection information from an activation sensor that detects a person or object within a detection area, the program causes a computer processor to execute the following steps: a detection judgment step, which determines that a moving person has been detected when it detects a change in the movement and stopping of the detection mass based on the amount of movement of the detection mass per unit time; and a control step, which controls the opening and closing drive of the door based on the judgment result of the detection judgment step. This configuration allows for improved accuracy in detecting people in automatic door control programs.

[0149] This embodiment can also provide a method for controlling automatic doors. The automatic door control method includes a detection determination step in which, based on detection information from an activation sensor installed around an automatically opening and closing controlled door provided in an opening and detecting a person or object within a detection area, a detection mass is recognized, and when a change in the movement and stopping of the detection mass is detected based on the amount of movement of the detection mass per unit time, it is determined that a moving person has been detected; and a control step in which the door opening and closing drive is controlled based on the determination result of the detection determination step. This configuration allows for improved accuracy in detecting people in automatic door control systems.

[0150] In this embodiment, a sensor for automatic doors can also be provided. This example configuration is one in which the function of the detection and determination unit P1 is incorporated into the activation sensor. An automatic door sensor is installed around an automatically opening and closing controlled door located in an opening and includes an activation sensor that detects people or objects within a detection area, and a detection determination unit that recognizes a detection mass based on the detection information from the activation sensor and determines that a moving person has been detected when it detects a change in the movement and stopping of the detection mass based on the amount of movement of the detection mass per unit time. Based on the determination result of the detection determination unit, it transmits a signal to control the opening and closing drive of the door. This configuration allows for improved accuracy in detecting people in automatic door sensors.

[0151] As described above, the automatic door device according to this embodiment can improve the accuracy of detecting people. In this embodiment, we have shown the case where it is applied to a hybrid automatic door system, but as other examples, it may also be applied to an automatic door system that is equipped with only an image sensor, or an automatic door system that is equipped with only an infrared sensor, among the image sensor and infrared sensor used as activation sensors. Furthermore, while this embodiment demonstrates a process using an ON state, an OFF state, and a temporary ON state for image detection and infrared detection, it may also be applied to other examples where an ON state and an OFF state are used, but a temporary ON state is not. As a specific example, if a detection block is in the off state, and the gait determination according to this embodiment determines that it is a gait, the detection block may be changed to the on state.

[0152] Let me provide some background information regarding this embodiment. For example, an image sensor learns the background from image data and classifies pseudo-spots as ON, Temporarily ON (different from the background but the difference is small), or OFF based on the difference between the background and the input image. By overlaying this classification result with the spot information from an infrared sensor, the presence or absence of an object in the Temporarily ON state is determined, and the sensor is changed to ON only when an object is present, thereby suppressing the door from opening unintentionally. While this technology is used to prevent false detections caused by shadows that are easily mistaken for temporary on states, in certain lighting conditions, it can sometimes mistake actual human traffic for a temporary on state. In such cases, the system may not activate until the infrared sensor information changes to "on," thus reducing the comfort of passage.

[0153] Therefore, in this embodiment, for example, in cases where it was previously impossible to change the spot information from temporarily on to on until it reached the infrared detection area, if the movement of the spot is in line with a person's gait, it is possible to change the spot information from temporarily on to on based on image information. As a result, in this embodiment, the comfort of passage in specific illumination environments can be improved. In this embodiment, for example, in an automatic door that detects the movement of a person or object from imaging data (or infrared data), if the center of gravity of the detected object repeatedly moves and stops (for example, stops for a period of time less than or equal to a threshold), it is determined that a person is moving, thereby enabling, for example, the distinction between a person and a human silhouette.

[0154] (Second Embodiment) Figure 13 is a diagram illustrating the determination of a person's feet according to the second embodiment. Figure 13 shows the door section 10 and the detection block 301. In the example in Figure 13, the X-axis represents the direction parallel to the door section 10. The Y-axis represents the direction perpendicular to the door section 10. In the illustrated example, the distance from the door section 10 (the distance between the door section 10 and the object) increases as you move in the positive direction of the Y-axis, with the door section 10 as the reference point. The XY plane represents the ground (or the floor of a building, etc.).

[0155] Here, it is possible to determine whether what is being detected is a person's shadow or not by whether the shape of the shadow is an inverted triangle or not. Therefore, in this embodiment, for each block (detected block), the location with the minimum X width (width in the X-axis direction) is extracted, and it is determined whether or not it is an inverted triangle shape based on whether or not the X width of the area above that location (away from the door section 10, and in the example of Figure 13, the positive Y-axis direction) is greater than or equal to a preset threshold. This threshold may be set as appropriate. In this example, the coordinates where the X width is minimized are determined to be the coordinates of the feet.

[0156] In the example shown in Figure 13, for the detected block 301, the minimum X width is W311 and the maximum X width is W312, satisfying the inverted triangle shape condition, and thus it is determined to be the shape of a human.

[0157] Figure 14 shows an example of the procedure for processing performed in the automatic door device according to the second embodiment. (Step S301) The automatic door system performs image infrared hybrid processing, including detection of people's feet.

[0158] (Step S302) The automatic door system performs a process to create clusters (detection clusters) based on ON and temporary ON spots. Note that the process in step S302 is the same as the process in step S202 shown in Figure 9.

[0159] (Step S303) The automatic door system performs spot information modification processing based on gait. Note that the process in step S303 is the same as the process in step S203 shown in Figure 9.

[0160] (Step S304) The automatic door system performs a process to determine the flow of movement. Then, the processing of this flow is completed. Note that the process in step S304 is the same as the process in step S204 shown in Figure 9.

[0161] Figure 15 shows an example of the procedure for image infrared hybrid processing performed in an automatic door device according to the second embodiment. In this example, image infrared hybrid processing is performed, including the detection of the feet of a person. Here, among the processes of steps S321 to S331 shown in Figure 15, the processes of steps S324 to S331 are the same as the processes of steps S222 to S229 shown in Figure 10, so a detailed explanation is omitted.

[0162] (Step S321) The automatic door system generates spot information A through image-based spot detection processing.

[0163] (Step S322) The automatic door system generates spot information B through image-based detection of people's feet.

[0164] (Step S323) The automatic door system performs an OR (logical disjunction) operation on spot information A and spot information B. In this OR operation, it is determined that a person or object has been detected at a spot that matches at least one of spot information A and spot information B (including a temporary ON state in this example). Furthermore, the processing from steps S324 to S331 will be performed.

[0165] Figure 16 shows an example of the procedure for detecting a person's feet according to the second embodiment. (Step S341) The automatic door system determines the Y coordinate of the position with the smallest X width within the difference region of the background image. This position is designated as the temporary foot position.

[0166] (Step S342) The automatic door system performs an inverted triangle detection process.

[0167] (Step S343) The automatic door system determines whether the area above the temporary foot position (the area extracted from the temporary foot position) is an inverted triangle. As a result, if the automatic door device determines that the area above the temporary foot position (the area extracted from the temporary foot position) is an inverted triangle (Y in step S343), it proceeds to the process in step S344. On the other hand, if the automatic door device determines that the area above the temporary foot position (the area extracted from the temporary foot position) is not an inverted triangle (N in step S343), it terminates the processing of this flow.

[0168] (Step S344) The automatic door system uses an area extracted from the temporary foot area as the on-spot. Then, the processing of this flow is terminated.

[0169] Figure 17 shows an example of the procedure for the inverted triangle detection process according to the second embodiment. (Step S361) The automatic door system obtains the position X width A where the width is smallest within the temporary ON area.

[0170] (Step S362) The automatic door system determines whether the position at width X A satisfies the pedestrian conditions. As a result, if the automatic door device determines that the position of width XA satisfies the gait condition (Y in step S362), it proceeds to the process in step S363. On the other hand, if the automatic door device determines that the position of width X A does not meet the gait conditions (N in step S362), it proceeds to the process in step S366.

[0171] In this example, it is assumed that the shadow created by backlighting will not be an inverted triangle. However, by combining this with the processing in step S362 (processing of gait conditions), a filter is applied so that the shadow is not identified as a human shape. As another example, the processing in step S362 (processing of gait conditions) may not be performed.

[0172] (Step S363) The automatic door system obtains X-width B, which is the width of the temporary on area at an appropriate Y point in the region above position X-width A. Here, the appropriate Y point represents the point where the X width B is maximized.

[0173] (Step S364) The automatic door system determines whether (X width A / X width B) is below a predetermined threshold. As a result, if the automatic door device determines that (X width A / X width B) is less than or equal to a predetermined threshold (Y in step S364), it proceeds to the process in step S365. On the other hand, if the automatic door device determines that (X width A / X width B) is not below a predetermined threshold (N in step S364), it proceeds to the process in step S366.

[0174] (Step S365) The automatic door system determines that the relevant area (difference area) is in the shape of an inverted triangle (human shape). Then, the processing of this flow is terminated.

[0175] (Step S366) The automatic door system determines that the relevant area (difference area) is not an inverted triangle shape (human shape). Then, the processing of this flow is terminated.

[0176] Figure 18 is a diagram illustrating the threshold creation according to the second embodiment. Figure 18 shows the door section 10 of the automatic door 100, the image detection area 73, a person 411 and its shadow 412, a person 421 and its shadow 422, and a person 431 and its shadow 432.

[0177] In the example in Figure 18, the X-axis represents the direction parallel to the door section 10. The Y-axis represents the direction perpendicular to the door section 10. In the illustrated example, the distance from the door section 10 (the distance between the door section 10 and the object) increases as you move in the positive direction of the Y-axis, with the door section 10 as the reference point. The XY plane represents the ground (or the floor of a building, etc.).

[0178] In the example in Figure 18, distance r represents the distance between the center of the door section 10 and the person (person 431 in the example in Figure 18) in the XY plane. In this example, distance r represents the distance between the image sensor 31B and the person when projected onto the XY plane. Furthermore, angle θ represents the rotation angle (counterclockwise in the illustration) from the center of the door section 10 in the XY plane, with the angle in the positive X-axis direction being 0 degrees, to the person (person 431 in the example of Figure 18). In this example, angle θ corresponds to the angle of the line connecting the image sensor 31B and the person when projected onto the XY plane.

[0179] Here, as shown in the example in Figure 18, the ratio of the minimum X width A to the maximum X width B in the inverted triangle shape can differ depending on the coordinate position of the person relative to the camera, even for the same person. Therefore, although the threshold value in step S364 of Figure 17 was constant, it is thought that varying the threshold value depending on the coordinate position where the person in question is located would improve the accuracy of determining whether or not it is a human shape.

[0180] Figure 19 is a diagram showing an example of the procedure for processing performed in the automatic door device according to the second embodiment. Here, among the processes in steps S421 to S427, the processes in steps S421 to S423 and steps S426 to S427 are the same as the processes in steps S361 to S363 and steps S365 to S366 shown in Figure 17. In this example, the processing in step S423 is followed by the processing in steps S424 to S425.

[0181] (Step S424) The automatic door system performs a process to create an adaptive inverted triangle threshold (adaptive threshold).

[0182] (Step S425) The automatic door system determines whether (X width A / X width B) is below the threshold of the adaptive type that was created. As a result, if the automatic door device determines that (X width A / X width B) is below the adaptive threshold (Y in step S425), it proceeds to the process in step S426. On the other hand, if the automatic door device determines that (X width A / X width B) is not below a predetermined threshold (N in step S425), it proceeds to the process in step S427.

[0183] Figure 20 shows an example of the procedure for adaptive threshold creation processing performed in an automatic door device according to the second embodiment. (Step S441) The automatic door system creates an optimal inverted triangle threshold from the coordinate position where the X width is obtained. Then, the processing of this flow is terminated.

[0184] Here, there are no particular limitations on the method for creating adaptive thresholds. For example, thresholds may be created using predetermined arithmetic formulas such as trigonometric functions, or thresholds may be created based on a pre-prepared table (correspondence between at least one of r and θ and thresholds).

[0185] (Example configuration according to the second embodiment) In an automatic door system, an activation sensor (e.g., an image sensor 31B) is installed around the door (door section 10) that is automatically opened and closed and provided in the opening, to detect a person or object within a detection area (e.g., an image detection area 73). The detection and judgment unit P1 (for example, the image detection and judgment unit 104) recognizes a detection cluster (a cluster of detection spots) based on the detection information from the activation sensor and determines whether a person has been detected. The control unit 106 controls the opening and closing of the door based on the judgment result of the detection and judgment unit P1. Here, the detection and determination unit P1 defines a detected mass as a person when the X-width direction of the detection area is the X-axis and the depth direction is the Y-axis, and the X-width of the detected mass is greater than or equal to a threshold in the region above the Y-axis height where the X-width of the detected mass is minimum. With this configuration, the automatic door system can improve the accuracy of detecting people by determining that a moving person has been detected based on the X-width of the detection area, making it possible, for example, to distinguish between a person and a silhouette. In this embodiment, for example, the accuracy of distinguishing a person's feet can be improved when the light is behind them.

[0186] The automatic door system includes a threshold setting unit P3 for setting the threshold used in the detection and judgment unit P1. The threshold setting unit P3 determines a value based on the position of the detected cluster within the detection area as a threshold, and sets it as the threshold to be used by the detection judgment unit P1. This configuration allows the automatic door system to distinguish between a person entering at an angle and a silhouette of a person. In this embodiment, for example, it is possible to further improve the identification of a person's feet in backlit situations.

[0187] In an automatic door system, the threshold setting unit P3 sets a threshold based on at least one of the distance of the detection object from the door surface or activation sensor and the angle of the detection object from the door surface or activation sensor. With this configuration, the automatic door system can more reliably detect people by setting (or changing, for example) thresholds according to their location.

[0188] Here, for example, if the angle θ is close to 90 degrees, the object (detected mass) can be assumed to be facing forward, and the pre-set threshold (in this case, the threshold that matches θ=90 degrees) can be used as is. On the other hand, if the angle θ is close to 0 degrees, the length of the detected shoulder (the shoulder when the detected mass is a person) becomes shorter, so the threshold should be reduced. From this perspective, the angle θ can greatly affect the threshold. Also, for example, if the distance r is large, the threshold is reduced. The threshold value, based on at least one of the angle θ and distance r, may be calculated each time, or the pre-calculated result may be stored in a table or similar and used.

[0189] For example, the distance r may be the distance in a two-dimensional plane from the door surface (distance from the door surface). As another example, the distance r may be a three-dimensional distance (distance from the activation sensor) that also takes into account the height at which the activation sensor is mounted (mounting height). Similarly, as an example, the angle θ may be the angle in a two-dimensional plane from the door surface (angle from the door surface). As another example, the angle θ may be a three-dimensional angle that also takes into account the height at which the activation sensor is mounted (mounting height) (angle from the activation sensor).

[0190] In the automatic door system, the memory unit 107 stores the detection information from the activation sensor or the judgment result from the detection judgment unit P1. This configuration allows for retrospective analysis of the characteristics of the sensor installation locations in automatic door systems.

[0191] In an automatic door system, the output unit P2 outputs detection information from the activation sensor or the judgment result from the detection judgment unit P1. This configuration allows the automatic door system to understand the characteristics of the sensor installation location. As a specific example, the output destination of output unit P2 may be a server or the installer's terminal.

[0192] In this embodiment, a control program for automatic doors can also be provided. The automatic door control program is installed around a door that is to be automatically opened and closed and placed in an opening. Based on detection information from an activation sensor that detects people or objects within a detection area, the program causes a computer processor to execute a detection determination step that recognizes a cluster of detected objects and determines whether or not a person has been detected, and a control step that controls the opening and closing drive of the door based on the determination result of the detection determination step. In this detection decision step, the X-axis represents the opening width direction of the detection area, and the Y-axis represents the depth direction. A detection block is determined to be a person when it has an X-width greater than or equal to a threshold value in the region above the Y-axis height where the X-width of the detection block is minimum. With such a configuration, the control program for the automatic door can improve the detection accuracy of people.

[0193] In this embodiment, a control method for the automatic door can also be provided. In the control method of the automatic door, based on the detection information of the activation sensor installed around the door that is automatically opened and closed provided at the opening and detects people or objects within the detection area, a detection mass is recognized, and a detection judgment step of determining whether a person is detected is included, and a control step of controlling the opening and closing drive of the door based on the judgment result of the detection judgment step. Here, in the detection judgment step, taking the opening width direction of the detection area as the X-axis and the depth direction as the Y-axis, when the detection mass has an X-width greater than or equal to the threshold value with respect to the X-width in the region above the height of the Y-axis where the X-width of the detection mass is minimized, it is judged as a person. With such a configuration, the control method of the automatic door can improve the detection accuracy of people.

[0194] In this embodiment, a sensor for the automatic door can also be provided. This configuration example is a configuration example when the function of the detection judgment unit P1 is incorporated into the activation sensor. The sensor for the automatic door includes an activation sensor installed around the door that is automatically opened and closed provided at the opening and detects people or objects within the detection area, and a detection judgment unit that recognizes a detection mass based on the detection information of the activation sensor and determines whether a person is detected. The detection judgment unit takes the opening width direction of the detection area as the X-axis and the depth direction as the Y-axis, and when the detection mass has an X-width greater than or equal to the threshold value with respect to the X-width in the region above the height of the Y-axis where the X-width of the detection mass is minimized, it is judged as a person, and based on the judgment result of the detection judgment unit, a signal for controlling the opening and closing drive of the door is transmitted. With such a configuration, the sensor for the automatic door can improve the detection accuracy of people.

[0195] As described above, in the automatic door device according to this embodiment, the detection accuracy of people can be improved. In addition, in this embodiment, the case where it is applied to a hybrid type automatic door device has been shown. However, as another example, it may be applied to an automatic door device including only an image sensor or only an infrared sensor, among the image sensor and the infrared sensor used as activation sensors. Further, in this embodiment, the processes using the on state, the off state, and the temporary on state for image detection and infrared detection have been shown. However, as another example, it may be applied to a process using the on state and the off state but not using the temporary on state. As a specific example, when the detection block is in the off state and it is determined to be an inverted triangle by the inverted triangle determination according to this embodiment, the detection block may be changed to the on state.

[0196] The background of this embodiment will be supplemented. For example, an image sensor or the like learns the background from image data, and classifies pseudo spots into on, temporary on (when different from the background but with a small difference), or off based on the difference between the background and the input image. Then, by superimposing this classification result and the spot information of the infrared sensor, the presence or absence of an object during temporary on is determined, and the door is changed to on only when there is an object, thereby suppressing unexpected unnecessary opening of the door. Such a technique is utilized to prevent false detection due to shadows that are likely to be determined as temporary on. However, depending on the illumination environment, actual human passage may be determined as temporary on, and the door cannot be opened until it changes to on based on the information of the infrared sensor, resulting in a case where the comfort of passage is reduced. Therefore, in the first embodiment, in a case where the comfort is reduced due to the illumination environment, it is determined whether the movement of the spot is due to the walking posture of a person. For example, the spot information that was temporarily on is configured to be changed to on. However, for example, when a passerby is backlit, the shadow part of the passerby becomes the tip of the spot block, and it may be difficult to determine based on the walking posture. That is, in the backlight shadow extending toward the door side, since the tip of the block becomes a shadow, it is considered that in most cases, it is not determined as the walking posture.

[0197] Therefore, in this embodiment, as an improvement to these problems, for example, by determining a pseudo-on spot cluster in the shape of an inverted triangle based on the pixels of the image (or infrared light), the boundary between the shadow and the pedestrian is found, the footing of the pedestrian is identified, and the comfort of passage is improved. In this embodiment, for example, even in cases such as backlighting in a specific illumination environment, the boundary between the pedestrian and the shadow is found by determining the pixels of the image (or infrared light), the footing of the pedestrian is identified, and the comfort of passage is improved. In this embodiment, an automatic door that detects a person or object from imaging data of an imaging area where the opening width direction is the X-axis and the depth direction is the Y-axis (or infrared data of an infrared detection area), determines that the detected object is a person when the X-width of the object is greater than or equal to a threshold value in the area above the height of the Y-axis where the X-width is smallest. This makes it possible to distinguish between a person and a silhouette, for example, even when the imaging area is backlit.

[0198] Furthermore, in this embodiment, by making the threshold for determining an inverted triangle variable, the system can also accommodate cases where a person approaches the door at an angle. In other words, if the threshold is fixed to accommodate situations where a person approaches the door perpendicularly, the problem of reduced comfort when a person approaches the door at an angle compared to when a person approaches perpendicularly is resolved. In this embodiment, even in cases such as backlighting in a specific illumination environment, and when a person enters the door at an angle, the threshold used to distinguish the boundary between the passerby and their shadow can be changed according to the passerby's coordinate position relative to the camera (or infrared sensor), thereby improving the accuracy of identifying the passerby's feet and enhancing the comfort of passage. In this embodiment, by determining an inverted triangle threshold based on the distance from the target door surface or activation sensor and the angle from the door surface or activation sensor, which are obtained from imaging data (or infrared data), it is possible to distinguish between a person and a silhouette when the imaging area is backlit, for example.

[0199] (Third embodiment) Referring to Figures 21A to 21D, the problems with the simplified door-direction entry determination according to this embodiment will be explained. Figures 21A, 21B, 21C, and 21D are diagrams illustrating a simplified door-direction entry determination according to the third embodiment. In this example, we will explain the case where the state of the detection cluster changes in the order of Figures 21A, 21B, 21C, and 21D under specific illumination conditions.

[0200] Figure 21A shows the door section 10, the infrared detection area 71, the image detection area 73, and the detection block 501A. In this example, the image detection area 73 is wider than the infrared detection area 71 and includes the infrared detection area 71.

[0201] The detection block 501A comprises a first detection block 511A and a second detection block 512A. In this example, for the sake of explanation, we will describe the first detection block 511A and the second detection block 512A, which extends from the first detection block 511A toward the door portion 10 (it may be oblique to the door portion 10).

[0202] In the example shown in Figure 21A, the X-axis represents the direction parallel to the door section 10. The Y-axis represents the direction perpendicular to the door section 10. In the illustrated example, the distance from the door section 10 (the distance between the door section 10 and the object) increases as you move in the positive direction of the Y-axis, with the door section 10 as the reference point. The XY plane represents the ground (or the floor of a building, etc.).

[0203] In the example shown in Figure 21A, the tip 521A of the second detection block 512A is moving in a direction parallel to the Y-axis, approaching the door portion 10. The tip portion 521A contains coordinate information used for vector determination, and in this example, the tip portion of the spot cluster is used. Detected block 501A is included in the image detection area 73, but does not reach the infrared detection area 71.

[0204] Figure 21B shows the state after a time has passed since Figure 21A. The detection block 501B is closer to the door section 10 compared to the state shown in Figure 21A. The detection block 501B is included in the image detection area 73, and its tip 521B has just reached the infrared detection area 71. Detection block 501B consists of a first detection block 511B and a second detection block 512B.

[0205] Figure 21C shows a state that has progressed in time compared to the state shown in Figure 21B. Figure 21C shows that a portion of the tip of the second detection block 512B shown in Figure 21B entered the infrared detection area 71, and was determined to be an off-spot, and was subsequently deleted. In other words, it shows how the spot information for a portion of the tip, which was temporarily on in the image, was deleted because it was not detected in infrared.

[0206] In the state shown in Figure 21C, the detection block 501C consists of the first detection block 511C and the second detection block 512C. Here, when transitioning from the state in Figure 21B to the state in Figure 21C, as the tip portion of the second detection block 512B is gradually removed, the movement direction (movement vector) of the tip portion 521C of the second detection block 512C has a component in the direction parallel to the X-axis (in the example of Figure 21C, the direction from the negative side to the positive side of the X-axis).

[0207] Figure 21D shows a state that has progressed in time compared to the state shown in Figure 21C. In the example shown in Figure 21D, the second detection block 512C shown in Figure 21C is removed, and the detection block 501D consists only of the first detection block 511D (or almost entirely of the first detection block 511D). In the example shown in Figure 21D, the tip 521D of the detection block 501D is determined to be in the ON state in the infrared detection area 71.

[0208] Here, in the examples of FIGS. 21A to 21D, the tip of the detected mass appears to have moved in a direction parallel to the Y-axis after moving in a direction having a component parallel to the X-axis. Thus, there may be a case where the vector information grasped by the automatic door device is different from the actual movement of a person. For this reason, in the automatic door device, when a person enters the infrared detection area 71, for example, there is a problem that it is determined that the person is passing in a direction parallel to the X-axis (a direction not toward the door unit 10), and a determination to open the door is not made. Therefore, in the present embodiment, when there is a state change as shown in FIGS. 21A to 21D, a process that can quickly open the door is realized.

[0209] FIG. 22 is a diagram showing an example of a procedure of processing performed in the automatic door device according to the third embodiment. Among the processes of steps S501 to S504, each of the processes of steps S501 to S503 is the same as each of the processes of steps S201 to S202 and step S204 shown in FIG. 9. In this example, after the processes of step S501, step S502, and step S503 are performed, the process of step S504 is performed.

[0210] (Step S504) The automatic door device performs a simple determination process for entry in the door direction. Then, the process of this flow ends.

[0211] FIG. 23 is a diagram showing an example of a procedure of a simple determination process for entry in the door direction according to the third embodiment. (Step S521) The automatic door device determines whether or not the tip of the spot mass (detected mass) has changed from temporarily on to on. As a result, when the automatic door device determines that the tip of the spot mass (detected mass) has changed from temporarily on to on (Y in step S521), the process proceeds to step S522. On the other hand, if the automatic door device determines that the tip of the spot cluster (detection cluster) has not changed from temporary ON to ON (N in step S521), it proceeds to the process in step S529.

[0212] (Step S522) The automatic door system obtains the X coordinate of the rightmost point of the temporarily ON spot cluster (in this example, the farthest point on the negative side of the X axis).

[0213] (Step S523) The automatic door system obtains the X coordinate of the leftmost point of the temporarily ON spot cluster (in this example, the farthest point on the positive side of the X axis).

[0214] (Step S524) The automatic door system obtains the change in the rightmost X coordinate by comparing the previous X coordinate of the rightmost point with the current X coordinate of the rightmost point.

[0215] (Step S525) The automatic door system obtains the change in the leftmost X coordinate by comparing the leftmost X coordinate of the previous position with the leftmost X coordinate of the current position.

[0216] (Step S526) The automatic door system determines whether the predicted direction of travel component was strong or not based on the change in the rightmost and leftmost values. As a result, if the automatic door device determines that the estimated direction of travel component was stronger based on the change amounts at the far right and the far left (Y in step S526), ​​it proceeds to the process in step S527. On the other hand, if the automatic door device determines, based on the change in the rightmost and leftmost values, that the estimated direction of travel component was not strong (N in step S526), ​​it proceeds to the process in step S528.

[0217] (Step S527) The automatic door system determines that the door should be opened and initiates the opening operation. Then, the processing of this flow is terminated.

[0218] (Step S528) The automatic door system determines that the door should not be opened and does not initiate the opening operation. Then, the processing of this flow is terminated.

[0219] (Step S529) The automatic door system obtains the X-coordinate of the rightmost point of the temporarily ON spot cluster and saves it as the previous X-coordinate of the rightmost point.

[0220] (Step S530) The automatic door system obtains the X-coordinate of the leftmost point of the temporarily ON spot cluster and saves it as the previous X-coordinate of the leftmost point. Then, the processing of this flow is terminated.

[0221] Here, the processing in steps S529 to S530 is performed if it is determined in step S521 that the tip of the spot cluster (detection cluster) has not changed from temporary on to on. In other words, in the processing in steps S529 to S530, the rightmost X coordinate and the leftmost X coordinate are updated sequentially.

[0222] In this embodiment, if both the change in the rightmost and leftmost values ​​are below the threshold, it is determined that the component in the direction of travel was strong. On the other hand, if at least one of the change in the rightmost and leftmost values ​​is above the threshold, it is determined that the component in the direction of travel was not strong.

[0223] As a variation, with respect to the movement of the spot mass, in addition to a process to determine whether the amount of change in the opening width direction is less than a threshold (similar to the process in this embodiment), a process to determine whether the amount of change in the depth direction is greater than or equal to a threshold may also be performed. In this case, for example, if the amount of change in the opening width direction is less than a threshold and the amount of change in the depth direction is greater than or equal to a threshold, it may be determined that the component in the direction of travel was strong. Judgment based on the amount of change in both the opening width direction and the depth direction in this way is more accurate than judgment based on the amount of change in the opening width direction only. Here, the change in depth direction may be, for example, the change in the position of the leading edge of the spot block (the end closest to the door), the change in the position of the rear end of the spot block (the end furthest from the door), the change in the position of the centroid of the spot block, or a change in another position of the spot block. Furthermore, the change in depth direction may be two or more different positional change amounts. Also, the threshold values ​​for the change in the opening width direction and the threshold values ​​for the change in depth direction may be the same, or they may be different. As an alternative configuration, a system may be used in which the component in the direction of travel is determined based solely on the change in the depth direction, without using the change in the opening width direction.

[0224] (Example configuration according to the third embodiment) In the automatic door system, an image detection area 73 is installed around the door (door section 10) that is automatically opened and closed, at a distance from the opening than an infrared detection area 71 that uses infrared light. An activation sensor is installed that detects people or objects within the detection area using both image detection and infrared light detection. The detection and judgment unit P1 recognizes a detection cluster (a cluster of detection spots) based on the detection information from the activation sensor and determines whether a person moving towards the opening has been detected. The control unit 106 controls the opening and closing of the door based on the judgment result of the detection and judgment unit P1. Here, the detection and determination unit P1 determines that a person is moving in the direction of the opening when the amount of change per unit time at both ends of the opening width direction of the detection mass detected in the image detection area 73 is less than or equal to a threshold, and the detection mass is detected in the infrared detection area 71 that is closest to the image detection area 73. This configuration allows for improved accuracy in detecting people in automatic door systems. For example, it can suppress delays in the opening of automatic doors caused by detecting movement paths in the imaging area (image detection area 73) that differ from actual human movement. In this embodiment, for example, it is possible to avoid delays in determining whether the lens is open when it is backlit.

[0225] Any unit of time may be used. Here, as a method for determining detection using images, for example, a method that determines whether the device is ON, temporarily ON, or OFF may be used, or a method that determines whether the device is ON or OFF may be used. Similarly, as a method for determining detection by infrared light, for example, a method for determining whether the device is ON, temporarily ON, or OFF may be used, or a method for determining whether the device is ON or OFF may be used. As a variation, the accuracy of determining a person facing the opening can be improved by considering the state in both the width and depth directions of the opening. Alternatively, another configuration could be implemented that considers only the depth direction to determine if a person is facing the opening.

[0226] In the automatic door system, the memory unit 107 stores the detection information from the activation sensor or the judgment result from the detection judgment unit P1. This configuration allows for retrospective analysis of the characteristics of the sensor installation locations in automatic door systems.

[0227] In an automatic door system, the output unit P2 outputs detection information from the activation sensor or the judgment result from the detection judgment unit P1. This configuration allows the automatic door system to understand the characteristics of the sensor installation location. As a specific example, the output destination of output unit P2 may be a server or the installer's terminal.

[0228] In this embodiment, a control program for automatic doors can also be provided. The automatic door control program is installed around a door that is to be automatically opened and closed and controlled, which is provided in an opening. The image detection area 73 is located further from the opening than the infrared detection area 71. Based on detection information from a start sensor that detects people or objects within the detection area by image detection and infrared detection, the program causes a computer processor to execute a detection determination step which recognizes a cluster of detected objects and determines whether a person moving towards the opening has been detected, and a control step which controls the opening and closing drive of the door based on the determination result of the detection determination step. Here, the detection determination step determines that a person is moving in the direction of the opening when the amount of change per unit time at both ends of the opening width direction of the detection mass detected in the image detection area 73 is less than or equal to a threshold, and the detection mass is detected in the infrared detection area 71 that is closest to the image detection area 73. This configuration allows for improved accuracy in detecting people in automatic door control programs.

[0229] This embodiment can also provide a method for controlling automatic doors. The automatic door control method includes a detection determination step in which an image detection area 73 is installed around an automatically opening and closing controlled door provided in an opening, and the image detection area 73 is installed further away from the opening than the infrared detection area 71, and based on detection information from an activation sensor that detects people or objects within the detection area by image detection and infrared detection, the detection group is recognized and it is determined whether a person moving toward the opening has been detected; and a control step in which the opening and closing drive of the door is controlled based on the determination result of the detection determination step. Here, the detection determination step determines that a person is moving in the direction of the opening when the amount of change per unit time at both ends of the aperture width direction of the detection mass detected in the image detection area 73 is less than or equal to a threshold, and the detection mass is detected in the infrared detection area 71 that is closest to the image detection area 73. This configuration allows for improved accuracy in detecting people in automatic door control systems.

[0230] In this embodiment, a sensor for automatic doors can also be provided. This example configuration is one in which the function of the detection and determination unit P1 is incorporated into the activation sensor. The sensor for automatic doors is installed around an automatically opening and closing controlled door located in an opening, with an image detection area 73 that uses images being located further away from the opening than an infrared detection area 71 that uses infrared light. It includes an activation sensor that detects people or objects within the detection area using image detection and infrared light detection, and a detection determination unit that recognizes the detection cluster based on the detection information from the activation sensor and determines whether or not a person moving towards the opening has been detected. Here, the detection and determination unit determines that a person is moving towards the opening when the amount of change per unit time at both ends of the opening width direction of the detected mass detected in the image detection area 73 is below a threshold, and the detected mass is detected in the infrared detection area 71 closest to the image detection area 73, and based on the determination result of the detection and determination unit, transmits a signal to control the opening and closing drive of the door. This configuration allows for improved accuracy in detecting people in automatic door sensors.

[0231] As described above, the automatic door device according to this embodiment can improve the accuracy of detecting people. In this embodiment, we have shown a process that uses an ON state, an OFF state, and a temporary ON state for image detection and infrared detection. However, as another example, this may be applied to a process that uses an ON state and an OFF state but does not use a temporary ON state. As a specific example, when the tip of a detection block moving towards a door is in the ON state in the image, but is changed to the OFF state based on information from the infrared detection area, if the determination according to this embodiment determines that the component in the direction of movement is strong, the door may be opened.

[0232] Let me provide some background information regarding this embodiment. For example, an image sensor learns the background from image data and classifies pseudo-spots as ON, Temporarily ON (different from the background but the difference is small), or OFF based on the difference between the background and the input image. By overlaying this classification result with the spot information from an infrared sensor, the presence or absence of an object in the Temporarily ON state is determined, and the sensor is changed to ON only when an object is present, thereby suppressing the door from opening unintentionally. Furthermore, in motion path detection using a sensor that combines infrared and imaging, if the tip of the spot cluster during the temporary-on phase is pointing towards the door, and the tip changes to "on" due to infrared spot information, it is conceivable that the motion path information from the temporary-on phase could be carried over to immediately determine if the door is open. However, in specific illumination environments such as backlighting, the movement of the tip of the spotlight cluster when it is temporarily switched on may differ from the actual movement of a person. This could prevent the light from opening immediately even when it is switched on, potentially reducing the comfort of passage.

[0233] Therefore, in this embodiment, even in such cases, the opening operation can be performed immediately when the movement of the entire cluster, not just the tip of the cluster, is judged, and the system can be operated without reducing the comfort of passage. In this embodiment, if the vector component of an object detected in the imaging area of ​​the image sensor is stronger in the depth direction than in the opening width direction (including cases where it is considered to be stronger), the automatic door activation signal is transmitted when the object is detected by the outer perimeter spot of the detection area of ​​the infrared sensor. This makes it possible to suppress delays in the opening operation of the automatic door caused by detecting a movement path in the imaging area that differs from the actual movement of a person.

[0234] (Regarding the above embodiments) 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.

[0235] 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.

[0236] 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.

[0237] 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.

[0238] 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]

[0239] 100...Automatic door, 10...Door unit, 20...Controller, 21...Control device, 22...Storage device, 23...Communication device, 24...Data processing device, 30...Door sensor, 31...Activation sensor unit, 31A...Infrared sensor, 31B...Image sensor, 32...Auxiliary sensor, 40...Door engine, 70...Detection area, 71...Infrared detection area, 72...Infrared detection spot, 73...Image detection area, 74...Image detection spot, 101...Infrared data acquisition unit, 102...Image data acquisition unit, 103...Infrared detection judgment unit, 104...Image detection judgment unit, 105...Decision unit, 106...Control unit, 107...Storage unit, P1...Detection judgment unit, P2...Output unit, P3...Threshold setting unit

Claims

1. An automatically opening and closing controlled door is installed in the opening, A trigger sensor that detects a person or object within the detection area, A detection determination unit recognizes a detection mass based on the detection information from the aforementioned activation sensor, and when it detects a change in the movement and stopping of the detection mass based on the amount of movement of the detection mass per unit time, it determines that a moving person has been detected. Based on the determination result of the detection and determination unit, a control unit controls the opening and closing drive of the door, Equipped with, Automatic door system.

2. When the detection and determination unit determines that a person is moving in the direction of the opening, the control unit opens the door. The automatic door device according to claim 1.

3. The detection and determination unit determines that a moving person has been detected when the amount of movement of the detected mass becomes greater than or equal to the threshold after being less than or equal to the threshold, or when it becomes less than or equal to the threshold after being greater than or equal to the threshold. The automatic door device according to claim 1.

4. The detection and determination unit determines that the detected mass is stopped when its movement is less than a first threshold, determines that it is moving when its movement is equal to or greater than a second threshold, and determines that a moving person has been detected when it obtains a determination that the mass is moving after stopping or moving after stopping. The automatic door device according to claim 3.

5. The detection and determination unit determines that a moving person has been detected when a first condition is met, which includes the difference in the amount of movement being greater than or equal to a threshold on the positive side and the difference in the next amount of movement being greater than or equal to a threshold on the negative side, or when a second condition is met, which includes the difference in the amount of movement being greater than or equal to a threshold on the negative side and the difference in the next amount of movement being greater than or equal to a threshold on the positive side. The automatic door device according to claim 1.

6. The first condition further includes that the difference in the following displacement amounts is greater than or equal to a threshold on the positive side, The second condition further includes that the difference in the following displacement amounts is greater than or equal to a threshold on the negative side. The automatic door device according to claim 5.

7. The detection and determination unit determines that a moving person has been detected when the amount of movement of the detected mass is below a threshold, above a threshold, and below a threshold in chronological order, or when it is above a threshold, below a threshold, and above a threshold in chronological order. The automatic door device according to claim 1.

8. The detection and determination unit determines that the detected mass is stopped when its movement is less than a first threshold, determines that it is moving when its movement is equal to or greater than a second threshold, and determines that a moving person has been detected when it obtains determinations of stopped, moving, stopped, or moving, stopped, moving in chronological order. The automatic door device according to claim 7.

9. The detection and determination unit determines that a moving person has been detected when a third condition is met, which includes the difference in the amount of movement being greater than or equal to the third threshold on the positive side and the difference in the next amount of movement being greater than or equal to the fourth threshold on the negative side, or when a fourth condition is met, which includes the difference in the amount of movement being greater than or equal to the fourth threshold on the negative side and the difference in the next amount of movement being greater than or equal to the third threshold on the positive side. The automatic door device according to claim 1.

10. The system includes a storage unit for storing detection information from the activation sensor or the determination result from the detection determination unit. The automatic door device according to claim 1.

11. It includes an output unit that outputs detection information from the activation sensor or the determination result from the detection determination unit. The automatic door device according to claim 1.

12. An automatically opening and closing controlled door is installed in the opening, A trigger sensor that detects a person or object within the detection area, A detection and determination unit recognizes a cluster of detected objects based on the detection information from the aforementioned activation sensor and determines whether or not a person has been detected. Based on the determination result of the detection and determination unit, a control unit controls the opening and closing drive of the door, Equipped with, The detection and determination unit determines that a person is a person when the detection block has an X width equal to or greater than a threshold value in the region above the height on the Y axis where the X width of the detection block is minimum. Automatic door system.

13. The detection and determination unit includes a threshold setting unit for setting the threshold used by the detection and determination unit, The threshold setting unit determines a value based on the position of the detection block within the detection area as the threshold, and sets it as the threshold to be used by the detection judgment unit. The automatic door device according to claim 12.

14. The threshold setting unit sets the threshold based on at least one of the distance of the detection block from the door surface or the activation sensor and the angle of the detection block from the door surface or the activation sensor. The automatic door device according to claim 13.

15. The system includes a storage unit for storing detection information from the activation sensor or the determination result from the detection determination unit. The automatic door device according to claim 12.

16. It includes an output unit that outputs detection information from the activation sensor or the determination result from the detection determination unit. The automatic door device according to claim 12.

17. An automatically opening and closing controlled door is installed in the opening, The image detection area is positioned further away from the opening than the infrared detection area, and the activation sensor detects a person or object within the detection area by image detection and infrared detection. A detection and determination unit recognizes a detection mass based on the detection information from the aforementioned activation sensor and determines whether a person moving towards the opening direction has been detected. Based on the determination result of the detection and determination unit, a control unit controls the opening and closing drive of the door, Equipped with, The detection determination unit determines that a person is moving in the direction of the opening when the amount of change per unit time at both ends of the detection mass detected in the image detection area in the opening width direction is less than or equal to a threshold, and the detection mass is detected in the infrared detection area closest to the image detection area. Automatic door system.

18. The system includes a storage unit for storing detection information from the activation sensor or the determination result from the detection determination unit. The automatic door device according to claim 17.

19. It includes an output unit that outputs detection information from the activation sensor or the determination result from the detection determination unit. The automatic door device according to claim 17.

20. An activation sensor is installed around an automatically opening and closing controlled door located in an opening, and detects a person or object within the detection area. A detection determination unit recognizes a detection mass based on the detection information from the aforementioned activation sensor, and when it detects a change in the movement and stopping of the detection mass based on the amount of movement of the detection mass per unit time, it determines that a moving person has been detected. Equipped with, Based on the determination result of the detection and determination unit, a signal is transmitted to control the opening and closing drive of the door. Sensor for automatic doors.

21. An activation sensor is installed around an automatically opening and closing controlled door located in an opening, and detects a person or object within the detection area. A detection and determination unit recognizes a cluster of detected objects based on the detection information from the aforementioned activation sensor and determines whether or not a person has been detected. Equipped with, The detection and determination unit determines that a person is a person when the detection block has an X width equal to or greater than a threshold value in the region above the height on the Y axis where the X width of the detection block is minimum. Based on the determination result of the detection and determination unit, a signal is transmitted to control the opening and closing drive of the door. Sensor for automatic doors.

22. An activation sensor is installed around an automatically opening and closing controlled door located in an opening, with an image detection area set further away from the opening than an infrared detection area, and which detects a person or object within the detection area by image detection and infrared detection. A detection and determination unit recognizes a detection mass based on the detection information from the aforementioned activation sensor and determines whether a person moving towards the opening direction has been detected. Equipped with, The detection determination unit determines that a person is moving in the direction of the opening when the amount of change per unit time at both ends of the opening width direction of the detected mass detected in the image detection area is less than or equal to a threshold, and the detected mass is detected in the infrared detection area most adjacent to the image detection area. Based on the determination result of the detection and determination unit, a signal is transmitted to control the opening and closing drive of the door. Sensor for automatic doors.

23. A detection determination step in which, based on detection information from an activation sensor installed around an automatically opening and closing controlled door in an opening, which detects a person or object within a detection area, a detection mass is recognized, and when a change in the movement and stopping of the detection mass is detected based on the amount of movement of the detection mass per unit time, it is determined that a moving person has been detected. A control step that controls the opening and closing drive of the door based on the determination result of the detection determination step, A control program for automatic doors that causes a computer processor to execute.

24. A detection determination step is performed to recognize a detection cluster and determine whether a person has been detected based on detection information from an activation sensor installed around an automatically opening and closing controlled door located in an opening, which detects a person or object within the detection area, and to determine whether a person has been detected. A control step that controls the opening and closing drive of the door based on the determination result of the detection determination step, A control program for automatic doors that causes a computer processor to execute, The detection determination step involves defining the opening width direction of the detection area as the X-axis and the depth direction as the Y-axis, and determining that the detection mass is a person when the X-width of the detection mass is greater than or equal to a threshold value in the region above the height of the Y-axis where the X-width of the detection mass is minimum. Control program for automatic doors.

25. A detection determination step is performed by installing an automatically opening and closing controlled door in an opening, where the image detection area is located further away from the opening than the infrared detection area, and based on the detection information of the activation sensor which detects a person or object within the detection area by image detection and infrared detection, recognizing the detection mass and determining whether a person moving towards the opening has been detected. A control step that controls the opening and closing drive of the door based on the determination result of the detection determination step, A control program for automatic doors that causes a computer processor to execute, The detection determination step determines that a person is moving in the direction of the opening when the amount of change per unit time at both ends of the opening width direction of the detected mass detected in the image detection area is less than or equal to a threshold, and the detected mass is detected in the infrared detection area closest to the image detection area. Control program for automatic doors.

26. A detection determination step in which, based on detection information from an activation sensor installed around an automatically opening and closing controlled door in an opening, which detects a person or object within a detection area, a detection mass is recognized, and when a change in the movement and stopping of the detection mass is detected based on the amount of movement of the detection mass per unit time, it is determined that a moving person has been detected. A control step that controls the opening and closing drive of the door based on the determination result of the detection determination step, including, Automatic door control methods.

27. A detection determination step is performed to recognize a detection cluster and determine whether a person has been detected based on detection information from an activation sensor installed around an automatically opening and closing controlled door located in an opening, which detects a person or object within the detection area, and to determine whether a person has been detected. A control step that controls the opening and closing drive of the door based on the determination result of the detection determination step, Includes, The detection determination step involves defining the opening width direction of the detection area as the X-axis and the depth direction as the Y-axis, and determining that the detection mass is a person when the X-width of the detection mass is greater than or equal to a threshold value in the region above the height of the Y-axis where the X-width of the detection mass is minimum. Automatic door control methods.

28. A detection determination step is performed by installing an automatically opening and closing controlled door in an opening, where the image detection area is located further away from the opening than the infrared detection area, and based on the detection information of the activation sensor which detects a person or object within the detection area by image detection and infrared detection, recognizing the detection mass and determining whether a person moving towards the opening has been detected. A control step that controls the opening and closing drive of the door based on the determination result of the detection determination step, Includes, The detection determination step determines that a person is moving in the direction of the opening when the amount of change per unit time at both ends of the opening width direction of the detected mass detected in the image detection area is less than or equal to a threshold, and the detected mass is detected in the infrared detection area closest to the image detection area. Automatic door control methods.

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