Door sensor system, monitoring and sensing unit, and automatic door system

Abstract

This prevents an object attempting to pass through a door while it is being opened from colliding with the door when an object is present on the door pocket side. [Solution] The door sensor system 4 has a protection area A set as the area through which the door 2 passes from the closed position to the open position or the surrounding area, and a monitoring area B set outside the protection area A. The system includes a monitoring sensing unit 52 that, when it determines that an object H1 is present in the monitoring area B, outputs a change command signal to change the opening operation setting, which is a setting related to the opening operation of the door 2.

Description

Technical Field

[0001] The present invention relates to a door sensor system, a monitoring sensing unit incorporated in an automatic door system, and an automatic door system.

Background Art

[0002] In a conventional automatic door system, for example, as shown in Patent Document 1, a pocket sensor for detecting an object existing on the pocket side of a door may be provided. When the pocket sensor detects an object on the pocket side of the door during the opening operation of the door, a driving device for driving the door to open stops the opening operation of the door or slows down the opening operation of the door. As a result, it is possible to prevent a collision between the object and the door on the pocket side.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, if the opening operation of the door stops or slows down due to the detection of the above pocket sensor, an object trying to pass through the door during the opening operation may collide with the door.

[0005] Therefore, the present invention has been made to solve the above-described problems, and its main problem is to prevent an object trying to pass through the door during the opening operation from colliding with the door when an object exists on the pocket side.

Means for Solving the Problems

[0006] That is, the present invention has the following configuration.

[0007] [1] A door sensor system comprising a door sensing unit that outputs an open operation signal to open the door when it determines that an object is present within an open operation area which is a predetermined range from the door opening, The area through which the door moves from the closed position to the open position, or the surrounding area, is set as a protected area, and a monitoring area is set outside the protected area. A door sensor system comprising a monitoring sensing unit that, when it determines that an object exists within the monitoring area, outputs a change command signal to change the opening operation setting, which is a setting related to the opening operation of the door (hereinafter also referred to as the opening operation setting).

[0008] According to the present invention configured in this way, a monitoring area is provided outside the protected area, and if an object is present in the monitoring area, it is detected and the opening operation setting is changed. As a result, the opening operation setting is changed before the object enters the protected area, and the door can be opened earlier than in the conventional method. Therefore, even if an object within the aforementioned monitoring area enters the protected area and the door that is in the process of opening suddenly stops, the door that opened first is already wide open, so it is possible to prevent an object attempting to pass through the door from colliding with it. Furthermore, since the door is more likely to be approaching the open position before an object in the monitoring area enters the protected area, the risk of collision between the door and the object within the protected area is reduced. Also, people in the monitoring area can see the door opening first, quickly detect the risk of collision, and decide not to approach it.

[0009] [2] The aforementioned opening operation setting defines the range of the opening operation area, The door sensing unit that receives the change command signal changes the opening operation setting to expand the opening operation area [1] Door sensor system. With this configuration, by expanding the opening area, the door can be opened earlier for objects that are far from the door and attempting to pass through it.

[0010] [3] The door sensor system according to [2], wherein the door sensing unit expands the opening operation area in the direction of the traffic path, which is the path taken by a pedestrian approaching the door. With this configuration, pedestrians using the main thoroughfare are more likely to use the doors, so the doors can be opened earlier for those who are likely to use them.

[0011] [4] The opening operation area is defined as an inner opening operation area, which is the area inside the door, and an outer opening operation area, which is the area outside the door. The door sensing unit expands both the inner opening operation area and the outer opening operation area, as described in [2] or [3]. With this configuration, by expanding both the inside and outside areas of the door, the risk of a person colliding with the door at the doorway can be reduced, regardless of which side the passerby is coming from.

[0012] [5] The aforementioned opening setting determines the object detection sensitivity in the opening area. The door sensing unit that receives the change command signal changes the opening operation setting to increase the object detection sensitivity, according to any one of the door sensor systems [1] to [4]. With this configuration, the detection sensitivity can be increased, allowing the system to react quickly to anyone entering the opening area and open the door promptly.

[0013] [6] Within the opening area, multiple routes are set up that are assigned to either an opening route or a non-opening route based on the opening setting, and the door sensing unit outputs the opening signal when it determines that the movement route of an object in the opening area matches the opening route. The door sensing unit that has received the change command signal changes the open operation setting so that the non-operation route is switched to the open operation route according to the value indicated by the change command signal, for the door sensor system according to any one of [1] to [5]. With such a configuration, when an object exists in the monitoring area, the non-operation route can be switched to the open operation route, making it easier to open the door than when no object exists in the monitoring area.

[0014] [7] The door sensing unit outputs the open operation signal when it determines that an object exists in the open operation area for a predetermined stay time or longer, The open operation setting determines the predetermined stay time, The door sensing unit that has received the change command signal changes the open operation setting in a direction to shorten the predetermined stay time according to the value indicated by the change command signal, for the door sensor system according to any one of [1] to [6]. With such a configuration, when an object exists in the monitoring area, the waiting time required until the open operation can be shortened, making it easier to open the door than when no object exists in the monitoring area.

[0015] [8] The door sensing unit changes the open operation setting more greatly when the object existing in the monitoring area is located closer to the protection area than when it is located farther from the protection area, for the door sensor system according to any one of [1] to [7]. With this configuration, when an object is detected at a position closer to the protection area within the monitoring area, the door can be opened earlier.

[0016] [9] The monitoring area is divided into a plurality of divided areas with different distances from the protection area, The door sensing unit changes the opening operation setting to the content set corresponding to the one divided area when an object exists in one of the plurality of divided areas, in the door sensor system according to any one of [1] to [8]. With this configuration, the opening operation setting can be changed in multiple steps, enabling detailed settings.

[0017]

[10] The door sensing unit further changes the opening operation setting changed according to the change command signal in a direction to revert to the content of the opening operation setting before the change when the object existing in the monitoring area does not move toward the protection area within a certain time, in the door sensor system according to any one of [1] to [9]. With this configuration, even when an object is detected in the monitoring area, if the object does not approach the door pocket (protection area), the expanded opening operation area or increased detection sensitivity can be restored, and the opening and closing time of the door can be shortened. As a result, the air conditioning efficiency can be ensured.

[0018]

[11] The door sensor system according to any one of [1] to

[10] further includes a protection sensing unit that outputs a protection signal for stopping or decelerating the opening operation of the door when it is determined that an object exists in the protection area. With this configuration, the safety on the door pocket side can be enhanced.

[0019]

[12] It is incorporated into an automatic door system that opens and closes a door between a closed position for closing the doorway and an open position for opening the doorway. An area through which the door passes from the closed position to the open position or its peripheral area is set as a protection area, and a monitoring area is set outside the protection area. A monitoring sensing unit that outputs a change command signal for changing an opening operation setting, which is a setting related to the opening operation of the door, when it is determined that an object exists in the monitoring area. With this configuration, the same effects and benefits as the door sensor system described above can be obtained.

[0020]

[13] A door sensor system as described in any of [1] to

[11] , An automatic door system comprising a door control device that opens the door when it receives the aforementioned opening signal. With this configuration, the same effects and benefits as the door sensor system described above can be obtained.

[0021]

[14] The automatic door system according to

[13] , wherein the door control device changes the door opening speed when it receives the change command signal. With this configuration, the door control device can, for example, slow down the opening of the door, allowing pedestrians attempting to pass through the door to observe the slow movement and become more aware of the possibility of a collision, making it easier for them to react to the door stopping and / or slowing down. Furthermore, objects on the door pocket side will experience less impact even if they collide with the door. Alternatively, the door control device can, for example, speed up the opening of the door, allowing pedestrians to pass through the door without colliding with it. [Effects of the Invention]

[0022] With the present invention configured in this way, it is possible to prevent an object attempting to pass through a door while it is being opened from colliding with the door when an object is present on the door pocket side. [Brief explanation of the drawing]

[0023] [Figure 1] A schematic diagram of the automatic door system according to the first embodiment of the present invention. [Figure 2] A functional block diagram showing the functions of the door sensor system of the same embodiment. [Figure 3] A schematic diagram showing the opening operation area, protection area, and monitoring area in the same embodiment. [Figure 4]A flowchart illustrating the operation of the door sensor system in the same embodiment. [Figure 5] A flowchart illustrating the operation of the door sensor system in the same embodiment. [Figure 6] A schematic diagram illustrating the operation of the door sensor system in the same embodiment. [Figure 7] A schematic diagram showing another embodiment of the door sensing unit in the same embodiment. [Figure 8] A schematic diagram showing the opening operation of a door according to a second embodiment of the present invention. [Figure 9] A schematic diagram showing another aspect of the second embodiment. [Figure 10] A schematic diagram showing the opening operation of a door according to the third embodiment of the present invention. [Figure 11] A schematic diagram showing the opening operation of a door according to a fifth embodiment of the present invention. [Figure 12] A schematic diagram showing another aspect of the fifth embodiment of the present invention. [Modes for carrying out the invention]

[0024] Hereinafter, a first embodiment of the automatic door system according to the present invention will be described with reference to the drawings.

[0025] [First Embodiment] 1. Overview The door sensor system according to this embodiment is incorporated into an automatic door system 100 that operates the door 2 to open and close between a closed position that closes the doorway and an open position that opens the doorway.

[0026] 2. Each component of an automatic door system, including the door sensor system. 2-1. Overall Structure The automatic door system 100 is used in, for example, apartment buildings, commercial facilities such as shopping centers, office buildings, or industrial facilities such as factories. As shown in Figures 1 and 2, the automatic door system 100 comprises a door 2, a door control device 3 for opening and closing the door 2, and a door sensor system 4 for determining whether an object exists in a predetermined area beyond the door 2.

[0027] 2-2. Components of an automatic door system including a door sensor system The following describes the components of the automatic door system 100, which includes the door sensor system 4.

[0028] 2-2-1. Door 2 Door 2 is a single door that slides between a closed position and an open position. In this embodiment, the closed position of door 2 is the position of door 2 when the door opening of door 2 is closed, and the open position of door 2 is the position of door 2 when the door opening of door 2 is open. Note that door 2 is not limited to a single sliding door, but may be a double sliding door that can slide left and right, a double sliding door that retracts two doors into a single door pocket, or a hinged door whose one end rotates in an arc.

[0029] In this embodiment, as shown in Figure 1, a side wall D is provided along the region through which the door 2 passes from the closed position to the open position. The side wall D is, for example, flat and covers one side of the door 2 when the door 2 is in the closed position.

[0030] In this embodiment, the region through which the door 2 passes from the closed position to the open position is the space in which the door 2 is housed in the open position, which is the so-called door pocket. More specifically, the region through which the door 2 passes from the closed position to the open position is the region through which the tail end 2a of the door 2 passes from the closed position to the open position, and more specifically, the region adjacent along the side wall D. Hereinafter, the side on which the side wall D is provided with respect to the region through which the tail end 2a of the door 2 passes will be referred to as the outside of the door 2, and the side opposite to the side on which the side wall D is provided with respect to the region through which the tail end 2a of the door 2 passes will be referred to as the inside of the door 2. There is no side wall D on the inside of the door 2.

[0031] 2-2-2. Door control device 3 The door control device 3 controls the door 2 to switch between an open position and a closed position, and includes, for example, an actuator such as a motor (not shown) and a control unit body (not shown) that controls this actuator.

[0032] 3. Components of the Door Sensor System As shown in Figures 1 and 2, the door sensor system 4 includes a door pocket side sensor 5 provided on the side wall D side and an open operation sensor 6 provided on the door opening side of the door 2. The components of the door sensor system 4 will be described below.

[0033] 3-1. Door pocket side sensor 5 The door pocket side sensor 5 is an object detection sensor that outputs a detection signal indicating whether or not an object H1 exists in the area outside the door 2. For example, the door pocket side sensor 5 can be at least one of the following: a passive infrared sensor, an active infrared sensor, a radar sensor using microwaves or millimeter waves, a LiDAR (Light Detection and Ranging) sensor, an ultrasonic sensor, or a camera sensor using an image sensor.

[0034] Specifically, as shown in Figure 2, the door pocket side sensor 5 includes a protective sensing unit 51 to prevent an object H1 from colliding with the door 2 when the door 2 is opened if the object H1 is present in the area inside the door 2, and a monitoring sensing unit 52 to prevent a pedestrian H2 passing through the door 2 from colliding with the door 2 if an object is present in the area inside the door 2.

[0035] 3-1-1. Protection Sensing Unit 51 The protective sensing unit 51 determines whether an object exists within the protective area A, which is the area through which the door 2 passes from the closed position to the open position, or the surrounding area thereto. In this embodiment, the protective area A is the area through which the door 2 passes from the closed position to the open position, and the surrounding area adjacent to the outside of that area, but it may be either one of the areas.

[0036] Specifically, as shown in Figure 2, the protection sensing unit 51 includes a protection area detection unit 511 that detects whether or not an object H1 exists within the protection area A, and a protection signal output unit 512 that outputs a protection signal to the door control device 3 to stop or slow down the opening operation of the door 2 when the protection area detection unit 511 determines that an object exists within the protection area A.

[0037] Specifically, the protection area detection unit 511 is a detection element such as a light emitter having a light-emitting element and a light-receiving element, a pyroelectric element, a thermopile, an ultrasonic transducer, and / or a millimeter-wave antenna. The protection signal output unit 512 is a signal processing circuit consisting of, for example, an amplification circuit, a filter circuit, an A / D converter, a control microcontroller, and / or an output interface.

[0038] 3-1-2. Monitoring and Sensing Unit 52 The monitoring sensing unit 52 determines whether or not an object exists in monitoring area B, which is an area set outside of protection area A. In this embodiment, monitoring area B is an area outside door 2 that is adjacent to protection area A and is further away from door 2 than protection area A.

[0039] Specifically, as shown in Figure 2, the monitoring sensing unit 52 includes a monitoring area detection unit 521 that detects whether or not an object exists within the monitoring area B, and a change command signal output unit 522 that outputs a change command signal to change the settings related to the opening operation of the door 2 (hereinafter also referred to as the opening operation setting) when the monitoring area detection unit 521 determines that an object exists within the monitoring area B.

[0040] The monitoring area detection unit 521 detects whether or not an object exists within the monitoring area B, and if an object does exist within the monitoring area B, it detects the position of that object within the monitoring area B. Specifically, as shown in Figure 3, the monitoring area detection unit 521 divides the monitoring area B into multiple divided areas at different distances from the protection area A, and detects which divided area of ​​monitoring area B contains the object. The monitoring area detection unit 521 then outputs a signal indicating which divided area of ​​monitoring area B contains the object to the change command signal output unit 522. The monitoring area detection unit 521 is, for example, a light transmitter / receiver having a light-emitting element that emits light and a light-receiving element that receives light, a pyroelectric element, a thermopile, an ultrasonic transducer, and / or a millimeter-wave antenna.

[0041] More specifically, as shown in Figure 3, the monitoring area B is divided into four sections: section B1, section B2, section B3, and section B4, in order of proximity to the protection area A. In this embodiment, sections B1 to B4 are arranged in a direction opposite to the wing wall D and are adjacent to each other. In each section B1 to B4, the width, which represents the distance from the end closest to the protection area A to the other end furthest from the protection area A, increases as the section B1 to B4 moves away from the protection area A. Note that the widths of each section B1 to B4 may be the same. Also, the number of section areas is not limited to four. Furthermore, sections B1 to B4 may be arranged in a direction parallel to the wing wall D.

[0042] The change command signal output unit 522 creates a change command signal based on the signal from the monitoring area detection unit 521 and outputs the change command signal to the open operation sensor 6. Specifically, the change command signal output unit 522 obtains from the monitoring area detection unit 521 whether or not an object exists in monitoring area B, and, if an object exists in monitoring area B, the divided area in which the object is located. If an object exists in monitoring area B, the change command signal output unit 522 creates a change command signal that includes information about the divided area in which the object is located and outputs the change command signal to the open operation sensor 6. The change command signal output unit 522 is a signal processing circuit composed of, for example, an amplification circuit, a filter circuit, an A / D converter, a control microcontroller, and / or an output interface.

[0043] 3-2. Opening Sensor 6 The opening sensor 6 functions as a door sensing unit that outputs an opening signal to open the door 2 when it determines whether an object is present in the opening area C, which is a predetermined area within a range from the doorway of the door 2. Specifically, the opening sensor 6 is an object detection sensor, and at least one of the following can be used: a passive infrared sensor, an active infrared sensor, a radar sensor using microwaves or millimeter waves, a LiDAR (Light Detection and Ranging) sensor, an ultrasonic sensor, or a camera sensor using an image sensor. In this embodiment, the opening area C is located inside the door 2, similar to the protection area A and the monitoring area B.

[0044] Specifically, as shown in Figure 2, the opening operation sensor 6 includes an opening operation setting change unit 61 that receives a change command signal and changes the opening operation setting based on the change command signal, an opening operation setting storage unit 62 that stores the opening operation setting, an opening operation area detection unit 63 that detects whether or not an object exists in the opening operation area C based on the opening operation setting, and an opening operation signal output unit 64 that outputs an opening operation signal if an object exists in the opening operation area C.

[0045] Here, the opening operation setting defines the range of the opening operation area C detected by the opening operation area detection unit 63. Specifically, as shown in Figure 3, the opening operation area C is divided into multiple split opening operation areas C1 to C4, and the opening operation setting sets the area among the split opening operation areas C1 to C4 that the opening operation area detection unit 63 detects.

[0046] More specifically, as shown in Figure 3, the split-open operation area is provided in the direction of the traffic path T, which is the path taken by pedestrians approaching door 2. In this embodiment, the direction of the traffic path T is perpendicular to the opening and closing direction of door 2, and the split-open operation area is provided along the direction perpendicular to the opening and closing direction of door 2. As shown in Figure 3, the direction of the traffic path T only needs to be a direction that passes through at least the split-open operation area C1 closest to the doorway of door 2, and may also be a direction that passes through the monitoring area B. If the direction of the traffic path T is parallel to the opening and closing direction of door 2, it is preferable that the split-open operation areas C1 to C4 be arranged so as to be parallel to the side wall D.

[0047] In this embodiment, the split-open operation area is divided into four split-open operation areas C1 to C4, in order of proximity to the door opening of door 2. In each split-open operation area C1 to C4, the width, which represents the distance from the end closest to the door opening of door 2 to the other end furthest from the door opening of door 2, increases as the split-open operation area moves further away from the door opening of door 2. Note that the widths of each split-open operation area C1 to C4 may be the same. Also, the number of split-open operation areas is not limited to four.

[0048] The opening operation setting change unit 61 receives a change command signal from the change command signal output unit 522 and changes the opening operation setting stored in the opening operation setting storage unit 62 based on the change command signal. In this embodiment, the divided opening operation area C1 closest to the doorway of the door 2 is an opening operation area that the opening operation area detection unit 63 detects regardless of the change command signal, and the opening operation setting change unit 61 changes the opening operation area that the opening operation area detection unit 63 detects between the divided opening operation areas C2 to C4.

[0049] More specifically, when an object H1 located within monitoring area B is positioned close to protection area A, the opening operation setting change unit 61 expands the opening operation area detected by the opening operation area detection unit 63 to include divided opening operation areas further from the doorway of door 2 than when the object H1 is positioned farther from protection area A. For example, if an object is located in divided area B1, which is closest to protection area A, the opening operation setting change unit 61 sets the opening operation area C detected by the opening operation area detection unit 63 to include the divided opening operation area C1 closest to the doorway of door 2, up to the divided opening operation area C4 furthest from the doorway of door 2. On the other hand, if an object is located in divided area B4, which is furthest from protection area A, the opening operation setting change unit 61 sets the opening operation area C detected by the opening operation area detection unit 63 to include the divided opening operation area C1 closest to the doorway of door 2.

[0050] The open operation setting storage unit 62 stores the open operation settings, and is, for example, a memory.

[0051] The opening area detection unit 63 detects whether an object exists within the opening area C, which is the target of detection based on the opening setting. Specifically, the opening area detection unit 63 obtains the opening setting changed by the opening setting change unit 61 from the opening setting storage unit 62 and detects whether an object H2 exists within the divided opening area corresponding to that opening setting. The object H2 detected by the opening area detection unit 63 is, for example, a pedestrian passing through door 2. The opening area detection unit 63 is also a detection element such as a light emitter having a light-emitting element that emits light and a light-receiving element that receives light, a pyroelectric element, a thermopile, an ultrasonic transducer, and / or a millimeter-wave antenna.

[0052] For example, if an object is present in the divided area B1 closest to the protected area A, the opening area detection unit 63 detects whether an object is present in any of the divided opening area C1 closest to the doorway of door 2, or in any of the divided opening area C4 furthest from the doorway of door 2. On the other hand, if an object is present in the divided area B4 furthest from the protected area A, the opening area detection unit 63 detects whether an object is present in the divided opening area C1 closest to the doorway of door 2.

[0053] The open operation signal output unit 64 outputs an open operation signal to the door control device 3 when the open operation area detection unit 63 detects an object within the open operation area C. The open operation signal output unit 64 is a signal processing circuit composed of, for example, an amplification circuit, a filter circuit, an A / D converter, a control microcontroller, and / or an output interface.

[0054] 4.Operation Next, the operation of the door sensor system 4 of this embodiment will be briefly explained with reference to Figures 4 to 6.

[0055] Initially, door 2 is in the closed position, and the open operation area detection unit 63 detects the split open operation area C1, which is closest to the doorway of door 2. The open operation setting storage unit 62 stores the split open operation area C1 as the open operation setting.

[0056] First, the protection area detection unit 511 determines whether or not an object exists within the protection area A (S1). If an object exists within the protection area A, the protection signal output unit 512 outputs a protection signal to the door control device 3 (S2).

[0057] On the other hand, if no object is present in protected area A, the monitoring area detection unit 521 determines whether or not an object is present in monitoring area B (S3). Note that the order of S1 and S3 may be reversed as shown in Figure 5.

[0058] When the monitoring area detection unit 521 determines that object H1 exists within monitoring area B, it determines which subdivision area of ​​monitoring area B object H1 is located in (S4). In this case, as shown in Figure 6, object H1 is located in subdivision area B1, and the monitoring area detection unit 521 determines which subdivision area B1 is closest to the wing wall D.

[0059] Then, the change command signal output unit 522 acquires the position information of the divided area from the monitoring area detection unit 521 and outputs a change command signal to the open operation setting change unit 61 (S5).

[0060] The opening operation setting change unit 61 changes the opening operation setting stored in the opening operation setting storage unit 62 based on the change command signal (S6). Here, as shown in Figure 6, the division area in which object H1 exists is the closest division area among division areas B1 to B4, so the opening operation setting change unit 61 expands the opening operation area C, which is the target of detection by the opening operation area detection unit 63, to the division opening operation area C5, which is furthest from the doorway of door 2.

[0061] The opening area detection unit 63 detects whether or not an object exists within the opening area C based on the changed opening setting (S7). Here, as shown in Figure 6, the opening area detection unit 63 considers the area from divided opening area C1 to divided opening area C5 as the opening area C to be detected.

[0062] As shown in Figure 6, if the opening area detection unit 63 determines, for example, that a pedestrian H2 is present in the divided opening area C5, the opening signal output unit 64 outputs an opening signal to the door control device 3 (S8). On the other hand, if no pedestrian H2 is present in the divided opening areas C1 to C5, the process returns to S1.

[0063] In S7, if, as shown in Figure 6, object H1 is present in the protected area A while door 2 is opening, the protection signal output unit 512 outputs a protection signal to the door control device 3, stopping or slowing down the opening of door 2. In this embodiment, when a pedestrian H2 enters the divided opening area C5, which is further from the doorway than before the opening operation setting was changed, the opening of door 2 begins. As a result, door 2 is closer to the open position compared to before the opening operation setting was changed. Consequently, the possibility of a pedestrian H2 colliding with door 2 is reduced compared to before the opening operation setting was changed.

[0064] In S3, if the monitoring area detection unit 521 determines that no object exists in monitoring area B, the opening operation setting change unit 61 does not change the opening operation setting (S9). In this case, the opening operation area detection unit 63 detects whether or not an object exists in the divided opening operation area C1 based on the unchanged opening operation setting (S10). If the opening operation area detection unit 63 determines that an object exists in the divided opening operation area C1, the opening operation signal output unit 64 outputs an opening operation signal to the door control device 3 (S11). On the other hand, if no pedestrian H2 exists in the divided opening operation areas C1 to C5, the process returns to S1.

[0065] 5. Effects of the First Embodiment With the door sensor system 4 configured in this way, a monitoring area B is provided outside the protected area A. When an object is present in the monitoring area B, it is detected and the door opening setting is changed. As a result, the door opening setting is changed before the object enters the protected area A, allowing the door to be opened earlier than before. With this setup, even if an object in monitoring area B enters protection area A and door 2, which is in the process of opening, suddenly stops, door 2, which opened first, is already wide open, so it is possible to prevent an object attempting to pass through door 2 from colliding with it. Furthermore, since door 2 is more likely to be approaching the open position before an object in monitoring area B enters protected area A, the risk of collision between door 2 and the object in protected area A is also reduced. In addition, a person in monitoring area B can see door 2 opening first, quickly detect the risk of collision with door 2, and decide not to approach it.

[0066] 6. Modified Embodiment of the First Embodiment

[0067] In the above embodiment, the opening operation area C was the area inside the door 2. However, as shown in Figure 7, the opening operation area C may consist of an inner opening operation area CA, which is the area inside the door 2, and an outer opening operation area CB, which is the area outside the door 2, or it may consist of either one of these areas. As shown in Figure 7, the inner opening operation area CA is divided into two areas CA1 and CA2 in order of proximity to the door opening of the door 2, and the outer opening operation area CB is divided into two areas CB1 and CB2 in order of proximity to the door opening of the door 2. Note that the inner opening operation area CA and the outer opening operation area CB may be divided into three or more areas, or they may not be divided at all.

[0068] In this case, when the monitoring area detection unit 521 detects object H1 within monitoring area B, the opening operation setting change unit 61 expands the inner opening operation area CA, which is the target of detection by the opening operation area detection unit 63, to include area CA2 of the inner opening operation area CA, which is away from the doorway of door 2. Also, the opening operation setting change unit 61 expands the outer opening operation area CB, which is the target of detection by the opening operation area detection unit 63, to include area CB2 of the outer opening operation area CB, which is away from the doorway of door 2.

[0069] Then, as shown in Figure 7, the opening area detection unit 63 detects whether or not an object is present in the inner opening area CA and the outer opening area CB. If the opening area detection unit 63 determines that a pedestrian H2a or pedestrian H2b is present in at least one of the areas of the inner opening area CA and the outer opening area CB, the opening signal output unit 64 outputs an opening signal to the door control device 3.

[0070] By the way, if an object is detected in monitoring area B and the opening operation area C expands, and if an object was already present in the expanded area before the expansion, it is conceivable that the opening operation sensor 6 will detect that object and open door 2. In this case, door 2 would open when an object enters monitoring area B, which would be significantly different from the behavior of a conventional door and may cause resistance from the user. Therefore, the opening sensor 6 may output an opening signal to open the door 2 when it determines whether or not there is movement of an object within the opening area C, which is a predetermined range from the doorway of the door 2. This would prevent situations where the door 2 opens simply because an object enters the monitoring area B.

[0071] The opening sensor 6 should be able to detect the presence of an object in a divided opening area or an area outside the opening area that is not being detected. For example, if an object is detected outside the opening area C and a change command signal is received, the opening sensor 6 should partially expand the opening area C in the direction from the doorway toward the object, or partially expand the opening area C along the path from the object toward the doorway. This way, by expanding the opening area C precisely along the path of a passerby, it is possible to open the door earlier for that passerby than before, while suppressing unnecessary opening caused by objects other than the passerby.

[0072] One way to partially expand the area outside the open operation area C is, for example, if the open operation sensor 6 is an active infrared sensor, to increase the number of spots that emit infrared light. Alternatively, if the open operation sensor 6 is a radar sensor using millimeter waves or the like, to change the detection parameters that define the open operation area C.

[0073] [Second Embodiment] Next, the door sensor system 4, monitoring sensing unit 52, and automatic door system 100 according to the second embodiment of the present invention will be described with reference to Figures 8 and 9.

[0074] The door sensor system 4 of the second embodiment differs from the first embodiment in the opening operation setting and the configuration of the opening operation sensor 6. Therefore, these differences and the surrounding structure will be explained, and the explanation of other components will be omitted.

[0075] The opening operation setting in the second embodiment differs from the opening operation setting in the previous embodiment in that it determines the object detection sensitivity of the opening operation area detection unit 63 in the opening operation area C.

[0076] Upon receiving an opening operation setting change signal, the opening operation setting change unit 61 increases the object detection sensitivity of the opening operation area detection unit 63 in the opening operation area C. Specifically, as shown in Figure 8, the opening operation setting change unit 61 increases the object detection sensitivity of the opening operation area detection unit 63 in the divided opening operation area C2, which is further from the doorway of door 2 than the divided opening operation area C1 (the mesh portion in Figure 8).

[0077] According to the door sensor system 4 of the second embodiment, when a passerby H2, who is away from the doorway of the door 2, enters the divided opening operation area C2, the opening operation area detection unit 63 can detect the entry of the passerby H2 earlier compared to before the opening operation setting was changed.

[0078] The opening operation area C in which the opening operation setting change unit 61 increases the object detection sensitivity may be the entire opening operation area C, or it may be a part of the opening operation area C.

[0079] In Figure 8, the open-operated area C, in which the object detection sensitivity of the open-operated area detection unit 63 increases with the output of the change command signal, was the area inside the door 2, but it is not limited to this. As shown in Figure 9, the open-operated area C, in which the object detection sensitivity of the open-operated area detection unit 63 increases with the output of the change command signal, may be both the inner open-operated area CA and the outer open-operated area CB.

[0080] In Figure 9, the opening operation setting change unit 61 increases the object detection sensitivity of the opening operation area detection unit 63 in area CA2, which is further from the doorway of door 2 than area CA1, among areas CA1 and CA2 that constitute the inner opening operation area CA (the mesh portion in Figure 9). Also, the opening operation setting change unit 61 increases the object detection sensitivity of the opening operation area detection unit 63 in area CB2, which is further from the doorway of door 2 than area CB1, among areas CB1 and CB2 that constitute the outer opening operation area CB (the mesh portion in Figure 9).

[0081] In the door sensor system 4 shown in Figure 9, when a change command signal is output, the object detection sensitivity of the opening area detection unit 63 increases in both the inner opening area CA and the outer opening area CB. Therefore, the opening area detection unit 63 can quickly detect when a pedestrian H2a enters the inner opening area CA and when a pedestrian H2b enters the outer opening area CB when passing through door 2. Note that the opening area C in which the object detection sensitivity of the opening area detection unit 63 increases may be at least one of the inner opening area CA and the outer opening area CB, or it may be part or all of the opening area C.

[0082] [Third Embodiment] Next, the door sensor system 4, monitoring sensing unit 52, and automatic door system 100 according to the third embodiment of the present invention will be described with reference to Figure 10.

[0083] The door sensor system 4 of the third embodiment differs from the first embodiment in the opening operation setting and the configuration of the opening operation sensor 6. Therefore, these differences and the surrounding structure will be explained, and the explanation of other components will be omitted.

[0084] The opening operation setting of the third embodiment differs from the previous embodiment in that it turns off the output of the opening operation signal when an object Hn within the opening operation area C crosses the door 2. Here, an object Hn crossing the door 2 means that the object Hn moves along the opening and closing direction of the door 2 or at an angle within a predetermined range relative to the opening and closing direction of the door 2.

[0085] Specifically, within the open-operation area C, multiple routes are set up that are assigned to either an open-operation route or a non-operation route based on the open-operation setting. An open-operation route refers to a route through which an object within the open-operation area C moves toward the door 2. A non-operation route can be defined as at least one of the following: a route through which an object within the open-operation area C moves toward away from the door 2, a route that moves toward across the door 2, or a route through which the distance between the object within the open-operation area C and the door 2 exceeds a predetermined value within a certain period of time. When the open-operation area detection unit 63 determines that an object exists within the open-operation area C, it determines whether the movement route of that object matches an open-operation route or a non-operation route.

[0086] When the open-operation area detection unit 63 determines that the movement route matches an open-operation route, the open-operation signal output unit 64 turns on the output of the open-operation signal. On the other hand, when the open-operation area detection unit 63 determines that the movement route matches a non-operation route, the open-operation signal output unit 64 maintains the output of the open-operation signal in an off state.

[0087] In the third embodiment, as shown in Figure 10, when the monitoring area detection unit 521 determines that an object H1 exists within the monitoring area B, the opening operation setting change unit 61 changes the opening operation setting so that the non-operation route switches to the opening operation route. Specifically, as shown in Figure 10, the opening operation setting change unit 61 also turns on the output of the opening operation signal when it determines that an object Hn crossing the door 2 exists within the opening operation area C.

[0088] According to the door sensor system 4 of the third embodiment, even when the open operation area detection unit 63 determines that an object Hn crossing the door 2 is located within the open operation area C, the open operation signal output unit 64 outputs an open operation signal. As a result, as shown in Figure 10, the door can be opened earlier than in the conventional system, even in response to an object Hn crossing the door 2.

[0089] Multiple routes assigned to either an activated or deactivated route only need to be set up so that their leading edge in the direction of travel is included in the activated area. In other words, whether a route matches an activated route or a deactivated route may be determined based on the movement route taken by a pedestrian entering the activated area C from the periphery of the activated area C.

[0090] [Fourth Embodiment] Next, the door sensor system 4, monitoring sensing unit 52, and automatic door system 100 according to the fourth embodiment of the present invention will be described.

[0091] The door sensor system 4 of the fourth embodiment differs from the first embodiment in the opening operation setting and the configuration of the opening operation sensor 6. Therefore, these differences and the surrounding structure will be explained, and the explanation of other components will be omitted.

[0092] Unlike the previous embodiment, the opening operation setting in the fourth embodiment determines a predetermined dwell time for determining that an object is present in the opening operation area C. When the opening operation area detection unit 63 determines that an object has been present in the opening operation area C for a predetermined dwell time or longer, the opening operation signal output unit 64 outputs an opening operation signal.

[0093] In the fourth embodiment, when the monitoring area detection unit 521 determines that an object exists within the monitoring area B and the change command signal output unit 522 outputs a change command signal, the open operation setting change unit 61 changes the open operation setting to shorten a predetermined dwell time compared to before the change command signal was received.

[0094] According to the door sensor system 4 of the fourth embodiment, when an object is present in the monitoring area B, the time required for the opening operation area detection unit 63 to determine whether an object is present in the opening operation area C can be shortened. As a result, if an object is present in the opening operation area C, the door 2 can be opened quickly.

[0095] [Fifth Embodiment] Next, the door sensor system 4, monitoring sensing unit 52, and automatic door system 100 according to the fifth embodiment of the present invention will be described with reference to Figures 11 and 12.

[0096] The door sensor system 4 of the fifth embodiment differs from the first embodiment in the configuration of the opening operation setting, the monitoring sensing unit 52, and the opening operation sensor 6. Therefore, these differences and the surrounding structure will be explained, and the explanation of other configurations will be omitted.

[0097] Unlike the previous embodiment, the opening operation setting change unit 61 of the fifth embodiment returns the opening operation setting, which was changed based on the change command signal, to the opening operation setting before the change command signal was received, if an object present in the monitoring area B does not move toward the protection area A within a certain period of time. The case in which an object present in the monitoring area B does not move toward the protection area A within a certain period of time includes, as shown in Figure 11, at least one of the following cases: when the object in the monitoring area B moves along the opening and closing direction of the door 2, when the object in the monitoring area B moves away from the side wall D, or when the distance between the object in the monitoring area B and the door 2 is greater than or equal to a predetermined value within a certain period of time. The certain period of time is defined as a predetermined time from the time the monitoring area detection unit 521 detects an object present in the monitoring area B, or a predetermined time from the time the monitoring area detection unit 521 determines that the object present in the monitoring area B is not moving toward the protection area A.

[0098] In the fifth embodiment, similar to the previous embodiment, when the monitoring area detection unit 521 determines that an object exists within the monitoring area B, the change command signal output unit 522 outputs a change command signal, and the open operation setting change unit 61 changes the open operation setting based on the change command signal. In addition, in the fifth embodiment, the monitoring area detection unit 521 detects the direction in which an object present in the monitoring area B moves within a certain period of time.

[0099] As shown in Figure 11, when the monitoring area detection unit 521 determines that an object present in monitoring area B does not move toward protection area A within a certain period of time, the change command signal output unit 522 outputs a signal to the opening operation setting change unit 61 that reverts the opening operation setting to its original state before receiving the change command signal. When the opening operation setting change unit 61 receives the signal from the change command signal output unit 522, it reverts the opening operation setting that was changed based on the change command signal back to the opening operation setting it was in before receiving the change command signal.

[0100] According to the door sensor system 4 of the fifth embodiment, even if an object is detected within the monitoring area B, if the object does not appear to be approaching the protected area A, for example, if it is moving away from the side wall D or remaining in the same position within the monitoring area B, the door 2 can be prevented from opening unnecessarily by reverting the modified opening setting, thereby ensuring air conditioning efficiency.

[0101] In the fifth embodiment, the return to the open operation setting before receiving the change command signal is not limited to cases where an object present in the monitoring area B does not move toward the protected area A within a certain period of time. For example, as shown in Figure 12, if the monitoring area detection unit 521 detects that an object present in the monitoring area B is located in an area away from the side wall D, the change command signal output unit 522 may output a signal to maintain the open operation setting to the open operation setting change unit 61. In this case, even if an object is present in the monitoring area B, the open operation setting change unit 61 does not change the open operation setting.

[0102] [Other embodiments] However, the present invention is not limited to the embodiments described above.

[0103] In the embodiments described above, the opening operation setting was a setting related to the opening operation area C, but it may also be a setting related to the door control device 3. For example, the opening operation setting may define the opening operation speed of the door 2. Specifically, when a change command signal is output, the opening operation setting change unit 61 may slow down the opening operation speed of the door 2. This makes it easier for pedestrians attempting to pass through the door 2 to react to the door stopping and / or slowing down. In addition, objects on the doorway side will experience less impact if they collide with the door 2.

[0104] Alternatively, when a change command signal is output, the opening operation setting change unit 61 may increase the opening speed of the door 2. This allows pedestrians attempting to pass through the door 2 to do so without colliding with it.

[0105] Furthermore, there may be two or more types of opening operation settings that are changed by the change command signal. For example, the opening operation setting change unit 61 may receive the change command signal, expand the opening operation area C, and increase the object detection sensitivity of the opening operation area detection unit 63.

[0106] In the embodiments described above, the door pocket side sensor 5 and the opening operation sensor 6 were separate sensors, but one sensor may perform both the function of the door pocket side sensor 5 and the function of the opening operation sensor 6. If the door pocket side sensor 5 and the opening operation sensor 6 are separate sensors, the information detected by the door pocket side sensor 5 may be transmitted to the opening operation sensor 6 by communication such as CAN communication.

[0107] The opening operation setting change unit 61 may change the manner of changing the opening operation setting according to the opening operation speed of the door 2. For example, it is preferable that the area of ​​expansion of the opening operation area C when the opening operation speed of the door 2 is set to the low-speed mode is larger than the area of ​​expansion of the opening operation area C when the opening operation speed of the door 2 is set to the high-speed mode in the door control device 3. In this case, the opening operation area C is not unnecessarily expanded in the high-speed mode when the door 2 opens wide in a short time, thus preventing unnecessary opening operations. Also, in the low-speed mode when it takes longer for the door 2 to open, the opening operation area can be greatly expanded to ensure a wide opening width when reaching the doorway.

[0108] The opening operation setting change unit 61 may change the manner of changing the opening operation setting according to the movement speed of a passerby heading towards the doorway. For example, it is preferable that the area of ​​expansion of the opening operation area C is larger when the movement speed of an object detected inside and outside the opening operation area C is faster than the area of ​​expansion of the opening operation area C when the movement speed is slower than the predetermined speed. In this case, when the movement speed is slow, i.e., when the time to reach the doorway is long, the opening operation area C is not unnecessarily expanded, which helps to prevent unnecessary opening. Also, when the movement speed is fast, i.e., when the time to reach the doorway is short, the opening operation area can be greatly expanded to ensure a wide opening when the person reaches the doorway.

[0109] The opening operation setting change unit 61 may change the manner of changing the opening operation setting according to the movement speed of the pedestrian heading toward the door pocket. For example, it is preferable that the area of ​​expansion of the opening operation area C is larger when the movement speed of the object detected in monitoring area B is faster than the area of ​​expansion of the opening operation area C when the movement speed is slower than the predetermined speed. In this case, when the movement speed is slow and the time to reach the door pocket is long, that is, when there is a grace period before the protective sensing unit 51 is activated, the opening operation area C is not unnecessarily expanded, thus preventing unnecessary opening. Also, when the movement speed is fast and the time to reach the door pocket is short, that is, when there is no grace period before the protective sensing unit 51 is activated, the opening operation area can be greatly expanded to ensure a wide opening width when the pedestrian reaches the doorway. Furthermore, since the possibility of the distance between the door pocket and the pedestrian being larger at the start of the opening operation is increased, the ability to avoid collisions with the door at the door pocket is improved.

[0110] In each of the above embodiments, the monitoring sensing unit 52 may be provided as an application so that it can be retrofitted to an existing door system or automatic door system to add functionality.

[0111] Furthermore, the present invention can be modified in various ways, as long as it does not contradict its spirit. [Explanation of Symbols]

[0112] 100... Automatic door system 2 doors 3. Door control device 4. Door sensor system 5. Door pocket side sensor 51 ···Protection Sensing Unit 511...Protected Area Detection Unit 512...Protection signal output section 52 ···Monitoring and Sensing Department 521... Monitoring Area Detection Unit 522... Change command signal output section 6. Door opening sensor (door sensing unit) 61 ···Open Operation Setting Change Section 62 ···Open Operation Setting Storage Unit 63 ···Open operation area detection unit 64 ···Output section for the open operation signal A ·· Protected area B ·· Surveillance area B1~B4...Divided area C ···Opening area C1~C4... Split opening operating area CA ···Inner opening operation area CB...Outside opening operating area T...traffic line H1...object H2, H2a, H2b...object, passerby

Claims

1. A door sensor system comprising a door sensing unit that outputs an open operation signal to open the door when it determines that an object is present within an open operation area which is a predetermined range from the door opening, The area through which the door moves from the closed position to the open position, or the surrounding area, is set as a protected area, and a monitoring area is set outside the protected area. A door sensor system comprising a monitoring sensing unit that, when it determines that an object exists within the monitoring area, outputs a change command signal to change the opening operation setting, which is a setting related to the opening operation of the door.

2. The aforementioned opening operation setting defines the range of the opening operation area, The door sensor system according to claim 1, wherein the door sensing unit, upon receiving the change command signal, changes the opening operation setting to expand the opening operation area.

3. The door sensor system according to claim 2, wherein the door sensing unit expands the opening operation area along the path taken by a pedestrian approaching the door.

4. The opening operation area is defined as an inner opening operation area, which is the area inside the door, and an outer opening operation area, which is the area outside the door. The door sensor system according to claim 2, wherein the door sensing unit expands both the inward opening operation area and the outward opening operation area.

5. The aforementioned opening setting determines the object detection sensitivity in the opening area. The door sensor system according to claim 1, wherein the door sensing unit, upon receiving the change command signal, changes the opening operation setting to increase the object detection sensitivity.

6. Within the opening area, multiple routes are set up that are assigned to either an opening route or a non-opening route based on the opening setting, and the door sensing unit outputs the opening signal when it determines that the movement route of an object in the opening area matches the opening route. The door sensor system according to claim 1, wherein the door sensing unit, upon receiving the change command signal, changes the opening operation setting so that the non-operation route switches to the opening operation route according to the value indicated by the change command signal.

7. The door sensing unit outputs the opening signal when it determines that an object has been present in the opening area for a predetermined period of time or longer. The aforementioned opening setting determines the predetermined stay time, The door sensor system according to claim 1, wherein the door sensing unit, upon receiving the change command signal, changes the opening operation setting in a direction that shortens the predetermined dwell time according to the value indicated by the change command signal.

8. The door sensor system according to claim 1, wherein the door sensing unit changes the opening operation setting more significantly when an object present in the monitoring area is located near the protection area than when it is located far from the protection area.

9. The monitoring area is divided into a plurality of sub-areas that are at different distances from the protection area. The door sensor system according to claim 1, wherein the door sensing unit changes the opening operation setting to the content set corresponding to the one divided area when an object is present in one of the plurality of divided areas.

10. The door sensor system according to claim 1, wherein the door sensing unit further changes the open operation setting, which was changed in response to the change command signal, back to the content of the open operation setting before the change, if an object present in the monitoring area does not move toward the protected area within a certain period of time.

11. The door sensor system according to claim 1, further comprising a protection sensing unit that outputs a protection signal to stop or slow down the opening operation of the door when it determines that an object is present within the protection area.

12. It is incorporated into an automatic door system that operates a door to open and close between a closed position that closes the doorway and an open position that opens the doorway. The area through which the door moves from the closed position to the open position, or the surrounding area, is set as a protected area, and a monitoring area is set outside the protected area. A monitoring and sensing unit that, when it determines that an object exists within the monitoring area, outputs a change command signal to change the opening operation setting, which is a setting related to the opening operation of the door.

13. The door sensor system according to claim 1, An automatic door system comprising a door control device that opens the door when it receives the aforementioned opening signal.

14. The automatic door system according to claim 13, wherein the door control device changes the door opening speed when it receives the change command signal.

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