Automatic door control device, automatic door device, and method for controlling an automatic door

Abstract

To provide an automatic door control device which allows positional information of a person or an object to be known through broadening the detection range of optical sensors in a simple manner.SOLUTION: An automatic door control device 28 has detection areas, each of which includes multiple detection spots, around sliding doors 12, and includes a first detection unit 18 and a second detection unit 20 which output detection information when detecting a person or an object in the detection areas, a detection range information generation unit 32 which generates a detection range which is obtained by integrating the detection areas respectively belonging to the first detection unit 18 and the second detection unit 20, a positional information generation unit 34 which generates the positional information of the person or the object in the detection range according to the detection information, and a controller 36 which performs control to open / close the sliding doors 12 according to the positional information.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Conventionally, a system is known in which an optical sensor including a large number of sensor elements is used to detect a person or an object within a detection area of the optical sensor and to control opening and closing of an automatic door (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Normally, for a large number of sensor elements, individual detection spots are assigned in advance for each sensor element, and the system detects the presence of a person or an object by referring to the detection results of the sensor elements for each spot.

[0005] In a system for detecting the presence of a person or an object, it is preferable to set a wider detection range and determine the movement path of the person or the object over a wide range. In order to expand the detection area of an existing optical sensor, it is conceivable to increase the number of sensor elements of one optical sensor and increase the number of spots to be irradiated. However, when the number of sensor elements and the number of spots are increased, the distance from the sensor element to the spot becomes long. For this reason, various improvements are required, such as increasing the irradiation intensity of the sensor element or using higher-performance components to accurately detect reflected light from a distant position.

[0006] An object of the present invention is to provide an automatic door control device, an automatic door device, a method for controlling an automatic door, a position information generation device, and a position information generation method that can simply expand the detection area of an optical sensor to grasp the position information of a person or an object.

Means for Solving the Problems

[0007] According to one aspect of the present invention, there are provided a plurality of detection units each having a detection area including a plurality of detection spots around a door, for detecting a person or an object in the detection area and outputting a detection signal; a detection area information generation unit for generating a detection area obtained by integrating the respective detection areas of the plurality of detection units; a position information generation unit for generating position information of a person or an object in the detection area based on the detection signal; and a control unit for controlling opening and closing of the door based on the position information.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

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Figure 13

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described. In the embodiments, a position information generation device is applied to an automatic door control device, and an automatic door device driven by the automatic door control device will be described in detail. In addition to the automatic door device, the position information generation device and the automatic door control device each have technical significance independently.

[0010] FIG. 1 is a perspective view of an automatic door device. As shown in FIG. 1, the automatic door device 10 includes two sliding doors 12. Each sliding door 12 moves toward the opposite side in the width direction of the automatic door device 10 to open, whereby a pedestrian or an object can pass through the automatic door device 10. In a fully closed state where the ends of the sliding doors 12 are in contact with each other, fixing portions 14 are provided on both sides in the width direction of the sliding doors 12, respectively. The fixing portion 14 is fixed to the housing on which the automatic door device 10 is installed. When the sliding door 12 is in a fully open state, the sliding door 12 and the fixing portion 14 face each other, and the space in front of the fixing portion 14 constitutes a housing portion for housing the sliding door 12 in the fully open state. Note that a guard screen may be provided so as to face the fixing portion 14.

[0011] The automatic door device 10 is provided with a blind 16. The blind 16 is disposed on the sliding door 12 and the fixed portions 14 so as to extend from the end of one fixed portion 14 to the end of the other fixed portion 14 in the width direction of the automatic door device 10. The blind 16 is provided with a first detection unit 18 and a second detection unit 20 (hereinafter, when not particularly distinguished, may be referred to as "detection units 18, 20"). The two detection units 18, 20 are arranged at intervals on the same surface of the blind 16 and face the same direction. The detection units 18, 20 are each constituted by a plurality of optical sensors. The detection units 18, 20 emit light toward a predetermined position or region, and detect the presence of a person or an object based on a change in reflected light from the predetermined position. The detection units 18, 20 output the detection result as a detection signal.

[0012] The first detection unit 18 has a detection area 22 around the sliding door 12, and the second detection unit 20 has a detection area 24 around the sliding door 12. The detection areas 22, 24 are both set on the front side of the sliding door 12 (the side where a person or an object trying to pass through the sliding door 12 approaches). The detection areas 22, 24 are preferably set such that their side edges are in contact with each other so as not to overlap. Note that a part of the detection areas 22, 24 may overlap. Also, in the embodiment, since the automatic door device 10 has two detection units 18, 20, two detection areas 22, 24 are set, but the number of detection units 18, 20 may be increased to increase the number of detection areas 22, 24.

[0013] The detection areas 22, 24 are constituted by a plurality of detection spots 26. That is, the detection areas 22, 24 are each constituted by a set of a plurality of detection spots 26. Note that the detection area does not necessarily have to be an integrated area, and the detection spots 26 may be somewhat separated from each other as long as they are areas managed by one detection unit. Each detection spot 26 corresponds to the irradiation area of each of the plurality of optical sensors. That is, the number of detection spots 26 is the same as the number of optical sensors. Each detection spot 26 is assigned a unique address. The automatic door device 10 identifies the detection spots 26 by the address.

[0014] Figure 2 is a block diagram of an automatic door device. As shown in Figure 2, the automatic door device 10 includes a sliding door 12, an automatic door control device 28, and a drive unit 30. In the figure, each block represents a functional block, and it is not necessary for each block to be realized by independent hardware. Also, the functions realized by one block may be realized by a plurality of hardware connected by a network or the like. In particular, the detection area information generation unit and the position information generation unit included in the automatic door control device 28 may be functions executed within the first or second detection unit, or may be functions realized by a control unit (so-called door controller) realized by hardware different from the first or second detection unit.

[0015] The automatic door control device 28 detects a person or an object around the sliding door 12, and controls the opening or closing of the sliding door 12 based on the detection result. The automatic door control device 28 includes a first detection unit 18, a second detection unit 20, a detection area information generation unit 32, and a position information generation unit 34.

[0016] The detection area information generation unit 32 generates a detection area obtained by integrating detection areas. The detection area is an area that is regarded as one area by integrating a plurality of detection areas and is integrally managed by the automatic door control device 28. Hereinafter, this point will be described in detail with reference to Figure 3.

[0017] Figure 3 is a schematic block diagram showing signal processing when the detection area information generation unit integrates detection areas. In Figure 3, the arrows indicate the flow of information or signals. Figure 4 is a top view of the detection area.

[0018] Referring to FIG. 3, the detection area information generation unit 32 is realized by the detection control unit 38 included in one of the plurality of detection units 18 and 20. The detection units 18 and 20 each include a detection control unit 38 and an optical sensor 40. For convenience of explanation hereinafter, it will be described as if the detection control unit 38 and the optical sensor 40 are separate hardware, but the function of the detection control unit 38 may be provided in the microcomputer (circuit) of the optical sensor 40. One of the detection unit 18 and the detection unit 20 functions as a master (the detection unit 18 in this example), and the other functions as a slave (the detection unit 20 in this example). The detection area is one large area integrating two detection areas 22 and 24, and the detection control unit 38 on the master side generates the detection area. The generated detection area is stored in an area readable by the detection control unit 38. When integrating the detection areas 22 and 24, the detection control unit 38 takes into account the relative positional relationship between the detection areas 22 and 24, and thus the positional relationship between the detection spots 26. In this case, the detection control unit 38 stores the positional relationship of the plurality of detection spots 26 constituting the two detection areas 22 and 24. As the positional relationship of the detection spots 26, for example, in addition to the arrangement of the detection spots 26 in the detection areas 22 and 24, it includes information on which detection spot 26 among the detection spots 26 in one detection area 22 is adjacent to which detection spot 26 in the other detection area 24.

[0019] When a person or an object enters the detection spot 26 managed by the optical sensor 40 and a change occurs in the reflected light and the amount of change in the reflected light exceeds a preset threshold value, the optical sensor 40 outputs, as detection information, a detection signal indicating that a person or an object has been detected in the detection area including the detection spot 26, and area information including the address of the detection spot 26. The detection control unit 38 on the slave side outputs the received area information as it is to the detection control unit 38 on the master side. The detection control unit 38 on the master side determines the position of a person or an object in the detection area based on the area information output from the optical sensor 40 of the detection unit 18 on the master side, the area information output from the optical sensor 40 of the detection unit 18 on the slave side, and the previously generated detection area.

[0020] The detection unit 18 on the master side determines the presence of a person or an object in the detection area based on the area information obtained from two independent detection units 18 and 20. This will be described in detail with reference to FIG. 4.

[0021] As shown in FIG. 4, it is assumed that each detection spot 26 constituting two adjacent detection areas 22 and 24 is assigned a unique address combining numbers and alphabets. The alphabet of the address indicates the row, and the number indicates the column. Also, the symbol after “-” indicates the symbol of the detection area to which the detection spot 26 belongs. In FIG. 4, for the sake of easy understanding of the explanation, the address is used as the reference symbol of each detection spot 26, and the number of detection spots 26 is made significantly less than that of the actual device.

[0022] Referring to FIGS. 3 and 4, the detection control unit 38 pre - holds position - relationship information indicating the positional relationship between a plurality of detection spots 26. The position - relationship information indicates that the detection spot 26 (address: A1 - 22) is adjacent to the right of the detection spot 26 (address: A4 - 24), and the detection spot 26 (address: B1 - 22) is adjacent to the right of the detection spot 26 (address: B4 - 24). The detection control unit 38 generates detection - area information based on this position - relationship information.

[0023] The detection control unit 38 generates position information indicating the position of a person or an object based on the detection - area information and the address of the detection spot 26 included in the area information. That is, the detection control unit 38 functions as a position - information generation unit 34. The position information is information indicating the position of a person or an object in the detection area and can be represented by an address. As an example, from the information indicating that the change amount of the reflected light exceeds a preset threshold at the detection spots 26 (address: A2 - 24 and address: B2 - 24), it can be known that a person or an object is at the position corresponding to the detection spots 26 (address: A2 - 24 and address: B2 - 24).

[0024] Further, the detection control unit 38 determines whether to perform opening control or closing control of the sliding door 12 based on the position information. When the detection control unit 38 determines that there is a person or an object at a predetermined position near the sliding door 12 when the sliding door 12 is in the fully closed state (that is, when it is determined that there is a person or an object within a predetermined detection spot 26 constituting the detection areas 22 and 24), the detection control unit 38 determines to perform opening control of the sliding door 12. Further, when the detection control unit 38 determines that there is no person or object near the sliding door 12 when the sliding door 12 is in the fully open state, the detection control unit 38 determines to perform closing control of the sliding door 12.

[0025] When making a determination on the opening and closing of the sliding door 12, the detection control unit 38 may take into account the moving direction of the person or object. The detection control unit 38 stores the position information over time and calculates the moving direction of the person or object based on the change in the position information over time. By taking this moving direction into account, for example, it can be determined that no opening control is performed when a person or an object is at a predetermined position near the sliding door 12 but the moving direction is not towards the sliding door 12.

[0026] Further, the detection control unit 38 may calculate the future moving direction of the person or object from the change in the position information over time. For example, when a person or an object is moving straight towards the sliding door 12 from a position away from the sliding door 12 within the detection area, it can be predicted that the person or object will move straight with a deviation of several degrees (for example, within 10 degrees) with respect to the current moving direction. The detection control unit 38 calculates the future moving path of the person or object, and when it is predicted that the person or object is moving towards a predetermined position near the sliding door 12, it can be determined to perform opening control before the person or object reaches the predetermined position.

[0027] When making a determination on the opening and closing of the sliding door 12, the detection control unit 38 may take into account the moving speed of the person or object. The detection control unit 38 calculates the moving speed of the person or object from the speed of change of the position information stored over time. By taking this moving speed and moving direction into account, for example, when it is predicted that a person or an object is not at a predetermined position near the sliding door 12 but is moving towards the predetermined position at a relatively high speed, it can be determined to perform opening control before the person or object reaches the predetermined position.

[0028] Further, the detection control unit 38 outputs an open drive signal for opening the sliding door 12 or a close drive signal for closing the sliding door 12 based on the determination result of opening and closing. When it is determined to open the sliding door 12 based on the position information, the detection control unit 38 outputs an open drive signal. Also, when it is determined to close the sliding door 12 based on the position information, the detection control unit 38 outputs a close drive signal.

[0029] Returning to FIG. 2, the return control unit 36 outputs a drive command to the drive unit 30 based on the open drive signal or the close drive signal output from the detection control unit 38.

[0030] In the above example, the detection control unit 38 in the first detection unit 18 executes the generation of the detection area information, the generation of the position information, and the output of the open drive signal or the close drive signal. However, the control unit 36 may acquire the information necessary for these information, and the control unit 36 may generate the detection area information and the position information. In this case, the control unit 36 outputs the open drive signal and the close drive signal. Also, a part of the information generation may be executed by the detection control unit 38 and the rest by the control unit 36.

[0031] The drive unit 30 drives the sliding door 12 based on the open drive signal or the close drive signal. The drive unit 30 is composed of a door engine, a timing belt, etc. built in the blind 16 (see FIG. 1). The drive unit 30 drives the door engine based on the open drive signal or the close drive signal, and drives the sliding door 12 from the fully closed state to the fully open state, or from the fully open state to the fully closed state.

[0032] In the above example, the detection control unit 38 of the first detection unit 18 generates the position information. Therefore, in this case, the detection control unit 38 of the first detection unit 18 functions as a position information generation device. According to the functional block shown in FIG. 2, the master side of the first detection unit 18 or the second detection unit 20, the detection area information generation unit 32, and the position information generation unit 34 constitute the position information generation device 42.

[0033] Hereinafter, the operation of the automatic door device will be described.

[0034] Figures 5 and 6 are flowcharts showing a series of processes when the automatic door device opens the sliding door. Specifically, Figure 5 is a flowchart showing the process of the first detection unit 18 that functions as a master, and Figure 6 is a flowchart showing the process of the second detection unit 20 that functions as a slave.

[0035] In step S1, the first detection unit 18 acquires area information. The area information acquired by the first detection unit 18 in step S1 is the area information of the detection area 22 managed by the first detection unit 18. In step S2, the first detection unit 18 receives area information from the second detection unit 20. The order of step S1 and step S2 may be interchanged.

[0036] In step S3, the first detection unit 18 generates position information. Specifically, the first detection unit 18 reads out a previously created detection area and plots the position of a person or object indicated by the area information on the detection area. Thereby, the position information of the person or object within the detection area is obtained. In step S4, the first detection unit 18 determines whether the opening condition is satisfied. The first detection unit 18 determines whether the opening condition is satisfied based on the position information. When determining whether the opening condition is satisfied, the moving direction and moving speed of the person or object may be taken into account. If it is determined in step S4 that the opening condition is satisfied (Yes in step S4), in step S5, the first detection unit 18 outputs an opening drive signal. Thereby, the control unit 36 can control the drive unit 30 to open the sliding door 12. If it is determined in step S4 that the opening condition is not satisfied (No in step S4), the first detection unit 18 repeats the processes after step S1.

[0037] Referring to Figure 6, the second detection unit 20 on the slave side determines in step S6 whether there is a change in the area information. If there is a change in the area information (Yes in step S6), in step S7, the second detection unit 20 transmits the area information to the first detection unit 18. If there is no change in the area information (No in step S6), the second detection unit 20 repeats the process of step S6.

[0038] According to the embodiment as described above, it is possible to obtain position information within a detection area obtained by integrating the detection areas 22 and 24 of the plurality of detection units 18 and 20. Also, by using the detection area obtained by integrating the detection areas 22 and 24, it is possible to detect a person or an object in a wider range than the detection areas 22 and 24. Further, by using the detection area, it is possible to calculate the moving direction and moving speed of a person or an object straddling the detection areas 22 and 24.

[0039] Also, when integrating the detection areas 22 and 24, the same hardware can be used for the master-side detection unit 18 and the slave-side detection unit 20. That is, when integrating the detection areas 22 and 24, it is only necessary to establish the relationship between the master and the slave among the plurality of detection units 18 and 20 in the initial setting, and this can be realized by software. Therefore, the cost of introducing the automatic door device 10 can be suppressed, and the complexity of the installation work can be reduced.

[0040] Also, in the above example, two detection units 18 and 20 are used, but three or more detection units may be used.

[0041] The present invention is not limited to the above-described embodiment, and each configuration of the embodiment can be appropriately changed without departing from the gist of the present invention. The following modification examples are also within the scope of the present invention.

[0042] 〔First Modification Example〕 FIG. 7 is a schematic block diagram showing signal processing when integrating the detection areas by the detection area information generation unit.

[0043] In addition to the configuration of FIG. 3, a master control unit 100 may be provided. In this case, all of the plurality of detection units 18 and 20 function as slaves and output area information to the master control unit 100. The master control unit 100 generates detection area information and position information based on the area information, and further outputs an open drive signal and a close drive signal to the control unit 36. That is, in this example, all the detection units execute the processes of steps S6 and S7 in FIG. 6, and the master control unit 100 executes the processes of steps S1 to S5 in FIG. 5. Such a modified example can also obtain the same effects as the embodiment.

[0044] 〔Second Modified Example〕 FIG. 8 is a perspective view of an automatic door device according to a second modified example. As shown in FIG. 8, the detection areas may be arranged along the front direction of the sliding door 12. That is, the detection area 22 of the first detection unit is near the sliding door 12, and the detection area 24 of the second detection unit is adjacent to the detection area 22 at a position away from the sliding door 12. By arranging the detection areas 22 and 24 in this way, it becomes possible to detect earlier that a person or an object is moving toward the sliding door 12 from a distant position at a relatively high speed. Thereby, the sliding door 12 is opened at an earlier timing. The arrangement of the detection areas according to the embodiment (that is, the arrangement in which the detection areas are arranged along the opening and closing direction of the sliding door 12) and the arrangement of the detection areas according to the second modified example may be combined, for example, two or more detection areas may be arranged in the opening and closing direction, and two or more may be arranged in the front direction of the sliding door 12.

[0045] 〔Third Modified Example〕 FIG. 9 is a perspective view of an automatic door apparatus according to a third modification, and FIG. 10 is a block diagram of the automatic door apparatus according to the third modification. If the heights at which the first detection unit 18 and the second detection unit 20 are attached (the height from the floor surface on which the detection area is projected) are different, the sizes and intervals of the detection spots 26 are different, and the size of the detection area 22 and the size of the detection area 24 may be different. In this case, the detection area information generation unit 32 may include a conversion unit 102 that converts the sizes and intervals of two adjacent detection spots 26 included in two adjacent detection areas 22 and 24, respectively. The conversion unit 102 holds attachment position information in advance. The attachment position information indicates at least the difference between the attachment height of the first detection unit 18 and the attachment height of the second detection unit 20. The conversion unit 102 converts the size and interval of the detection spot 26 of one of the first detection unit 18 or the second detection unit 20 to the same size and interval as the size and interval of the detection spot 26 of the other based on the difference in the attachment height. In the conversion, the conversion unit 102 adjusts the output of the optical sensor so that the size and interval of the detection spot 26 of one of the detection units 18 and 20 are the same as the size and interval of the detection spot 26 of the other detection unit 18 and 20.

[0046] FIG. 11 is a flowchart showing a series of processes of the automatic door apparatus according to the third modification. The series of processes of the automatic door apparatus according to the third modification includes steps S11 and S12 in addition to the processes in FIG. 5. After the first detection unit 18 receives the area information of the slave (the second detection unit 20) in step S2, in step S11, the first detection unit 18 determines whether the attachment height of itself and the attachment height of the second detection unit 20 on the slave side are the same. If the attachment heights are the same (Yes in step S11), the automatic door apparatus 10 executes the processes after step S3. If the attachment heights are not the same (No in step S11), the conversion unit 102 adjusts the size and interval of the detection spot 26 based on the difference in the attachment height. Thereby, accurate detection area information can be generated even if the attachment heights of the first detection unit 18 and the second detection unit 20 are different.

[0047] 〔Fourth Modification〕 FIG. 12 is a top view of a detection area according to a fourth modification. As shown in FIG. 12, the sizes and intervals of the detection spots 26 of the two detection areas 22 and 24 are different from each other. In this case, among the detection spots 26 of the detection area 22, the detection spot 26 adjacent to the detection area 24 and, among the detection spots 26 of the detection area 24, the detection spot 26 adjacent to the detection area 22 are not arranged at equal intervals and are shifted. In such a case, the detection area information generation unit 32 (see FIG. 2) generates a detection area in consideration of the shift of the detection spots 26. The shift between the detection spots 26 belonging to the respective adjacent detection areas 22 and 24 can be represented using various two-dimensional coordinate systems such as the distance D1 between the centers of the detection spots 26 and the angle A1 of the straight line connecting the centers. The detection area information generation unit 32 generates one detection area information integrating the detection areas 22 and 24 in consideration of the shift between the detection spots 26.

[0048] 〔Fifth Modification〕 FIG. 13 is a perspective view of an automatic door apparatus according to a fifth modification. As shown in FIG. 13, the detection area 104 may be divided into a plurality of areas for management, and the control mode of the sliding door 12 may be changed for each area. The control mode of the sliding door 12 refers to a series of processes from detecting a person or an object to driving the sliding door 12. Therefore, changing the control mode means changing the detection process of a person or an object or changing the driving method of the sliding door 12. As an example of changing the detection process of a person or an object, the threshold value used as a reference when the optical sensor 40 outputs a detection signal may be changed. When the threshold value set for the optical sensor 40 is increased, the detection accuracy of a person or an object becomes lower. Therefore, for example, a detection signal is not output when only a part of a person's body enters the detection spot 26, and a detection signal is output when the entire body of the person enters the detection spot 26. As another example of changing the detection process of a person or an object, in some areas, the movement path of a person or an object is predicted, and in other areas, the movement path of a person or an object is not predicted and the sliding door 12 is driven immediately when a person or an object is detected. When changing the detection process of a person or an object, it is preferable that the time from detecting a person or an object to driving the sliding door 12 in the area closer to the sliding door 12 is shorter than the time in the case of detection in other areas. As an example of changing the driving method of the sliding door 12, the driving direction of the sliding door 12 may be changed or the driving speed of the sliding door 12 may be changed.

[0049] In the example shown in FIG. 13, the detection area 104 is divided into a reserve area 104A located at the position farthest from the sliding door 12, a protection area 104C near the sliding door 12, and an activation area 104B between the reserve area 104A and the protection area 104C. The reserve area 104A, the protection area 104C, and the activation area 104B overlap with the detection area 22 and the detection area 24 respectively, and are arranged to straddle the two areas. Each detection spot 26 is assigned to either the reserve area 104A, the protection area 104C, or the activation area 104B, and the detection area information generation unit 32 holds the assigned information in advance. When generating the detection area, the detection area information generation unit 32 includes information regarding which area each detection spot 26 is assigned to. That is, the detection area information includes information regarding the positions of the respective areas 104A to 104C.

[0050] When a person or an object is detected in the reserve area 104A while the sliding door 12 is in the closing operation, the first detection unit 18 outputs a signal to the control unit predicting that the person or the object is approaching the sliding door 12 and reducing the closing speed of the sliding door 12. Thereby, the closing speed of the sliding door 12 is reduced, and it becomes easier to reverse the driving direction of the sliding door 12 when a person or an object approaches the sliding door 12. At this time, when outputting a signal for reducing the closing speed of the sliding door 12, the moving direction and the moving speed of the person or the object may be taken into account. The activation area 104B is referred to when determining whether to drive the sliding door 12 in the fully closed state toward the fully open state. When a person or an object is detected in the activation area 104B, the first detection unit 18 determines that the opening condition is satisfied (see step S5 in FIG. 5). When a person or an object is detected in the protection area 104C while the sliding door 12 is in the closing operation, the first detection unit 18 predicts that there is a person or an object near the sliding door 12 and reverses the sliding door 12 to drive it toward the fully open state.

[0051] In the above example, the threshold value of the optical sensor 40 corresponding to the detection spot 26 in the reserve area 104A may be increased, and the threshold value of the optical sensor 40 corresponding to the detection spot 26 in the protection area 104C may be decreased.

Description of Reference Numerals

[0052] 10: Automatic door device, 12: Sliding door, 18: First detection unit, 20: Second detection unit, 22: Detection area, 24: Detection area, 26: Detection spot, 28: Automatic door control device, 30: Driving unit, 32: Detection area information generation unit, 34: Position information generation unit, 36: Control unit, 38: Detection control unit, 42: Position information generation device, 102: Conversion unit, 104: Detection area

Claims

1. A plurality of detection units each having a detection area including a plurality of detection spots around the door, and outputting detection information when a person or an object in the detection area is detected; A detection area information generation unit that generates detection area information regarding a detection area obtained by integrating the respective detection areas of the plurality of detection units; A position information generation unit that generates position information of the person or object in the detection area based on the detection information and the detection area information; A control unit that controls opening and closing of the door based on the position information generated by the position information generation unit, The position information generation unit further calculates a moving speed of the person or object in the detection area based on the detection information, The control unit controls the door to open when the moving speed of the person or object calculated by the position information generation unit is equal to or higher than a threshold value, The detection area information generation unit includes a conversion unit that converts the size or interval of detection spots to be the same when at least one of the sizes or intervals of two adjacent detection spots included in two adjacent detection areas is different. An automatic door control device.

2. The control unit controls the door to open when the position of the person or object indicated by the position information is a predetermined position near the door. The automatic door control device according to claim 1.

3. The position information generation unit further calculates a moving direction of the person or object in the detection area based on the detection information, The control unit controls the door to open when the moving direction is facing the door. The automatic door control device according to claim 1 or 2.

4. The detection area is divided into at least a first area and a second area, The control unit controls opening and closing of the door based on different control modes when the position of the person or object indicated by the position information is within the first area and when the position of the person or object is within the second area. The automatic door control device according to any one of claims 1 to 3.

5. The first area spans a plurality of detection areas of the plurality of detection units. The automatic door control device according to claim 4.

6. At least two of the plurality of detection areas are adjacent in a direction away from the door. The automatic door control device according to claim 5.

7. The door is a sliding door, At least two of the plurality of detection areas are adjacent in the opening and closing direction of the sliding door. The automatic door control device according to claim 5.

8. a door, an automatic door control device for controlling the opening and closing of the door, a driving unit for driving the door based on the control by the automatic door control device, and the automatic door control device includes a plurality of detection units each having a detection area composed of a plurality of detection spots around the door, and outputting detection information when detecting a person or an object within the detection area; a detection area information generation unit for generating detection area information regarding a detection area obtained by integrating the respective detection areas of the plurality of detection units; a position information generation unit for generating position information of the person or the object within the detection area based on the detection information and the detection area information; a control unit for controlling the opening and closing of the door based on the position information generated by the position information generation unit, the position information generation unit further calculates a moving speed of the person or the object within the detection area based on the detection information, the control unit controls the door to open when the moving speed of the person or the object calculated by the position information generation unit is equal to or higher than a threshold value, the detection area information generation unit includes a conversion unit for converting the size or the interval of the detection spots to be the same when at least one of the size or the interval of two adjacent detection spots included in two adjacent detection areas is different, an automatic door device.

9. a plurality of detection units each having a detection area composed of a plurality of detection spots around the door, and outputting detection information when detecting a person or an object within the detection area; a detection area information generation unit for generating detection area information regarding a detection area obtained by integrating the respective detection areas of the plurality of detection units; a position information generation unit for generating position information of the person or the object within the detection area based on the detection information and the detection area information; a method for controlling an automatic door using an automatic door control device including a control unit for controlling the opening and closing of the door based on the position information generated by the position information generation unit, the method comprising: detecting the person or the object within the detection area by the detection unit; generating the detection area information by the detection area information generation unit; generating the position information by the position information generation unit; controlling the opening and closing of the door based on the position information by the control unit; and calculating a moving speed of the person or the object within the detection area by the position information generation unit based on the detection information. A step of controlling the door to open when the moving speed of the person or object calculated by the position information generation unit is equal to or higher than a threshold value by the control unit; A method for controlling an automatic door, comprising: a step of converting the size or interval of detection spots to be the same when at least one of the sizes or intervals of two adjacent detection spots included in two adjacent detection areas is different by the detection area information generation unit.

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