Automatic door device, sensor for automatic door, method for controlling automatic door, control program for automatic door, sensor control method for automatic door, and sensor control program for automatic door

Abstract

This automatic door device comprises: an infrared sensor 31A that detects a person or an object in an infrared detection area; an image sensor 31B that detects a person or an object in an image detection area; an infrared detection determination unit 103 that determines whether a person or an object has been detected by the infrared sensor 31A; an image detection determination unit 104 that determines whether a person or an object has been detected by the image sensor 31B; a decision unit 105 that decides whether to open the door on the basis of each of the determination results from the infrared detection determination unit 103 and the image detection determination unit 104; and a control unit 106 that causes the door to open on the basis of the decision result indicating that the door is to be opened.

Description

Technical Field

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

Background Art

[0002] In an automatic door, a technique is known in which a person or an object is detected by transmitting and receiving light from an infrared sensor in a detection area near the automatic door (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As a result of the inventor's independent study of an automatic door that detects a person or an object by transmitting and receiving light from an infrared sensor as described above, the following problems have been recognized. That is, since the detection area of the infrared sensor is relatively narrow, the timing at which the sensing result of the infrared sensor can be obtained tends to be delayed, and as a result, the timing at which it is determined to operate the door to open tends to be delayed. As a result, there is a problem that a passerby has to decelerate or stop in front of the door, which causes stress to the passerby.

[0005] On the other hand, in an automatic door, it is assumed that a person or an object is detected using an image sensor having a detection area that is relatively wider than that of an infrared sensor. However, in the case of an image sensor, when something that is difficult to determine whether it is a person or an object (for example, a shadow of a person due to backlight) approaches, there is a problem that false detection may occur even though there is no passerby trying to pass through the automatic door, resulting in unnecessary opening.

[0006] The present invention has been made in view of such circumstances, and an object thereof is to provide a technology capable of determining whether to open a door at a timing earlier than when using an infrared sensor alone, and reliably determining whether a person or an object has been detected as compared with when using an image sensor alone.

Means for Solving the Problems

[0007] In order to solve the above problems, an automatic door device according to an aspect of the present invention includes an infrared detection area provided around a door provided in an opening, an infrared sensor that detects a person or an object in the infrared detection area, an image detection area provided around the door, an image sensor that detects a person or an object in the image detection area, an infrared detection determination unit that determines whether a person or an object has been detected by the infrared sensor, an image detection determination unit that determines whether a person or an object has been detected by the image sensor, a determination unit that determines whether to perform an opening operation of the door based on each determination result of the infrared detection determination unit and the image detection determination unit, and a control unit that causes the door to perform an opening operation based on a determination result indicating that the opening operation is to be performed.

[0008] An automatic door sensor according to an aspect of the present invention includes an infrared detection area provided around a door provided in an opening, an infrared sensor that detects a person or an object in the infrared detection area, an image detection area provided around the door, an image sensor that detects a person or an object in the image detection area, an infrared detection determination unit that determines whether a person or an object has been detected by the infrared sensor, an image detection determination unit that determines whether a person or an object has been detected by the image sensor, and a transmission determination unit that determines whether to transmit an opening operation signal for causing the door to perform an opening operation based on each determination result of the infrared detection determination unit and the image detection determination unit.

[0009] A method for controlling an automatic door according to an aspect of the present invention includes steps of: obtaining infrared data from an infrared sensor that has an infrared detection area provided around a door provided at an opening and detects a person or an object within the infrared detection area; obtaining image data from an image sensor that has an image detection area provided around the door and detects a person or an object within the image detection area; determining whether a person or an object is detected by the infrared sensor based on the infrared data; determining whether a person or an object is detected by the image sensor based on the image data; determining whether to perform an opening operation of the door based on each determination result as to whether a person or an object is detected by the infrared sensor and the image sensor; and causing the door to perform the opening operation based on a determination result indicating that the opening operation is to be performed.

[0010] A control program for an automatic door according to an aspect of the present invention is a control program for an automatic door that causes a processor to execute steps of: obtaining infrared data from an infrared sensor that has an infrared detection area provided around a door provided at an opening and detects a person or an object within the infrared detection area; obtaining image data from an image sensor that has an image detection area provided around the door and detects a person or an object within the image detection area; determining whether a person or an object is detected by the infrared sensor based on the infrared data; determining whether a person or an object is detected by the image sensor based on the image data; determining whether to perform an opening operation of the door based on each determination result as to whether a person or an object is detected by the infrared sensor and the image sensor; and causing the door to perform the opening operation based on a determination result indicating that the opening operation is to be performed.

[0011] A method for controlling an automatic door according to an aspect of the present invention includes a step of outputting infrared data by an infrared sensor provided with an infrared detection area around a door provided in an opening, a step of outputting image data by an image sensor provided with an image detection area around the door, and a step of determining whether to transmit an opening operation signal for causing the door to perform an opening operation based on the infrared data and the image data for an area where the infrared detection area and the image detection area overlap.

[0012] A control program for an automatic door according to an aspect of the present invention is a sensor control program for an automatic door for causing a computer to execute a step of outputting infrared data by an infrared sensor provided with an infrared detection area around a door provided in an opening, a step of outputting image data by an image sensor provided with an image detection area around the door, and a step of determining whether to transmit an opening operation signal for causing the door to perform an opening operation based on the infrared data and the image data for an area where the infrared detection area and the image detection area overlap.

[0013] In addition, any combination of the above components, and those obtained by converting the expression of the present invention among a method, an apparatus, a system, a recording medium, a computer program, etc. are also effective as aspects of the present invention.

Advantages of the Invention

[0014] According to the present invention, it is possible to provide a technology for an automatic door that can determine whether to open the door at a timing earlier than when using only an infrared sensor, and can reliably determine whether a person or an object has been detected compared to when using only an image sensor.

Brief Description of the Drawings

[0015]

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Mode for Carrying Out the Invention

[0016] First Embodiment With reference to FIGS. 1 and 2, the outline of the automatic door 100 of the first embodiment will be described. FIG. 1 is a front view schematically showing the automatic door 100 of the present embodiment. The automatic door 100 mainly includes a door portion 10 that is driven to open and close, a controller 20 that controls the entire automatic door 100, a door sensor 30 for detecting a passerby, a door engine 40 that generates power, and a power transmission portion 50 that transmits the power to the door portion 10. The automatic door 100 of the present embodiment is an example of an automatic door device. In the following description, the left-right direction in FIG. 1 is the horizontal direction (the opening and closing direction of the automatic door), the up-down direction in FIG. 1 is the vertical direction, and the direction orthogonal to the left-right direction and the up-down direction in FIG. 1 is the depth direction. However, the automatic door 100 can be installed in any posture, and its installation direction is not limited to the following examples.

[0017] The door portion 10 includes a first movable door 11L and a second movable door 11R that are each movably provided in the horizontal direction, a first fixed door 12L and a second fixed door 12R that are provided at positions overlapping the first movable door 11L and the second movable door 11R when they are in the open state, and a guide mechanism 13 that guides the horizontal movement of the first movable door 11L and the second movable door 11R. The first movable door 11L, the second movable door 11R, the first fixed door 12L, and the second fixed door 12R are configured in a vertically long rectangular shape in which the vertical dimension is larger than the horizontal dimension. When the door portion 10 is driven to open, the first movable door 11L shown on the left side in FIG. 1 is driven leftward, and the second movable door 11R shown on the right side in FIG. 1 is driven rightward. Also, when the door portion 10 is driven to close, contrary to the open drive, the first movable door 11L is driven rightward, and the second movable door 11R is driven leftward. Note that the number and shape of the doors constituting the door portion 10 are not limited to the above, and can be appropriately designed according to the needs of the installation location. Similarly, the movable direction of the door portion 10 is not limited to the horizontal direction, and may be a direction inclined from the horizontal direction.

[0018] The guide mechanism 13 includes a traveling rail 131, a door wheel 132, a guide rail 133, and a stabilizer 134. The traveling rail 131 is a columnar rail member that extends horizontally over the entire movable range above the movable doors 11L and 11R. Two door wheels 132 are provided on the upper parts of the movable doors 11L and 11R respectively, and each movable door 11L and 11R is suspended from the traveling rail 131. When each movable door 11L and 11R is driven to open and close in the horizontal direction, the door wheel 132 rolls on the traveling rail 131, enabling a smooth opening and closing operation. The guide rail 133 is a groove-shaped rail member that extends horizontally over the entire movable range below the movable doors 11L and 11R. The stabilizer 134 projects from the lower parts of the movable doors 11L and 11R and fits into the groove-shaped guide rail 133. When each movable door 11L and 11R is driven to open and close in the horizontal direction, the stabilizer 134 moves along the guide rail 133, so that the vibration of each movable door 11L and 11R in the depth direction can be suppressed.

[0019] The controller 20 can set various parameters related to the opening and closing of the door unit 10. For example, the controller 20 can adjust set values such as the opening and closing speed, the opening and closing strength, and the opening width. The opening and closing speed is the horizontal speed of the first movable door 11L and the second movable door 11R, and the directions of the speeds of both doors are opposite to each other. Also, different values may be set for the opening and closing speed during normal opening and closing and at other times. For example, in the case of so-called reversal in which, during normal closing drive of the door unit 10, the opening drive is switched to avoid a passerby being pinched between the first and second movable doors 11L and 11R that are closing, the speeds of the first and second movable doors 11L and 11R during that opening drive may be set to values different from the speeds during normal opening drive.

[0020] The opening and closing strength is the magnitude of the force when the movable doors 11L and 11R are opened and closed, and is controlled by the generated torque value of the motor 42 described later. Similar to the above opening and closing speed, it is preferably basically the same opening and closing strength for the movable doors 11L and 11R. Also, different opening and closing strengths may be set during normal opening and closing and other times. The opening width is the horizontal interval between the first movable door 11L and the second movable door 11R when the door portion 10 is fully open. As shown in FIG. 1, if the moving distance between the fully closed position and the fully open position of the first movable door 11L is W1 and the moving distance between the fully closed position and the fully open position of the second movable door 11R is W2, the opening width is represented by W1 + W2.

[0021] Refer to FIG. 2. FIG. 2 is a block diagram schematically showing the functions of the automatic door 100. Each functional block shown in the following figures is realized, in terms of hardware, by a computer having arithmetic, control, storage, input, and output functions, various electronic elements, mechanical parts, etc., and is realized, in terms of software, by a computer program or the like. Here, however, functional blocks realized by their cooperation are depicted. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by combinations of hardware and software.

[0022] The controller 20 includes a control device 21, a storage device 22, a communication device 23, and a data processing device 24. The control device 21 is realized by an arithmetic processing device mounted on a microcontroller and is in charge of various information processing and control in the automatic door 100. The control device 21 controls the door engine 40 based on the detection result of the door sensor 30 to open and close the door portion 10. Also, the control device 21 can open and close the automatic door 100 in response to receiving an opening and closing command signal for opening and closing the automatic door 100 from a worker's work terminal or a remote computer via the communication device 23.

[0023] The storage device 22 is a general-purpose memory that stores various data of the automatic door 100.

[0024] The communication device 23 exchanges various information with communication devices outside the automatic door 100 through wired or wireless connections. For example, the communication device 23 can communicate with a work terminal used by a worker who has come to the site for the installation, maintenance, and inspection of the automatic door 100. As a result, the worker can check the information of each part of the automatic door 100 and input various data of the automatic door 100 on the work terminal. When the communication device 23 has a communication function via a public information communication network such as the Internet, information checking and data input of the automatic door 100 can be performed from a remote computer.

[0025] The data processing device 24 processes the infrared data of the infrared sensor 31A and the image data of the image sensor 31B in the activation sensor unit 31 described later and transmits the processing results to the control device 21.

[0026] Referring to FIG. 1 again. The door sensor 30 includes an activation sensor unit 31 for activating the automatic door 100 and an auxiliary sensor 32. The activation sensor unit 31 includes an infrared sensor 31A for detecting a person or an object within an infrared detection area 71, which will be described later, defined for the automatic door 100, and an image sensor 31B for detecting a person or an object within an image detection area 73, which will be described later, defined for the automatic door 100. The activation sensor unit 31 is provided on the indoor side (for example, the front side of the paper surface of FIG. 1) and the outdoor side (for example, the back side of the paper surface of FIG. 1), respectively, and can detect passers-by approaching from either side.

[0027] The infrared sensor 31A is disposed on the surface of the blind 60 above the door portion 10. The infrared sensor 31A includes a light projecting unit that projects infrared light toward the floor surface and a light receiving unit that receives the reflected light from the floor surface. The infrared sensor 31A transmits, as infrared data, the amount of received light that the light projecting unit has projected and received in the vicinity of the opening of the automatic door 100 to the data processing device 24. When a person or an object such as a passerby or a passing object approaches the automatic door 100 and blocks the light, the amount of received light by the light receiving unit changes. Therefore, a person or an object is detected based on the change in the amount of received light. When a person or an object is detected based on the amount of received light by the infrared sensor 31A, the door engine 40 is driven by the controller 20 to open the door portion 10. The infrared detection area 71 (see FIG. 3), which is the detection area of the infrared sensor 31A, is set based on, for example, its installation location, the arrangement and type of the light projecting unit and the light receiving unit, and the light projecting and receiving directions.

[0028] The image sensor 31B is an imaging device such as a CMOS, CCD, and TOF (Time Of Flight) type camera, for example. The image sensor 31B is disposed, for example, on the surface of the blind 60 above the door portion 10, has an optical axis direction obliquely downward from the installation position, and captures an image in front of the automatic door 100. The image sensor 31B acquires, in real time, an image of a person or an object entering the automatic door 100 including the background, and transmits the acquired image data in the vicinity of the opening to the data processing device 24. The data processing device 24 performs image recognition of a person or an object based on the image data. When a person or an object is detected based on the image data by the image sensor 31B, the door engine 40 is driven by the controller 20 to open the door portion 10. The image detection area 73 (see FIG. 3), which is the detection area of the image sensor 31B, is set based on its installation location, imaging direction, and angle of view.

[0029] Also, as shown in FIG. 1, the activation sensor unit 31 may include a touch plate 31C provided on at least one of the movable doors 11L and 11R, and the door unit 10 may be driven when the touch plate 31C is pushed by a passerby. Also, in a tourist facility, an amusement park, etc., in addition to or instead of detecting and operating a passerby, a mode of driving the door unit 10 by an operation of a facility staff member is also assumed. At this time, the facility staff member can drive the door unit 10 remotely with an operation panel provided at a position away from the door unit 10 or an operation terminal capable of communicating with the automatic door 100.

[0030] The auxiliary sensor 32 is a photoelectric sensor provided on the first fixed door 12L and the second fixed door 12R of the door unit 10. The auxiliary sensor 32 includes a light projecting unit provided on one of the first fixed door 12L and the second fixed door 12R, and a light receiving unit provided on the other. The light projecting unit and the light receiving unit are provided at the same height from the floor surface, and light such as infrared rays projected horizontally from the light projecting unit is received by the light receiving unit. When a passerby passes through the opening and blocks the light while the door unit 10 is open, the amount of light received by the light receiving unit changes, so that the passerby can be detected. The main purpose of the auxiliary sensor 32 is to prevent a passerby from being pinched by a closing door (closing protection). When the auxiliary sensor 32 detects a passerby during the closing operation of the movable doors 11L and 11R, the controller 20 performs reverse control to stop the closing drive and switch to the opening drive. Thereby, it is possible to prevent a passerby from being pinched by the closing movable doors 11L and 11R.

[0031] Note that the auxiliary sensor 32 may be configured to detect a passerby by reflection of radio waves such as microwaves or ultrasonic waves. Also, the auxiliary sensor 32 may be provided at a location different from the fixed doors 12L and 12R. For example, the auxiliary sensor 32 may be provided on the blind 60, or may be installed on the ceiling near the automatic door 100. If a plurality of such auxiliary sensors 32 are provided, although the cost will increase, the safety will be dramatically enhanced.

[0032] The door engine 40 includes a motor drive unit 41, a motor 42, and a drive pulley 43. The motor drive unit 41 is composed of an intelligent power module (IPM), and generates a voltage or current for driving the motor 42 under the control of the controller 20. The motor 42 as a power source for generating rotational power can be configured as various known motors. In this embodiment, as an example, it is a brushless motor provided with an encoder 42A using a Hall element. The position of the rotor of the motor 42 detected by the encoder is input to the motor drive unit 41, and a driving voltage or driving current corresponding thereto is applied to the motor 42, thereby generating a desired rotational power. The drive pulley 43 rotationally driven by the motor 42 is connected to the rotor of the motor 42 via a gear mechanism (not shown) and rotates in conjunction therewith.

[0033] The power transmission unit 50 transmits the power generated by the door engine 40 to the door part 10 and drives the movable doors 11L and 11R to open and close. The power transmission unit 50 includes a power transmission belt 51, a driven pulley 52, and a connecting member 53. The power transmission belt 51 is an annular timing belt having a large number of teeth formed on its inner peripheral surface. It is wound around the drive pulley 43 on the right side of FIG. 1 and wound around the driven pulley 52 on the left side of FIG. 1. In this state, the horizontal dimension of the power transmission belt 51 is equal to the horizontal distance between the drive pulley 43 and the driven pulley 52, and is also approximately the same as the horizontal dimension of the movable range of the movable doors 11L and 11R. When the drive pulley 43 rotates by the motor 42, the driven pulley 52 rotates in conjunction via the power transmission belt 51.

[0034] The connecting member 53 connects the movable doors 11L and 11R to the power transmission belt 51 respectively and drives them to open and close. Here, one movable door is connected to the upper side of the power transmission belt 51, and the other movable door is connected to the lower side of the power transmission belt 51. In the example of FIG. 1, when the power transmission belt 51 rotates counterclockwise, it becomes an opening operation in which the first movable door 11L moves to the left and the second movable door 11R moves to the right. When the power transmission belt 51 rotates clockwise, it becomes a closing operation in which the first movable door 11L moves to the right and the second movable door 11R moves to the left.

[0035] In the automatic door 100 configured as described above, when a passerby is detected based on the detection result of the door sensor 30 and a predetermined sensing condition is satisfied, under the control of the controller 20, the door engine 40 generates a counterclockwise rotational power to drive the door portion 10 to open. Further, after the opening drive, when the state where the passerby is not detected continues for a predetermined time, under the control of the controller 20, the door engine 40 generates a clockwise rotational power to drive the door portion 10 to close. When the door sensor 30 detects a passerby during the closing drive, the controller 20 performs a reverse control to switch from the closing drive to the opening drive.

[0036] FIG. 3 is a schematic diagram showing the detection areas of the infrared sensor 31A and the image sensor 31B. The detection area 70 has a three-dimensional range from the floor surface to the blind area 60 where the activation sensor unit 31 is disposed and up to the ceiling. The detection area 70 in FIG. 3 represents only the floor surface for simplicity. The detection area 70 includes an infrared detection area 71 that is the detection area of the infrared sensor 31A and an image detection area 73 that is the detection area of the image sensor 31B. In the present embodiment, the entire infrared detection area 71 overlaps with a part of the image detection area 73.

[0037] The infrared detection area 71 in FIG. 3 is composed of a plurality of infrared detection spots 72 arranged in 11 rows in a direction parallel to the opening and closing direction of the automatic door 100 and in 5 columns in the depth direction. Addresses 1C, 1D, ···, 5L, 5M corresponding to the positions in the array are assigned to each infrared detection spot 72. Each assigned address corresponds to the position information of each infrared detection spot 72. Note that the shape of each infrared detection spot 72 and the shape of the entire infrared detection area 71 may be polygons other than circular, elliptical, rectangular, or square. The shape of the infrared detection spot 72 varies depending on its installation location, the arrangement and type of the light projecting unit and the light receiving unit, and the light projecting and receiving directions.

[0038] The image detection area 73 in FIG. 3 is composed of a plurality of image detection spots 74 arranged in 15 rows in a direction parallel to the opening and closing direction of the automatic door 100 and in 10 columns in the depth direction. Each image detection spot 74 is assigned addresses 1A, 1B, ···, 10N, 10O corresponding to the positions in the array. Each assigned address corresponds to the position information of each image detection spot 74. The shape of the image detection spot 74 in the present embodiment is set to match the shape of the infrared detection spot 72. The shape of the image detection spot 74 varies depending on its installation location, imaging direction, field of view angle, etc.

[0039] Hereinafter, the infrared detection spot 72 and the image detection spot 74 may be collectively referred to as detection spots. The assignment of various numbers to each of the detection spots shown above is only an example, and other aspects may also be possible. Also, the number of detection spots in the detection area 70 is arbitrary, and the detection spots in the detection area 70 are not limited to a matrix or grid shape and can be divided into any shape.

[0040] FIG. 4 is a functional block diagram of the controller 20 in the present embodiment. The controller 20 includes an infrared data acquisition unit 101, an image data acquisition unit 102, an infrared detection determination unit 103, an image detection determination unit 104, a determination unit 105, a control unit 106, and a storage unit 107.

[0041] The infrared data acquisition unit 101 acquires the infrared data supplied from the infrared sensor 31A. The image data acquisition unit 102 acquires the image data supplied from the image sensor 31B. The infrared detection determination unit 103 determines whether a person or an object is detected by the infrared sensor 31A. The image detection determination unit 104 determines whether a person or an object is detected by the image sensor 31B.

[0042] The determination unit 105 determines whether to perform the opening operation of the movable door 11 of the automatic door 100 based on the respective determination results of the infrared detection determination unit 103 and the image detection determination unit 104. The control unit 106 causes the movable door 11 to perform the opening operation based on the determination result that the opening operation is to be performed by the determination unit 105.

[0043] The storage unit 107 stores various data of the automatic door 100. For example, the storage unit 107 stores the reference light reception amount for each infrared detection spot 72 of the light reflected by each infrared detection spot 72 and received by the infrared sensor 31A, and the reference image of the image detection area 73. The reference light reception amount for each infrared detection spot 72 and the reference image of the image detection area 73 may be generated by machine learning the reference light reception amount for each infrared detection spot 72 and the image of the image detection area 73 from the time-series data of the infrared data and the image data when there is no detection target in the detection area 70, or those determined in advance may be used. Further, the storage unit 107 stores various threshold values. Furthermore, the storage unit 107 stores the infrared data and the image data in time series.

[0044] With reference to FIG. 5, the processing of the controller 20 of the present embodiment will be described. FIG. 5 is a flowchart showing the detection process S100 of a person or an object in the controller 20 of the present embodiment. The detection process S100 is executed at a predetermined time interval.

[0045] In step S101, the image data acquisition unit 102 acquires image data from the image sensor 31B. The image data acquisition unit 102 supplies the acquired image data to the image detection determination unit 104.

[0046] In step S102, the image detection determination unit 104 classifies the state of each image detection spot 74 into any one of an on state, a temporary on state, and an off state based on the image data. Here, the on state is a state in which it is determined that a person or an object exists in the detection spot, the temporary on state is a state in which the determination as to whether a person or an object exists in the detection spot is suspended, and the off state is a state in which it is determined that no person or object exists in the detection spot.

[0047] Referring to FIG. 3, the on state, the temporary on state, and the off state will be described. For example, when persons 81A and 81B are present in the image detection area 73, the image data of the corresponding image detection spots 74 (for example, the image detection spots 74 to which addresses 3F to 5F, 3G to 5G, and addresses 3I to 5I, 3J to 5J are assigned) are clearly different from the reference image depending on the presence or absence of persons 81A and 81B. As a result, these corresponding image detection spots 74 are classified as the on state. For example, when there is a shadow 82 of a person in the image detection area 73, the image data of the corresponding image detection spots 74 (for example, the image detection spots 74 to which addresses 4M to 4O, 5M to 5O are assigned) are different from the reference image depending on the presence or absence of the shadow 82 of the person. However, since the shadow 82 of the person does not appear clearly in the image data compared to the case where the person 81A is actually present, the difference between the image data and its reference data is relatively small in the portion of the shadow 82 of the person. As a result, these corresponding image detection spots 74 are classified as the temporary on state. For example, for the image detection spots 74 where no person, object, shadow, etc. exists and the image data is substantially the same as the reference image, they are classified as the off state.

[0048] That is, the image detection determination unit 104 compares the reference image with the image data, and obtains the number of pixels of the image data for which the difference in luminance value from the reference image for each image detection spot 74 is equal to or greater than a predetermined threshold value. For example, when the number of such pixels is greater than the first pixel number threshold value, the image detection determination unit 104 classifies the image detection spot 74 as the on state. When the number of such pixels is less than the second pixel number threshold value which is less than the first pixel number threshold value, the image detection determination unit 104 classifies the image detection spot 74 as the off state. When the number of such pixels is equal to or less than the first pixel number threshold value and equal to or greater than the second pixel number threshold value, the image detection determination unit 104 classifies the image detection spot 74 as the temporary on state.

[0049] In step S103, the image detection determination unit 104 determines whether all the image detection spots 74 are in the off state. If all the image detection spots 74 are in the off state (Y in step S103), the image detection determination unit 104 determines that no person or object is detected by the image sensor 31B, supplies the determination result that all the image detection spots 74 are in the off state to the infrared data acquisition unit 101, and the detection process S100 proceeds to step S109. In step S109, after the infrared detection process is executed, the detection process S100 ends. The infrared detection process will be described later.

[0050] If not all the image detection spots 74 are in the off state (N in step S103), the detection process S100 proceeds to step S104.

[0051] In step S104, the image detection determination unit 104 determines whether there is an image detection spot 74 in the on state. If there is no image detection spot 74 in the on state (N in step S104), there will be a temporarily on state image detection spot 74 in the image detection area 73. This is because it is determined in step S103 that not all the image detection spots 74 are in the off state and it is determined in step S104 that there is no image detection spot in the on state. At this time, the image detection determination unit 104 temporarily determines that a person or object has been detected and supplies a temporarily on state signal to the determination unit 105, and the detection process S100 proceeds to step S110. After the composite detection process is executed in step S110, the detection process S100 ends. The composite detection process will be described later.

[0052] If there is an image detection spot 74 in the on state (Y in step S104), the image detection determination unit 104 determines that a person or object is detected by the image sensor 31B, and the detection process S100 proceeds to step S105.

[0053] In step S105, the determination unit 105 determines whether the detected person or object is moving. For example, the determination unit 105 reads out previous image data (for example, image data from one frame before) from the storage unit 107, and determines whether the positions of the image detection spots 74 in the on state are different between the previous image data and the current image data. When the positions of the image detection spots 74 in the on state are different, the determination unit 105 determines that the detected person or object is moving. Similarly, when a person or object is detected using the infrared sensor 31A, when the positions of the infrared detection spots 72 in the on state are different between the previous infrared data and the current infrared data, it is determined that the detected person or object is moving. If it is moving (Y in step S105), the detection process S100 proceeds to step S106. If it is not moving (N in step S105), the detection process S100 ends.

[0054] In step S106, the determination unit 105 determines whether the detected movement vector of the person or object is directed towards the opening. For example, the determination unit 105 obtains, as the movement vector, the change from the position of the image detection spot 74 in the on state in the previous image data to the position of the image detection spot 74 in the on state in the current image data. Here, when a plurality of adjacent image detection spots 74 are in the on state, it is considered that a person or object is constituted by this aggregate of the plurality of image detection spots 74, and the movement vector of the person or object by this aggregate of image detection spots is calculated (see FIG. 3). In this case, the starting point or the ending point of this movement vector may be, for example, the position of the center of gravity in the opening / closing direction of the aggregate of image detection spots for the opening / closing direction of the automatic door 100, and the position of the point closest to the opening of the automatic door 100 in the image detection spot 74 closest to the opening of the automatic door 100 for the depth direction of the automatic door 100. As in the example of FIG. 3, when the person 81A is walking towards the opening of the automatic door 100, the movement vector of the person 81A is determined to be directed towards the opening of the automatic door 100. On the other hand, when the person 81B passes in front of the automatic door 100, the movement vector of the person 81B is determined not to be directed towards the opening of the automatic door 100. When it is directed towards the opening (Y in step S106), the detection process S100 proceeds to step S107. When it is not directed towards the opening (N in step S106), the detection process S100 ends.

[0055] In step S107, the determination unit 105 transmits an activation signal for activating the automatic door 100 to the control unit 106.

[0056] In step S108, the control unit 106 controls the door engine 40 to perform an opening operation of the movable door 11 in response to the activation signal. Thereby, the passerby can pass through the automatic door 100. After step S108, the detection process S100 ends.

[0057] Using FIG. 6, the infrared detection process S109 will be described. Steps S114 to S117 are basically the same as steps S105 to S108 described above, except for points specifically mentioned, and thus the description thereof will be omitted.

[0058] In step S111, the infrared data acquisition unit 101 acquires infrared data from the infrared sensor 31A. The infrared data acquisition unit 101 supplies the acquired infrared data to the infrared detection determination unit 103.

[0059] In step S112, the infrared detection determination unit 103 classifies the state of each infrared detection spot 72 into any one of an on state, a temporary on state, and an off state based on the infrared data. Referring to FIG. 3 again. For example, when there is a person 81B in the infrared detection area 71, the light reception amount in the infrared data of the corresponding infrared detection spot 72 (for example, the infrared detection spot 72 to which addresses 3I to 5I, 3J to 5J are assigned) is larger than the reference value of that infrared detection spot. As a result, that infrared detection spot 72 is classified into the on state. In the case of an infrared detection spot 72 where there is no person, object, puddle, etc., the light reception amount at the corresponding infrared detection spot 72 hardly varies from the reference value of that infrared detection spot 72. As a result, that infrared detection spot 72 is classified into the off state. When there is, for example, a puddle 83 in the infrared detection area 71, the light reception amount in the infrared data of the corresponding infrared detection spot 72 (for example, the infrared detection spot 72 to which addresses 3C to 3E are assigned) varies from the reference value of that infrared detection spot 72, but is smaller than the light reception amount when a person 81B is detected. As a result, that infrared detection spot 72 is classified into the temporary on state.

[0060] That is, based on the infrared data, the infrared detection determination unit 103 obtains, for each infrared detection spot 72, the difference between the amount of received light of the light reflected from each infrared detection spot 72 and the reference value for each infrared detection spot 72. When the difference is greater than the first received light amount threshold value, the infrared detection spot 72 is classified as the on state. When the difference is less than the second received light amount threshold value that is less than the first received light amount threshold value, the infrared detection spot 72 is classified as the off state. When the difference is equal to or greater than the second received light amount threshold value and equal to or less than the first received light amount threshold value, the infrared detection spot 72 is classified as the temporary on state. In the present embodiment, the second received light amount threshold value is set so that the amount of received light due to the human shadow 82 is equal to or less than the second received light amount threshold value. Therefore, the infrared detection spot 72 where the human shadow 82 exists is classified as the off state.

[0061] In step S113, the infrared detection determination unit 103 determines whether there is an infrared detection spot 72 in the on state. When there is an infrared detection spot 72 in the on state (Y in step S113), the determination result indicating that there is an infrared detection spot 72 in the on state is supplied to the determination unit 105, and the detection process S100 proceeds to step S114. Such a case where all the image detection spots 74 are in the off state and any one of the infrared detection spots 72 is in the on state includes, for example, a case where the color of the clothing worn by a person passing through the automatic door 100 is close to the color of the floor material. Further, when the infrared detection area 71 has a single detection area outside the image detection area 73, it is conceivable that a person or an object exists in this single detection area. On the other hand, when there is no infrared detection spot 72 in the on state (N in step S113), no person or object is detected near the opening of the automatic door 100, and the infrared detection process S109 ends. After the end of the infrared detection process S109, since the detection process S100 ends, in this case, the movable door 11 does not perform an opening operation.

[0062] In step S114, the determination unit 105 determines whether the detected person or object is moving. If it is moving (Y in step S114), the infrared detection process S109 proceeds to step S115. If it is not moving (N in step S114), the infrared detection process S109 ends.

[0063] In step S115, the determination unit 105 determines whether the motion vector of the detected person or object is directed toward the opening. If it is directed toward the opening (Y in step S115), the infrared detection process S109 proceeds to step S116. If it is not directed toward the opening (N in step S115), the infrared detection process S109 ends.

[0064] In step S116, the determination unit 105 transmits an activation signal for activating the automatic door 100 to the control unit 106.

[0065] In step S117, the control unit 106 controls the door engine 40 to open the movable door 11 in response to the activation signal. After step S117, the infrared detection process S109 ends.

[0066] The composite detection process S110 will be described with reference to FIG. 7. Steps S121, S126 to S128 are basically the same as steps S105, S106 to S108 described above, except for points specifically mentioned, and thus their descriptions are omitted.

[0067] In step S121, the determination unit 105 determines whether the detected person or object is moving. If it is moving (Y in step S121), the composite detection process S110 proceeds to step S122. If it is not moving (N in step S121), the composite detection process S110 ends.

[0068] In step S122, the infrared data acquisition unit 101 acquires infrared data from the infrared sensor 31A. The infrared data acquisition unit 101 supplies the acquired infrared data to the infrared detection determination unit 103.

[0069] In step S123, the infrared detection determination unit 103 classifies the state of each infrared detection spot 72 into one of an on state, a temporary on state, and an off state based on the infrared data. Since step S123 is the same as step S112 except as otherwise noted, the description thereof is omitted.

[0070] In step S124, the infrared detection determination unit 103 determines whether the infrared detection spot 72 corresponding to the temporarily on state image detection spot 74 is in the on state or the temporary on state. Regarding step S124, the case where the image detection spot 74 with a human shadow 82 in FIG. 3 (the image detection spots 74 with addresses 4M to 4O and 5M to 5O) is classified into the temporary on state will be described as an example. The infrared detection determination unit 103 determines whether the infrared detection spot 72 (the infrared detection spots 72 with addresses 4M and 5M) at a position overlapping the temporarily on state image detection spot 74 is in the on state or the temporary on state. Here, as described above, in the present embodiment, the second light reception amount threshold is set so that the light reception amount due to the human shadow 82 is equal to or less than the second light reception amount threshold. Therefore, the infrared detection spot 72 where the human shadow 82 exists is classified into the off state without being classified into the on state or the temporary on state. In this case, the infrared detection determination unit 103 determines that the infrared detection spots 72 with addresses 4M and 5M are not in the on state or the temporary on state.

[0071] When the corresponding infrared detection spot 72 is in the on state or the temporary on state (Y in step S124), the infrared detection determination unit 103 supplies an image on switching signal to the determination unit 105, and the composite detection process S110 proceeds to step S125. When the corresponding infrared detection spot 72 is not in the on state or the temporary on state, that is, when the corresponding infrared detection spot 72 is in the off state (N in step S124), the infrared detection determination unit 103 determines that no person or object is detected by the infrared sensor 31A, and the composite detection process S110 ends. Therefore, when the image detection spot 74 is in the temporary on state and the infrared detection spot 72 corresponding to the image detection spot 74 is in the off state, no person or object is detected, and the movable door 11 does not perform an opening operation.

[0072]

[0072] In step S125, the determination unit 105 regards the image detection spot 74 in the temporary on-state as being in the on-state, and switches the state of the image detection spot 74 from the temporary on-state to the on-state. Accordingly, the determination unit 105 determines that a person or an object is detected by the image sensor 31B.

[0073] In S126, when it is determined that the motion vector is directed toward the opening (Y in step S126), after the execution of steps S127 and S128, the movable door 11 will perform an opening operation. Accordingly, when the image detection spot 74 is in the temporary on-state and the infrared detection spot 72 corresponding to the image detection spot 74 is in the on-state or the temporary on-state, if the sensing condition of step S126 is satisfied (Y in step S126), the movable door 11 will perform an opening operation. Note that when the image detection spot 74 is in the temporary on-state and the infrared detection spot 72 corresponding to the image detection spot 74 is in the off-state, even if an infrared detection spot 72 at a position different from the image detection spot 74 is in the temporary on-state, the image detection spot 74 is not regarded as being in the on-state, and the movable door 11 does not perform an opening operation.

[0074] In summary, when at least one of the infrared detection spot 72 and the image detection spot 74 is in the on-state, that is, when at least one of the infrared detection determination unit 103 and the image detection determination unit 104 determines that a person or an object is detected, if a predetermined sensing condition (steps S105, S106, S114, S115, etc.) is satisfied, the automatic door 100 is activated. When the image detection spot 74 is in the temporary on-state, if the infrared detection spot 72 corresponding to the image detection spot 74 is in the on-state or the temporary on-state and a predetermined sensing condition (steps S121, S126, etc.) is satisfied, the automatic door 100 is activated.

[0075] In addition, in this embodiment, for the image detection spot 74 classified as the temporary on state, whether it corresponds to the on state or the off state is determined based on the state of the infrared detection spot 72 (for example, step S124), but it is not limited to this. For example, for the infrared detection spot 72 classified as the temporary on state, whether it corresponds to the on state or the off state may be determined based on the state of the image detection spot 74 at the same position as the infrared detection spot 72. That is, when one of the detection spots of the infrared detection spot 72 and the image detection spot 74 is classified as the temporary on state, whether it corresponds to the on state or the off state may be determined based on the classification of the other detection spot at the same position.

[0076] Hereinafter, the operation and effects of this embodiment will be described.

[0077] Since the infrared detection area 71 is relatively narrow, the timing at which the sensing result of the infrared sensor 31A can be obtained tends to be delayed, and as a result, the timing at which it is determined to drive the movable door 11 to open tends to be delayed. As a result, there is a problem that a passerby needs to decelerate or stop in front of the automatic door 100, which causes stress to the passerby.

[0078] On the other hand, in an automatic door, it is assumed that a person or an object is detected using an image sensor 31B having a detection area relatively wider than that of the infrared sensor 31A. However, when using the image sensor 31B, when something that is difficult to determine whether it is a person or an object (for example, a shadow of a person due to backlight) approaches, the automatic door 100 is often set to be opened in consideration of safety. At this time, there is a problem that the automatic door 100 opens earlier than necessary before the passerby actually reaches the detection area, or there may be a false detection even though there is no passerby trying to pass through the automatic door 100, resulting in a wasteful opening.

[0079] The automatic door 100 of this embodiment uses both an infrared sensor 31A and an image sensor 31B to determine whether to perform the opening operation of the movable door 11. Specifically, the infrared detection determination unit 103 and the image detection determination unit 104 respectively determine whether a person or an object is detected by the infrared sensor 31A and the image sensor 31B, and the determination unit 105 determines whether to perform the opening operation of the movable door 11 based on the respective determination results of the infrared detection determination unit 103 and the image detection determination unit 104. According to this configuration, in the automatic door 100, it is possible to determine whether to perform the door opening operation at a timing earlier than when using the infrared sensor 31A alone, and it is possible to surely determine whether a person or an object has been detected compared to when using the image sensor 31B alone.

[0080] Here, when the infrared sensor 31A and the image sensor 31B are used in combination in the automatic door 100, it is assumed that both perform detection processing independently of each other. However, in this case, if one of the infrared sensor 31A and the image sensor 31B correctly detects a person or an object but the other makes a false determination, there is a possibility that unexpected unnecessary opening may occur.

[0081] In this embodiment, each infrared detection spot 72 and each image detection spot 74 are classified into an on state, a temporarily on state, and an off state. According to this configuration, a state in which it is not possible to determine whether the detection spot is in the on state or the off state from the detection results of each of the infrared sensor 31A and the image sensor 31B can be set as the temporarily on state. Further, in this embodiment, when both the infrared detection spot 72 and the image detection spot 74 at the same position are in the temporarily on state, at least one of the states of the infrared detection spot and the image detection spot in the temporarily on state is regarded as the on state. According to this configuration, since it is possible to determine whether to perform the opening operation of the movable door 11 based on the detection results of both the infrared sensor 31A and the image sensor 31B, unnecessary opening of the automatic door 100 can be suppressed.

[0082] In this embodiment, the image detection determination unit 104 obtains the number of pixels for which the difference in luminance values between the image data of the image detection spot 74 and the reference image of the image detection spot 74 is equal to or greater than a predetermined threshold value. The image detection determination unit 104 classifies the state of the image detection spot 74 as the on state when the number of pixels is greater than the first pixel number threshold value, classifies it as the off state when the number of pixels is less than the second pixel number threshold value which is less than the first pixel number threshold value, and classifies it as the temporary on state when the number of pixels is equal to or greater than the second pixel number threshold value and equal to or less than the first pixel number threshold value. According to this configuration, it becomes possible to accurately classify the state of the image detection spot 74 into any one of the on state, the temporary on state, and the off state.

[0083] In this embodiment, the infrared detection determination unit 103 obtains the difference between the light reception amount for each infrared detection spot 72 and the reference value of the light reception amount determined for each infrared detection spot 72. The infrared detection determination unit 103 classifies the state of the infrared detection spot 72 as the on state when the difference in the light reception amount is greater than the first light reception amount threshold value, classifies it as the off state when the difference in the light reception amount is less than the second light reception amount threshold value which is less than the first pixel number threshold value, and classifies it as the temporary on state when the difference in the light reception amount is equal to or greater than the second light reception amount threshold value and equal to or less than the first light reception amount threshold value. According to this configuration, it becomes possible to accurately classify the state of the infrared detection spot 72 into any one of the on state, the temporary on state, and the off state.

[0084] In this embodiment, the image detection area 73 is larger than the infrared detection area 71, and the determination unit determines whether to perform the opening operation of the movable door 11 based on the determination result of the image detection determination unit 104 in the area outside the infrared detection area 71 and inside the image detection area 73. According to this configuration, it becomes possible to suppress the delay in the timing for determining to open the movable door 11.

[0085] As described above, the present invention has been described based on the embodiments. It is understood by those skilled in the art that the embodiments are examples, and various modifications are possible for each of the constituent elements and combinations of each processing process, and such modifications are also within the scope of the present invention.

[0086] The following describes a modification example.

[0087] In the embodiment, it is determined in the controller 20 whether a person or an object has been detected. However, the present invention is not limited to this. For example, it may be determined in the activation sensor unit 31 whether a person or an object has been detected. In this case, the activation sensor unit 31 includes an infrared detection determination unit 103 and an image detection determination unit 104, and it may further include a transmission determination unit 108 (see FIG. 8) that determines whether to transmit a detection signal indicating that a person or an object has been detected to the control unit 106 of the controller based on the respective determination results of the infrared detection determination unit 103 and the image detection determination unit 104. In this case, the activation sensor unit 31 is an example of a sensor for an automatic door.

[0088] In the embodiment, in step S125, the image detection spot 74 in the temporarily-on state is regarded as being in the on state. However, the present invention is not limited to this. The infrared detection spot 72 in the temporarily-on state may be regarded as being in the off state.

[0089] In the embodiment, the infrared detection determination unit 103 determines that a person or an object has been detected based on the fact that there is at least one infrared detection spot 72 in the on state. However, the present invention is not limited to this. The infrared detection determination unit 103 may determine that a person or an object has been detected based on the fact that the number of infrared detection spots 72 in the on state is equal to or greater than a predetermined number or the total area of the infrared detection spots 72 in the on state is equal to or greater than a predetermined total area. Similarly, the image detection determination unit 104 may also determine that a person or an object has been detected based on the fact that the number of image detection spots 74 in the on state is equal to or greater than a predetermined number or the total area is equal to or greater than a predetermined total area.

[0090] In the embodiment, the state of the image detection spot 74 is classified based on the comparison between the number of pixels whose difference in the luminance value is equal to or greater than a predetermined threshold and the pixel number threshold by obtaining the number of such pixels, but the present invention is not limited thereto. For example, when an edge of a person or an object is detected by the continuity of pixels whose difference in the luminance value is equal to or greater than a predetermined threshold among adjacent pixels in the image detection spot 74, the image detection spot 74 may be classified as being in the on state. Further, by obtaining the total area of pixels whose difference in the luminance value is equal to or greater than a predetermined threshold in the image detection spot 74, the on state, the pseudo-on state, and the off state of the image detection spot 74 may be classified based on the comparison between this total area and predetermined first and second area thresholds. Further, for example, the on state, the pseudo-on state, and the off state of the image detection spot 74 may be classified by image recognition.

[0091] In the embodiment, the number of pixels whose difference in the luminance value is equal to or greater than a predetermined threshold is obtained, but the present invention is not limited thereto. For example, the number of pixels whose difference in the color difference between the image data of the image detection spot 74 and the reference image of the image detection spot 74 is equal to or greater than a predetermined threshold may be obtained. Therefore, the number of pixels whose difference in at least one of the luminance value and the color value is equal to or greater than a predetermined threshold may be obtained.

[0092] In the embodiment, the states of the infrared detection spot 72 and the image detection spot 74 are classified into the on state, the pseudo-on state, and the off state, respectively, but the present invention is not limited thereto. For example, the states of the infrared detection area 71 and the image detection area 73 may be classified into the on state, the pseudo-on state, and the off state, respectively. In this case, for example, similar to the case of the infrared detection spot 72 and the image detection spot 74, when both the infrared detection area 71 and the image detection area 73 are in the pseudo-on state, at least one of the infrared detection area 71 and the image detection area 73 may be regarded as being in the on state.

[0093] In the embodiment, although the image data is first acquired in step S101 and the process related to the classification of the image detection spots 74 based on the image data is executed, it is not limited thereto. The infrared data may be acquired first, and after the process related to the classification of the infrared detection spots 72 is executed, the process related to the classification of the image detection spots 74 based on the image data may be executed.

[0094] In the embodiment, the infrared detection area 71 is configured within the image detection area 73, but it is not limited thereto, and it may have an area outside the image detection area 73. In this case, the determination unit 105 may determine whether to perform the opening operation of the automatic door 100 based on the determination result of the infrared detection determination unit 103 in the area outside the image detection area 73 in the infrared detection area 71. Also, the infrared detection area 71 may be larger than the image detection area 73. Furthermore, the infrared detection area 71 and the image detection area 73 may completely coincide.

[0095] In the embodiment, although the infrared detection area 71 and the image detection area 73 at least partially overlap, it is not limited thereto. For example, the infrared detection area 71 and the image detection area 73 may not overlap. In this case, for example, when there are a predetermined number or more of the temporarily-on infrared detection spots 72 and image detection spots 74 respectively, at least one of the temporarily-on infrared detection spots 72 and image detection spots 74 may be regarded as being in the on state.

[0096] In the embodiment, after determining whether the detected person or object is moving (e.g., in step S105 etc.), it is determined whether the movement vector of the person or object is directed towards the opening of the automatic door 100 (e.g., in step S106 etc.), but it is not limited thereto. For example, the movement vector of the person or object may be obtained from the change in the position of the detection spot in the temporarily-on state, and it may be determined whether the movement vector is directed towards the opening of the automatic door 100. In this case, for example, when the image detection spot 74 is classified as the temporarily-on state and the movement vector of the image detection spot 74 in the temporarily-on state is directed towards the opening of the automatic door 100, the determination unit 105 may determine to perform the opening operation when the infrared detection spot 72 at the position overlapping with the image detection spot 74 in the temporarily-on state is classified as the temporarily-on state. Also, when the process related to the classification of the infrared detection spot 72 is executed prior to the process related to the classification of the image detection spot 74 described above, similarly, when the infrared detection spot 72 is classified as the temporarily-on state and the determination unit 105 determines that the movement vector of the infrared detection spot 72 in the temporarily-on state is directed towards the opening of the automatic door 100, the determination unit 105 may determine to perform the opening operation when the image detection spot 74 at the position overlapping with the infrared detection spot 72 in the temporarily-on state is classified as the temporarily-on state. Therefore, when one of the infrared detection spot 72 and the image detection spot 74 is classified as the temporarily-on state and the movement vector of the detection spot in the temporarily-on state is directed towards the opening of the automatic door 100, the opening operation of the movable door 11 may be performed when the other of the infrared detection spot 72 and the image detection spot 74 at the position overlapping with the detection spot in the temporarily-on state is classified as the temporarily-on state.

[0097] In the embodiment, when both the infrared detection spot 72 and the image detection spot 74 at positions overlapping with each other are in the temporarily-on state, considering the safety of passage, the state of the detection spot in the temporarily-on state is regarded as the on state so that the automatic door 100 opens, but the state of the detection spot in the temporarily-on state may be regarded as the off state.

[0098] In the embodiment, the sizes of the infrared detection spot 72 and the image detection spot 74 were the same, but the present invention is not limited to this, and their sizes may be different. When the sizes of the two are different, for example, when one of the infrared detection spot 72 and the image detection spot 74 is in a pseudo-on state, the state of the overlapping part of the spots in the other can be classified into an on state, a pseudo-on state, and an off state, and based on this classification, the detection spot in the pseudo-on state may be regarded as being in the on state or the off state.

[0099] The determination of the motion vector in step S126 may be executed after step S121 instead of after step S125. When step S126 is executed after step S121 and it is determined that the motion vector in the image detection area 73 is directed toward the opening, in response to the fact that the image detection spot 74 in the pseudo-on state is regarded as being in the on state in step S125 (when the infrared detection spot 72 is in the on state or the pseudo-on state), steps S127 and S128 may be executed. In particular, when it is determined that the motion vector in the image detection area 73 outside the infrared detection area 71 is directed toward the opening, without determining the motion vector in the infrared detection area 71, steps S127 and S128 may be executed in response to the fact that the image detection spot 74 in the pseudo-on state is regarded as being in the on state in step S125.

[0100] The method of the automatic door is not limited to the form of the embodiment. For example, an automatic door with an individual control method using a linear motor or an automatic door that pulls the door with a chain or a chain wire may be used.

[0101] Second Embodiment Hereinafter, a second embodiment of the present invention will be described. In the drawings and description of the second embodiment, the same or equivalent components and members as those in the first embodiment are denoted by the same reference numerals. Descriptions overlapping with those of the first embodiment will be omitted as appropriate, and the configurations different from those of the first embodiment will be mainly described.

[0102] In the first embodiment, the controller 20 determines whether a person or an object has been detected, but the present invention is not limited to this. In the second embodiment, the door sensor 30 determines whether a person or an object has been detected.

[0103] Refer to FIG. 8. The door sensor 30 of the second embodiment includes an infrared sensor 31A, an image sensor 31B, and a processing device 35. The processing device 35 includes an infrared data acquisition unit 101, an image data acquisition unit 102, an infrared detection determination unit 103, an image detection determination unit 104, a storage unit 107, a transmission determination unit 108, and a transmission unit 109. The controller 20 includes a control unit 106 and a reception unit 110.

[0104] The transmission determination unit 108 determines whether to transmit a detection signal indicating that a person or an object has been detected to the controller 20 based on the determination results of the infrared detection determination unit 103 and the image detection determination unit 104. The detection signal in the present embodiment is an example of an opening operation signal for causing the movable door 11 to perform an opening operation. For example, when at least one of the infrared detection determination unit 103 and the image detection determination unit 104 determines that a person or an object has been detected, the transmission determination unit 108 determines whether a predetermined sensing condition is satisfied in the same manner as the determination unit 105 described above. When the predetermined sensing condition is satisfied, the transmission determination unit 108 determines to transmit the detection signal to the controller 20. The transmission unit 109 transmits the detection signal to the controller 20 according to the determination of the transmission determination unit 108.

[0105] The reception unit 110 receives the detection signal transmitted from the transmission unit 109 and supplies it to the control unit 106. The control unit 106 controls the door engine 40 to cause the movable door 11 to perform an opening operation in response to the detection signal.

[0106] Third Embodiment Hereinafter, a third embodiment of the present invention will be described. In the drawings and description of the third embodiment, the same or equivalent components and members as those in the first embodiment are denoted by the same reference numerals. Descriptions overlapping with those of the first embodiment are appropriately omitted, and configurations different from those of the first embodiment will be mainly described.

[0107] In this embodiment, the storage unit (not shown) of the infrared sensor 31A stores the reference received light amount for each infrared detection spot 72 of the detection light reflected by each infrared detection spot 72 and received by the infrared sensor 31A. The infrared sensor 31A of this embodiment classifies each infrared detection spot 72 into either an on state or an off state based on the received light amount of this detection light. The infrared sensor 31A makes a detection determination as to whether a person or an object has been detected based on the infrared detection spots 72 in the on state. The infrared sensor 31A of this embodiment transmits infrared data including the detection determination result as to whether a person or an object has been detected, the classification result of the on state or the off state for each infrared detection spot 72, and the received light amount of the infrared detection area 71 to the controller 20.

[0108] As shown in FIG. 3, for example, when persons 81A and 81B are present in the infrared detection area 71, the received light amount at the corresponding infrared detection spots 72 (for example, the infrared detection spots 72 to which addresses 3F to 5F, 3G to 5G, and addresses 3I to 5I, 3J to 5J are assigned) is sufficiently larger than the reference received light amount of that infrared detection spot. As a result, that infrared detection spot 72 is classified into the on state. Further, for example, in the case of an infrared detection spot 72 where no person or object exists, the received light amount at that infrared detection spot 72 is approximately equal to the reference received light amount of that infrared detection spot 72. As a result, that infrared detection spot 72 is classified into the off state.

[0109] In addition, in the present embodiment, a storage unit (not shown) of the image sensor 31B stores a reference image of the image detection area 73. The image sensor 31B of the present embodiment classifies each image detection spot 74 into either an on state or an off state based on the luminance value of each pixel of each image detection spot 74. The image sensor 31B of the present embodiment makes a detection determination as to whether a person or an object has been detected based on whether the number of on-state image detection spots 74 is equal to or greater than a predetermined number of spots. The image sensor 31B of the present embodiment transmits image data including the detection determination result as to whether a person or an object has been detected, the classification result of the on state or the off state for each image detection spot 74, and the luminance value of each pixel of each image detection spot 74 to the controller 20.

[0110] As shown in FIG. 3, for example, when persons 81A and 81B are present in the image detection area 73, the luminance value of each pixel in the corresponding image detection spots 74 (for example, the image detection spots 74 to which addresses 3F to 5F, 3G to 5G, and addresses 3I to 5I, 3J to 5J are assigned) is significantly different from the luminance value of each pixel in the reference image of that image detection spot 74. As a result, the occupancy ratio described later becomes equal to or greater than the occupancy threshold, and that image detection spot 74 is classified as the on state. Further, for example, in the case of an image detection spot 74 where no person or object exists, the luminance value in that image detection spot 74 is substantially equal to the luminance value of the reference image of that image detection spot 74. As a result, the occupancy ratio described later becomes less than the occupancy threshold, and that image detection spot 74 is classified as the off state.

[0111] With reference to FIG. 9, the person or object detection operation S10 of the infrared sensor 31A of the present embodiment will be described. FIG. 9 is a flowchart showing the person or object detection operation S10 in the infrared sensor 31A of the present embodiment. The detection operation S10 is executed at predetermined time intervals.

[0112] In step S11, the infrared sensor 31A acquires the amount of received light in the infrared detection area 71.

[0113] In step S12, the infrared sensor 31A classifies the states of the respective infrared detection spots 72. For example, for each infrared detection spot 72, the infrared sensor 31A obtains the difference between the amount of received light of the light reflected from each infrared detection spot 72 and the reference received light amount for each infrared detection spot 72. When the difference in the received light amount is greater than the third received light amount threshold value, the infrared sensor 31A classifies the infrared detection spot 72 as being in the on state. The third received light amount threshold value in the present embodiment is an example of a detection criterion. When the difference is less than or equal to the third received light amount threshold value, the infrared detection spot 72 is classified as being in the off state.

[0114] In step S13, the infrared sensor 31A determines whether or not there are a predetermined number of or more infrared detection spots 72 in the on state. The predetermined number of spots may be one or more. When there are a predetermined number of or more infrared detection spots 72 in the on state (Y in step S13), the detection operation S10 proceeds to step S14. When there are not a predetermined number of or more infrared detection spots 72 in the on state (N in step S13), the detection operation S10 proceeds to step S15.

[0115] In step S14, the infrared sensor 31A determines whether the movement vector of the infrared detection spot 72 in the on state is directed toward the opening. For example, the infrared sensor 31A obtains, as the movement vector, the change from the position of the infrared detection spot 72 that was in the on state previously (e.g., one frame earlier) to the position of the infrared detection spot 72 that is in the on state at the current time. As in the example of FIG. 3, when the person 81A is walking toward the opening of the automatic door 100, the movement vector of the infrared detection spot 72 corresponding to the person 81A is determined to be directed toward the opening of the automatic door 100. On the other hand, when the person 81B passes in front of the automatic door 100, the movement vector of the infrared detection spot 72 corresponding to the person 81B is determined not to be directed toward the opening of the automatic door 100. When it is directed toward the opening (Y in step S14), the infrared sensor 31A determines that a person or an object has been detected, and the detection operation S10 proceeds to step S16. When it is not directed toward the opening (N in step S14), the infrared sensor 31A determines that no person or object has been detected, and the detection operation S10 proceeds to step S15.

[0116] In step S15, the infrared sensor 31A transmits infrared data including a detection determination result indicating that no person or object has been detected, a classification result of the on state or off state for each infrared detection spot 72, and the light reception amount of the infrared detection area 71 to the controller 20. Then, the detection operation S10 ends.

[0117] In step S16, the infrared sensor 31A transmits infrared data including a detection determination result indicating that a person or an object has been detected, a classification result of the on state or off state for each infrared detection spot 72, and the light reception amount of the infrared detection area 71 to the controller 20. Then, the detection operation S10 ends.

[0118] The person or object detection operation S20 of the image sensor 31B according to the present embodiment will be described with reference to FIG. 10. FIG. 10 is a flowchart showing the person or object detection operation S20 in the image sensor 31B according to the present embodiment. The detection operation S20 is executed at a predetermined time interval.

[0119] In step S21, the image sensor 31B acquires the luminance values of the pixels of each image detection spot 74 in the image detection area 73.

[0120] In step S22, the image sensor 31B classifies the states of the respective image detection spots 74. For example, the image sensor 31B calculates the difference in luminance values between each pixel and the pixels of its reference image for each image detection spot 74. The image sensor 31B compares the difference calculated for each pixel with a luminance threshold value, and calculates an occupancy ratio indicating the degree to which the pixels for which the calculated difference is greater than the luminance threshold value (hereinafter sometimes referred to as difference pixels) occupy the image detection spot 74. This occupancy ratio is, for example, the number or total area of the above-described difference pixels in the image detection spot 74. When the occupancy ratio is less than a predetermined occupancy threshold value, the image sensor 31B classifies the image detection spot 74 as an off state. When the occupancy ratio is equal to or greater than the predetermined occupancy threshold value, the image sensor 31B classifies the image detection spot 74 as an on state.

[0121] In step S23, the image sensor 31B determines whether or not there are image detection spots 74 equal to or more than a predetermined number of spots that are in the on state. The predetermined number of spots may be one or more. When there are image detection spots 74 equal to or more than the predetermined number of spots that are in the on state (Y in step S23), the detection operation S20 proceeds to step S24. When there are not image detection spots 74 equal to or more than the predetermined number of spots that are in the on state (N in step S23), the detection operation S20 proceeds to step S25.

[0122] In step S24, the image sensor 31B determines whether or not the motion vectors of the on-state image detection spots 74 are directed toward the opening. This determination method is the same as in step S14. When they are directed toward the opening (Y in step S24), the image sensor 31B determines that a person or an object has been detected, and the detection operation S20 proceeds to step S26. When they are not directed toward the opening (N in step S24), the image sensor 31B determines that no person or object has been detected, and the detection operation S20 proceeds to step S25.

[0123] In step S25, the image sensor 31B transmits image data including a detection determination result indicating that no person or object has been detected, a classification result of the on-state or off-state for each image detection spot 74, and the luminance values of the respective pixels in the image detection area 73, to the controller 20. Thereafter, the detection operation S20 ends.

[0124] In step S26, the image sensor 31B transmits image data including a detection determination result indicating that a person or object has been detected, a classification result of the on-state or off-state for each image detection spot 74, and the luminance values of the respective pixels in the image detection area 73, to the controller 20. Thereafter, the detection operation S20 ends.

[0125] FIG. 11 is a functional block diagram of the controller 20 of the present embodiment. The controller 20 includes an infrared data acquisition unit 101, an image data acquisition unit 102, a determination unit 105, a control unit 106, and a storage unit 107.

[0126] The determination unit 105 of the present embodiment determines whether to perform an opening operation of the movable door 11 of the automatic door 100 based on the infrared data and the image data for the area where the infrared detection area 71 and the image detection area 73 overlap. Further, the determination unit 105 includes a change unit 111 that changes the detection determination result of at least one of the infrared sensor 31A and the image sensor 31B based on the infrared data and the image data. In the present embodiment, the determination unit 105 determines whether to perform an opening operation of the movable door 11 of the automatic door 100 based on the changed detection determination result.

[0127] Here, referring to FIG. 3 again, when there is, for example, a puddle 83 in the infrared detection area 71, a difference occurs between the amount of light received from the portion with the puddle 83 in the infrared detection area 71 and the reference light reception amount of the infrared detection spot 72. Although the difference between the amount of light received in the infrared data of the infrared detection spot 72 with the puddle 83 and the reference light reception amount of the infrared detection spot 72 is small compared to the case of a person or an object, it may be larger than the light reception amount threshold. At this time, the infrared detection spot 72 is classified as being in the on state, and the puddle 83 or the like is erroneously detected as a person or an object. In a conventional automatic door, since the detection determination result of the infrared sensor 31A is directly used to determine whether to perform an opening operation, if the conditions such as steps S13 and S14 are satisfied due to the fluctuation of the water surface of the puddle 83, the automatic door will open unnecessarily for an object that does not originally require an opening operation.

[0128] In the automatic door 100 of the present embodiment, it is determined whether to perform an opening operation of the movable door 11 of the automatic door 100 based on infrared data and image data for an area where the infrared detection area 71 and the image detection area 73 overlap. According to this configuration, since it is possible to determine whether to perform an opening operation based on infrared data and image data, it is possible to more reliably determine whether a person or an object has been detected than when using only the infrared sensor 31A alone.

[0129] The operation of the controller 20 of the present embodiment will be described with reference to FIG. 12. FIG. 12 is a flowchart showing a process S200 in the controller 20 of the present embodiment. The process S200 is executed at a predetermined time interval.

[0130] In step S201, the infrared data acquisition unit 101 and the image data acquisition unit 102 acquire infrared data and image data from the infrared sensor 31A and the image sensor 31B, respectively. The infrared data acquisition unit 101 and the image data acquisition unit 102 supply the acquired infrared data and image data to the change unit 111.

[0131] In step S202, the modification unit 111 executes a process for determining whether the detection spot is suitable for classification. The process for determining whether the classification is suitable will be described with reference to FIG. 13.

[0132] In step S211, the modification unit 111 determines whether there is an image detection spot 74 in the image detection area 73 that overlaps with the infrared detection area 71, where the number of differential pixels is equal to or greater than the reference number of pixels and the occupancy ratio is smaller than the occupancy threshold. If there is no corresponding image detection spot 74 (N in step S211), the process for determining whether the classification is suitable, S202, ends. If there is a corresponding image detection spot 74 (Y in step S211), the process for determining whether the classification is suitable, S202, proceeds to step S212.

[0133] Refer to FIGS. 14 and 15. FIG. 14 illustrates the differential pixels in the image detection spot 74 at the address 5G where the head of the person 81A is located, and FIG. 15 illustrates the differential pixels in the image detection spot 74 at the address 3E where the puddle 83 is located. In the image detection spot 74 where the head of the person 81A shown in FIG. 14 is located, the differential pixels are continuously and densely packed without gaps at the location of the head of the person 81A. As a result, in this image detection spot 74, the above-mentioned occupancy ratio tends to be large and tends to be equal to or greater than the occupancy threshold. On the other hand, in the image detection spot 74 where the puddle 83 shown in FIG. 15 is located, the differential pixels are intermittently scattered at the location of the puddle 83. This is because, depending on the reflection of light due to, for example, the fluctuation of the water surface of the puddle 83, portions where the difference exceeds the luminance threshold and portions where it does not appear. As a result, in this image detection spot 74, the above-mentioned occupancy ratio tends to be small and tends to be smaller than the occupancy threshold. Therefore, based on the magnitude of the occupancy ratio in this way, it is possible to determine whether the infrared detection spot 72 should be classified as being in an on state by an object other than a person such as the puddle 83. Although the puddle 83 is taken as an example in FIG. 15, for example, in locations where snow, water vapor, etc. exist, the differential pixels will also be intermittently scattered.

[0134] In step S212, the modification unit 111 changes the classification of the image detection spot 74 corresponding in step S211 and the infrared detection spot 72 located at a position overlapping with the image detection spot 74 to the off state.

[0135] In step S213, the modification unit 111 determines whether there is an image detection spot 74 where the occupancy ratio of the differential pixels of the adjacent image detection spots is equal to or greater than the occupancy threshold. Here, the adjacent image detection spots are the image detection spots 74 adjacent to an image detection spot 74 having differential pixels equal to or more than the reference number of pixels and an occupancy ratio smaller than the occupancy threshold. If there is no corresponding image detection spot 74 (N in step S213), the classification suitability determination process S202 ends. If there is a corresponding image detection spot 74 (Y in step S213), the classification suitability determination process S202 proceeds to step S214.

[0136] In step S214, the modification unit 111 changes the classification of the image detection spot 74 corresponding in step S213 and the infrared detection spot 72 located at a position overlapping with the image detection spot 74 to the on state.

[0137] After step S214, the classification suitability determination process S202 ends.

[0138] Returning to FIG. 12, in step S203, the modification unit 111 changes the detection determination results of the infrared sensor 31A and the image sensor 31B based on the classification of the detection spots after the classification suitability determination process in step S202. Similar to steps S13 and S14 and steps S23 and S24 respectively, the detection determinations of the infrared sensor 31A and the image sensor 31B are performed again based on the infrared detection spot 72 and the image detection spot 74 classified in the on state respectively, and when they are different from those obtained in step S201, they are changed to the results of the redetection determination respectively.

[0139] In step S204, the determination unit 105 determines whether either the infrared sensor 31A or the image sensor 31B is in a detection state. If neither is in a detection state (N in step S204), the process S200 ends. Therefore, when it is determined that a person or an object has been detected by a target other than a person or an object such as a puddle 83, the detection determination result can be changed to a non-detection state. As a result, the activation signal described later is not generated, and the opening operation of the movable door 11 is not performed. As a result, unnecessary opening of the automatic door 200 is suppressed. If either is in a detection state (Y in step S204), the process S200 proceeds to step S205.

[0140] In step S205, based on the detection determination result in the detection state, the determination unit 105 transmits an activation signal for activating the automatic door 100 to the control unit 106.

[0141] In step S206, the control unit 106 controls the door engine 40 to open the movable door 11 in response to the activation signal. As a result, the passerby can pass through the automatic door 100. After step S206, the process S200 ends.

[0142] Hereinafter, the operations and effects of the present embodiment will be described.

[0143] In the present embodiment, in addition to the infrared sensor 31A, the image sensor 31B is used to change the detection determination result of a person or an object by the infrared sensor 31A based on the image data. According to this configuration, since it is possible to change the detection determination result of the infrared sensor 31A based on the image data, it is possible to more reliably determine whether a person or an object has been detected than in the case of using only the infrared sensor 31A.

[0144] In this embodiment, for the image detection spot 74 located at a position overlapping with the infrared detection spot 72, the change unit 111 changes the classification of the infrared detection spot 72 to the on state when the occupancy ratio of the differential pixels is equal to or greater than the occupancy threshold. After the change, the detection determination result of the infrared sensor 31A is changed based on the infrared detection spot 72 classified in the on state. According to this configuration, it is possible to suppress a situation where the automatic door 100 does not open because a person or an object is not detected by the infrared sensor 31A.

[0145] In this embodiment, for the image detection spot 74 located at a position overlapping with the infrared detection spot 72, the change unit 111 changes the classification of the infrared detection spot 72 and the image detection spot 74 to the off state when the number of differential pixels is equal to or more than the reference number of pixels and the occupancy ratio is smaller than the occupancy threshold. After the change, the detection determination result of the infrared sensor 31A is changed based on the infrared detection spot 72 classified in the on state, and the detection determination result of the image sensor 31B is changed based on the image detection spot 74 classified in the on state. According to this configuration, for example, it is possible to accurately determine a location where differential pixels such as a puddle 83 are intermittently scattered, so it is possible to suppress unnecessary opening.

[0146] As described above, the present invention has been described based on the embodiments. It is understood by those skilled in the art that the embodiments are examples, and various modifications are possible for each of their constituent elements and combinations of each processing process, and such modifications are also within the scope of the present invention.

[0147] Hereinafter, modifications will be described.

[0148] In the embodiment, the entire infrared detection area 71 overlaps with a part of the image detection area 73, but it is not limited thereto. The infrared detection area 71 may be set such that a part of the infrared detection area 71 overlaps with a part of the image detection area 73. Further, the infrared detection area 71 and the image detection area 73 may be set in the same area, or the image detection area 73 may be larger than the infrared detection area 71. It is only necessary that at least a part of the image detection area 73 overlaps with the infrared detection area 71.

[0149] In the embodiment, the infrared detection area 71 is divided into a plurality of infrared detection spots 72, and the image detection area 73 is divided into a plurality of image detection spots 74. The necessity of change is determined for each infrared detection spot 72, but it is not limited thereto. The necessity of change may be determined for the entire overlapping part of the infrared detection area 71 and the image detection area 73. In this case, without classifying the state of this overlapping part (steps S12, S14, S22, S24 described above), it may be determined whether a person or an object is detected based on whether the difference between the light reception amount due to the overlapping part and the reference light reception amount exceeds the light reception amount threshold value.

[0150] In the embodiment, the infrared sensor 31A and the image sensor 31B perform a detection determination as to whether a person or an object has been detected. However, the present invention is not limited to this, and the controller 20 may perform a detection determination as to whether a person or an object has been detected. In this case, as shown in FIG. 16, an infrared detection determination unit 103 that determines whether a person or an object has been detected based on infrared data and an image detection determination unit 104 that determines whether a person or an object has been detected based on image data may be provided. For example, the infrared data may include the light reception amount of the infrared detection area 71 and the classification result of the on-state or off-state for each infrared detection spot 72. If the infrared detection determination unit 103 executes the processes of steps S13 to S14, it may be determined whether a person or an object has been detected. Further, the infrared data may include only the light reception amount of the infrared detection area 71, and the infrared detection determination unit 103 may execute step S12 to classify the on-state or off-state for each infrared detection spot 72. Similarly, for example, the image data may include the luminance value of each pixel of each image detection spot 74 and the classification result of the on-state or off-state for each image detection spot 74. If the image detection determination unit 104 executes the processes of steps S23 to S24, it may be determined whether a person or an object has been detected. Further, the image data may include only the luminance value of each pixel of each image detection spot 74, and the image detection determination unit 104 may execute step S22 to classify the on-state or off-state for each image detection spot 74.

[0151] In the embodiment, the infrared data included the light reception amount, but it may not include the light reception amount.

[0152] In the embodiment, the occupancy ratio of the differential pixels of the image detection spot 74 is calculated by each of the image sensor 31B and the changing unit 111, but it may be calculated by only one of them. When calculating the occupancy ratio of the differential pixels of the image detection spot 74 only by the image sensor 31B, for example, the image data transmitted to the controller 20 may include the occupancy ratio of the differential pixels of the image detection spot 74. When calculating the occupancy ratio of the differential pixels of the image detection spot 74 only by the changing unit 111, for example, the image data transmitted to the controller 20 may include the luminance values of the respective pixels of the image detection area 73. In this case, since it is assumed that the detection determination based on the luminance value or the like is performed by different methods between the image sensor 31B and the controller 20, the changing unit 111 may change the detection determination result of the image sensor 31B. Therefore, it can be said that the changing unit 111 changes at least one of the detection determination results of the infrared sensor 31A and the image sensor 31B based on the image data.

[0153] In the embodiment, it is determined whether to change the classification of the image detection spot 74 and the detection determination result based on the comparison between the occupancy ratio and the occupancy threshold, but it is not limited thereto. For example, based on the fact that no edge by differential pixels is detected, the image detection spot 74 may be classified as an off state, or the infrared detection spot 72 and the image detection spot 74 may be changed from an on state to an off state. As described above, when a person or an object exists, since the differential pixels are continuously arranged, an edge that is the boundary between the differential pixels and the background image is detected (see, for example, FIG. 14). On the other hand, in a place such as the puddle 83, for example, since the differential pixels are intermittently scattered (see, for example, FIG. 15), the edge between the differential pixels and the background image is not clear, so an edge is often not detected. Therefore, it is possible to accurately determine a place such as the puddle 83 based on the presence or absence of edge detection. Therefore, by classifying the image detection spot 74 as an off state when no edge is detected, or by changing the infrared detection spot 72 and the image detection spot 74 from an on state to an off state, it is possible to suppress unnecessary opening. Note that a known method may be used as the method for detecting the edge of the differential pixels.

[0154] When the edges by differential pixels are continuous from the image detection spot 74 at the position overlapping with the infrared detection spot 72 to the image detection spot 74 at the overlapping position, the classification of the infrared detection spot 72 may be changed from the off state to the on state. Refer to FIG. 17. FIG. 17 illustrates the differential pixels in the image detection spots 74 at addresses 5I and 5J where the head of person 81B is located. For example, in the image detection spot 74 at address 5I where only the head of person 81B appears at the corner portion, the total area and the number of spots of the differential pixels are often small, and the occupancy degree of the image detection spot 74 at address 5I may be below the occupancy threshold. In this case, in the example of the above-described embodiment, the infrared detection spot 72 in the off state corresponding to the image detection spot 74 at address 5I remains in the off state without being changed to the on state even though it should originally be turned on due to the presence of person 81B. On the other hand, when the edges are continuous from the image detection spot 74 at the adjacent address 5J even though the occupancy degree of the image detection spot 74 at address 5I is below the occupancy threshold, there is a high possibility that a person or an object exists. Therefore, when the edges are continuous from the adjacent image detection spots 74 in this way, the classification of the infrared detection spot 72 is changed from the off state to the on state. According to this configuration, since the infrared detection spot 72 is prevented from being misjudged as being in the off state, smooth passage of a person or an object is promoted.

[0155] The change unit 111 calculates the difference in luminance values for the image detection spots 74 at the time before the infrared detection spot 72 classified as being in the on state becomes on, based on the image data obtained at the time before the infrared detection spot 72 classified as being in the on state becomes on, and determines whether to change the detection determination result based on the difference in the luminance values. Here, the "image detection spots 74 around the infrared detection spot 72 in the on state" may be image detection spots 74 adjacent to the infrared detection spot 72 in the on state, or may be image detection spots 74 within a range of a predetermined number of spots from the infrared detection spot 72 in the on state. Refer to FIG. 18. When a person 81A actually exists in the infrared detection spot 72 in the on state, the person 81A also exists around it at the time before it becomes on, and is considered to have moved from that location to the current location. For example, it is considered that the person 81A has moved from a position (address 6E to 8F) farther from the automatic door 100 than the current location (address 3E to 5F) to the current location. Therefore, the difference in the luminance values appears prominently in the image detection spots 74 at addresses 6E to 8F around the current addresses 3E to 5F at the time before the infrared detection spot 72 becomes on. On the other hand, when the state of the infrared detection spot 72 where the puddle 83 exists is erroneously classified as being in the on state, since the puddle 83 does not move, it is considered that almost no difference occurs in the luminance values in the image detection spots 74 around the infrared detection spot 72 at the time before it becomes on. Therefore, based on the difference in the luminance values for the image detection spots 74 at the time before the infrared detection spot 72 classified as being in the on state becomes on, it may be determined whether to change the detection determination result by the above occupancy ratio and the above edge detection method. According to this configuration, since the image data at the time before it becomes on is used, it becomes possible to accurately determine the infrared detection spot 72 for which the state should be changed.

[0156] In the embodiment, the infrared sensor 31A and the image sensor 31B each determine that a person or an object has been detected based on a classification result indicating that infrared detection spots 72 and image detection spots 74 equal to or more than a predetermined number of spots (one or more) are in an on state, but the present invention is not limited to this. The infrared sensor 31A and the image sensor 31B may each determine that a person or an object has been detected based on a classification result indicating that a plurality of infrared detection spots 72 and image detection spots 74 with a total area equal to or more than a predetermined area are in an on state.

[0157] The modification unit 111 may not use pixels that are whitewashed or blackwashed in the image data for the modification. For example, when the luminance value of each pixel in the image data is equal to or higher than a whitewash threshold value corresponding to whitewash, or when the luminance value is equal to or lower than a black crush threshold value corresponding to black crush, the modification unit 111 may not use the pixel in determining whether modification is necessary in step S211 or step S213. According to this configuration, it is possible to suppress erroneously changing the detection determination result due to pixels that are whitewashed or blackwashed in the image data.

[0158] In the embodiment, the sizes of the infrared detection spots 72 and the image detection spots 74 were equal, but the present invention is not limited to this, and the two may have different sizes.

[0159] In the embodiment, the overlapping area between the infrared detection area 71 and the image detection area 73 includes a plurality of infrared detection spots 72 and a plurality of image detection spots 74, but the present invention is not limited to this. For example, this overlapping area may include at least one infrared detection spot 72 and at least one image detection spot 74 including a plurality of pixels.

[0160] In the embodiment, the light reception amount threshold value is given as an example of the detection criterion, but the present invention is not limited to this. For example, the detection criterion may be a predetermined number of spots in step S13.

[0161] In the embodiment, the difference in luminance values is calculated, but it is not limited thereto. For example, any method may be used as long as it can be discriminated in the image, such as calculating the difference in YUV values or RGB values. Further, a color difference may be used instead of the luminance value, or at least one of the luminance value and the color difference may be used.

[0162] Steps S14 and S24 can more accurately perform the detection determination of a person or an object, but steps S14 and S24 do not have to be executed.

[0163] When classifying each spot in the infrared detection area 71 and the image detection area 73 into any one of an on state, a temporary on state, and an off state, the changing unit determines, in step S203, whether the infrared detection spot 72 corresponding to the temporarily on image detection spot 74 is in the on state or the temporary on state. When the corresponding infrared detection spot 72 is in the on state or the temporary on state, the classification of the temporarily on image detection spot 74 may be changed to the on state.

[0164] Fourth Embodiment Hereinafter, a fourth embodiment of the present invention will be described. In the drawings and descriptions of the fourth embodiment and the fifth embodiment described later, the same or equivalent components and members as those in the third embodiment are denoted by the same reference numerals. Descriptions overlapping with those of the third embodiment are appropriately omitted, and configurations different from those of the third embodiment will be mainly described.

[0165] In the third embodiment, it is determined in the controller 20 whether to change the detection determination result, but it is not limited thereto. In the fourth embodiment, the door sensor 30 determines whether to change the detection determination result.

[0166] Refer to FIG. 19. The door sensor 30 of the fourth embodiment includes an infrared sensor 31A, an image sensor 31B, and a processing device 35. The processing device 35 includes an infrared data acquisition unit 101, an image data acquisition unit 102, a storage unit 107, a transmission determination unit 108, and a transmission unit 109. The controller 20 includes a control unit 106 and a reception unit 110. The door sensor 30 of the present embodiment is an example of a sensor for an automatic door.

[0167] The transmission determination unit 108 determines whether to transmit a detection signal indicating that a person or an object has been detected based on the infrared data and the image data in an area where the infrared detection area 71 and the image detection area 73 overlap to the controller 20. The detection signal of the present embodiment is an example of an opening operation signal for causing the movable door 11 to perform an opening operation. The transmission determination unit 108 includes a modification unit 111. The transmission unit 109 transmits the detection signal to the controller 20.

[0168] The process S300 of the third embodiment will be described with reference to FIG. 20. Steps S301 to S304 of the process S300 are the same as steps S201 to S204 of the process S200 except for the points specifically mentioned, and thus the description thereof will be omitted.

[0169] After steps S301 to S303, if it is determined in step S304 that either the infrared sensor 31A or the image sensor 31B is in a detection state, the transmission determination unit 108 determines to transmit the detection signal to the controller 20. Next, in step S305, the transmission unit 109 transmits the detection signal to the controller 20 based on the determination result of the transmission determination unit 108 to transmit. Thereafter, the process S300 ends.

[0170] The reception unit 110 receives the detection signal transmitted from the transmission unit 109 and supplies it to the control unit 106. The control unit 106 controls the door engine 40 to cause the movable door 11 to perform an opening operation in response to the detection signal.

[0171] Fifth Embodiment Hereinafter, the fifth embodiment of the present invention will be described.

[0172] The modification unit 111 of the third embodiment changes the detection determination result of the infrared sensor 31A, while the modification unit 111 of the fifth embodiment changes the detection criteria for the detection determination by the infrared sensor 31A.

[0173] Refer to FIG. 21. The controller 20 of the fifth embodiment includes a transmission unit 109. The transmission unit 109 of the fifth embodiment transmits the detection criteria changed by the modification unit 111 to the infrared sensor 31A. Also, the storage unit 107 of the present embodiment stores the reference light reception amount for each infrared detection spot 72 as the detection criteria.

[0174] The processing of the controller 20 of the fifth embodiment will be described with reference to FIG. 22. FIG. 22 is a flowchart showing the process S400 in the controller 20 of the fifth embodiment. The process S400 is executed at a predetermined time interval.

[0175] In step S401, the image data acquisition unit 102 acquires image data. The image data acquisition unit 102 supplies the acquired image data to the modification unit 111.

[0176] In step S402, the modification unit 111 determines whether it is necessary to change the detection criteria based on the image data. For example, the modification unit 111 calculates the difference in luminance values between each pixel of the image data of each image detection spot 74 and each pixel of its reference image. The modification unit 111 compares the difference calculated for each pixel with the luminance threshold value to obtain difference pixels, and calculates the occupancy ratio for each image detection spot 74. When the occupancy ratio is greater than a predetermined occupancy threshold value, the modification unit 111 determines that it is necessary to change the detection criteria. When the occupancy ratio is less than or equal to the predetermined occupancy threshold value, the modification unit 111 determines that there is no need to change the detection criteria.

[0177] If it is necessary to change the detection criteria (Y in step S402), the process S400 proceeds to step S403. If it is not necessary to change the detection criteria (N in step S402), the process S400 proceeds to step S405.

[0178] In step S403, the changing unit 111 changes the detection criterion. For example, the changing unit 111 changes to decrease the light reception amount threshold value in the infrared sensor 31A. The light reception amount threshold value in the present embodiment is an example of the detection criterion. The changing unit 111 may change the detection criterion downward by a predetermined value, or may change the detection criterion downward based on the degree of deviation between the occupancy rate and the occupancy threshold. The changing unit 111 supplies the changed detection criterion to the transmission unit 109.

[0179] In step S404, the transmission unit 109 transmits the changed detection criterion to the infrared sensor 31A. Thereby, the infrared sensor 31A is made to determine whether a person or an object is detected using the changed detection criterion.

[0180] In step S405, the infrared data acquisition unit 101 and the image data acquisition unit 102 acquire infrared data and image data, respectively. This infrared data includes a detection determination result based on the changed detection criterion. Here, when the detection criterion is changed downward in step S403, since the difference between the light reception amount at each infrared detection spot 72 and its reference light reception amount is likely to exceed the light reception amount threshold value, the infrared detection spot 72 is likely to be classified as an on state. As a result, it is likely to be determined that the state is a detected state by the infrared sensor 31A. The infrared data acquisition unit 101 and the image data acquisition unit 102 supply the acquired infrared data and image data to the determination unit 105.

[0181] Steps S406 to S408 are the same as steps S204 to S206 described above, and thus the description thereof is omitted. After step S408, the process S400 ends.

[0182] In the fifth embodiment, the detection criterion is changed downward when the occupancy rate is equal to or less than the occupancy threshold, but the present invention is not limited to this. For example, the detection criterion may be changed upward when the occupancy rate exceeds the occupancy threshold.

[0183] In the fifth embodiment, the light reception amount threshold is changed as the detection criterion, but the present invention is not limited to this. For example, the predetermined number of spots in step S13 may be changed.

[0184] In the fifth embodiment, the transmission unit 109 transmits the changed detection criterion to the infrared sensor 31A, but the present invention is not limited to this. For example, the transmission unit 109 may transmit a change command for increasing or decreasing the detection criterion by a predetermined value to the infrared sensor 31A.

[0185] In the third and fifth embodiments, one of the detection criterion and the detection determination result of the infrared sensor 31A is changed, but the present invention is not limited to this, and both the detection criterion and the detection determination result of the infrared sensor 31A may be changed.

[0186] In the third and fifth embodiments, the infrared sensor 31A, the image sensor 31B, and the change unit 111 classify each spot in the infrared detection area 71 and the image detection area 73 into either an on state or an off state, but a pseudo-on state may be provided for withholding the determination as to whether a person or an object exists in the spot. For example, when there is a shadow of a person in the image detection area 73, the image data of the corresponding image detection spot 74 differs from the reference image depending on the presence or absence of the shadow of the person. However, since the shadow of a person does not appear clearly in the image data compared to the case where there is actually a person, the difference in the luminance values between each pixel and each pixel of the reference image in the shadow area of the person does not reach the luminance threshold. As a result, these corresponding image detection spots 74 are classified into the pseudo-on state. Further, when there is a puddle 83 in the infrared detection area 71, the light reception amount of the corresponding infrared detection spot 72 varies from the reference light reception amount of the infrared detection spot 72, but is smaller than the light reception amount when a person is detected. As a result, the infrared detection spot 72 is classified into the pseudo-on state.

[0187] Among the embodiments disclosed in this specification, for those in which a plurality of functions are provided in a distributed manner, some or all of the plurality of functions may be provided in an aggregated manner. Conversely, for those in which a plurality of functions are provided in an aggregated manner, some or all of the plurality of functions may be provided in a distributed manner. Regardless of whether the functions are aggregated or distributed, it only needs to be configured so as to achieve the object of the invention.

Industrial Applicability

[0188] The present invention relates to an automatic door device, an automatic door sensor, a method for controlling an automatic door, a control program for an automatic door, a method for controlling an automatic door sensor, and a control program for an automatic door sensor.

Explanation of Signs

[0189] 10 Door portion, 20 Controller, 30 Door sensor, 31 Activation sensor, 31A Infrared sensor, 31B Image sensor, 32 Auxiliary sensor, 40 Door engine, 100 Automatic door, 101 Infrared data acquisition unit, 102 Image data acquisition unit, 103 Infrared detection determination unit, 104 Image detection determination unit, 105 Decision unit, 106 Control unit, 107 Storage unit, 108 Transmission decision unit, 109 Transmission unit, 110 Reception unit, 111 Change unit.

Claims

1. An infrared sensor provided with an infrared detection area around a door provided in an opening, for detecting a person or an object within the infrared detection area; An image sensor provided with an image detection area around the door, for detecting a person or an object within the image detection area; An infrared detection determination unit for determining whether a person or an object is detected by the infrared sensor; An image detection determination unit for determining whether a person or an object is detected by the image sensor; A determination unit for determining whether to perform an opening operation of the door based on each determination result of the infrared detection determination unit and the image detection determination unit; A control unit for causing the door to perform an opening operation based on a determination result indicating that the opening operation is to be performed; Comprising; The image detection determination unit classifies the state of the image detection area into any one of an on state in which it is determined that a person or an object exists in the detection area, a temporary on state in which determination as to whether a person or an object exists in the detection area is suspended, and an off state in which it is determined that no person or object exists in the detection area, based on image data obtained from the image sensor; The infrared detection determination unit classifies the state of the infrared detection area into any one of the on state, the temporary on state, and the off state, based on infrared data obtained from the infrared sensor; The image detection area is divided into a plurality of image detection spots; The infrared detection area is divided into a plurality of infrared detection spots; The infrared detection area and the image detection area at least partially overlap; The image detection determination unit classifies the state of each of the plurality of image detection spots into any one of the on state, the temporary on state, and the off state; The infrared detection determination unit classifies the state of each of the plurality of infrared detection spots into any one of the on state, the temporary on state, and the off state; When both the infrared detection spot and the image detection spot at overlapping positions are in the temporary on state, the determination unit regards the state of at least one of the infrared detection spot and the image detection spot in the temporary on state as the on state; The determination unit determines to perform an opening operation of the door when one of the infrared detection spot and the image detection spot is classified into the on state and the motion vector of the detection spot in the on state is directed toward the opening; An automatic door device.

2. The image detection determination unit obtains, for each image detection spot, the number of pixels for which at least one of the differences in luminance values and color differences between the image data of the image detection spot and the reference image of the image detection spot is equal to or greater than a predetermined threshold value. The image detection determination unit classifies the state of the image detection spot as the on state when the number of pixels is greater than a first pixel number threshold value, classifies the state as the off state when the number of pixels is less than a second pixel number threshold value that is less than the first pixel number threshold value, and classifies the state as the temporary on state when the number of pixels is equal to or greater than the second pixel number threshold value and equal to or less than the first pixel number threshold value. The automatic door device according to claim 1.

3. The infrared detection determination unit obtains the difference between the light reception amount for each infrared detection spot of the light reflected by the infrared detection spot and received by the infrared sensor and the reference value of the light reception amount determined for each infrared detection spot. The infrared detection determination unit classifies the state of the infrared detection spot as the on state when the difference is greater than a first light reception amount threshold value, classifies the state as the off state when the difference is less than a second light reception amount threshold value that is less than the first light reception amount threshold value, and classifies the state as the temporary on state when the difference is equal to or greater than the second light reception amount threshold value and equal to or less than the first light reception amount threshold value. The automatic door device according to claim 1.

4. The infrared detection determination unit determines that the person or object has been detected based on whether the number of infrared detection spots in the on state is equal to or greater than a predetermined number or whether the total area of the infrared detection spots in the on state is equal to or greater than a predetermined total area. The automatic door device according to claim 1.

5. The image detection area is larger than the infrared detection area. The determination unit determines whether to perform the opening operation based on the determination result of the image detection determination unit in a region outside the infrared detection area and within the image detection area. The automatic door device according to claim 1.

6. The infrared detection area has a region outside the image detection area. The determination unit determines whether to perform the opening operation based on the result of the infrared detection determination unit in the region outside the image detection area within the infrared detection area. The automatic door device according to claim 1.

7. An infrared sensor provided with an infrared detection area around a door provided in an opening, for detecting a person or an object within the infrared detection area. An image sensor is provided in the vicinity of the door, and the image sensor detects a person or an object within the image detection area. An infrared detection determination unit that determines whether a person or an object is detected by the infrared sensor. An image detection determination unit that determines whether a person or an object is detected by the image sensor. A determination unit that determines whether to perform an opening operation of the door based on each determination result of the infrared detection determination unit and the image detection determination unit. A control unit that causes the door to perform an opening operation based on a determination result indicating that the opening operation is to be performed. A changing unit that changes at least one of the determination result of the infrared detection determination unit and the determination result of the image detection determination unit based on the image data obtained from the image sensor for an area where the infrared detection area and the image detection area overlap. The determination unit determines whether to perform an opening operation of the door based on at least one of the changed determination results. Automatic door device.

8. The changing unit is as follows. When the occupancy ratio indicating the degree to which pixels having a difference in at least one of the luminance value and the color difference between each pixel of the image data of the overlapping area and each pixel of the reference image of the overlapping area being greater than a threshold value occupy the overlapping area is equal to or greater than an occupancy threshold value, the detection determination result of the infrared sensor is changed to a detected state. The automatic door device according to claim 7.

9. The changing unit is as follows. When there are a reference pixel number or more of pixels having a difference in at least one of the luminance value and the color difference between each pixel of the image data of the overlapping area and each pixel of the reference image of the overlapping area being greater than a threshold value in the overlapping area, and the occupancy ratio indicating the degree to which the pixels having a difference greater than the threshold value occupy the overlapping area is less than the occupancy threshold value, the determination result of the infrared detection determination unit and the determination result of the image detection determination unit are changed to a non-detected state. The automatic door device according to claim 7.

10. The changing unit is as follows. When an edge formed by continuously arranging pixels having a difference in at least one of the luminance value and the color difference between each pixel of the image data of the overlapping area and each pixel of the reference image of the overlapping area being greater than a threshold value is detected, the detection determination result of the infrared detection determination unit is changed to a detected state. The automatic door device according to claim 7.

11. The changing unit is as follows. When an edge formed by continuous pixels, where at least one of the differences in luminance value and color difference between each pixel of the image data in the overlapping area and each pixel of the reference image in the overlapping area is greater than a threshold value, is not detected, the determination result of the infrared detection determination unit and the determination result of the image detection determination unit are changed to a non-detection state. The automatic door device according to claim 7.

12. The infrared detection area is divided into a plurality of infrared detection spots. The image detection area is divided into a plurality of image detection spots. Each infrared detection spot is classified into either an on state in which it is determined that a person or an object is detected based on infrared data obtained from the infrared sensor or an off state in which it is determined that a person or an object is not detected. The changing unit For the image detection spot located at a position overlapping with the infrared detection spot, when the occupancy ratio indicating the degree to which the pixels where at least one of the differences in luminance value and color difference between each pixel of the image data in the overlapping area and each pixel of the reference image in the overlapping area is greater than the threshold value occupy the image detection spot at the overlapping position is equal to or greater than the occupancy threshold value, the classification of the infrared detection spot is changed to the on state. Based on the infrared detection spots classified into the on state, the determination result of the infrared detection determination unit is changed. The automatic door device according to claim 7.

13. The infrared detection area is divided into a plurality of infrared detection spots. The image detection area is divided into a plurality of image detection spots. Each infrared detection spot is classified into at least one of an on state in which it is determined that a person or an object is detected based on infrared data obtained from the infrared sensor and an off state in which it is determined that a person or an object is not detected. Each image detection spot is classified into at least one of the on state and the off state based on the image data. The changing unit For the image detection spot located at a position overlapping with the infrared detection spot, when there are more than a reference pixel number of pixels for which at least one of the differences in luminance value and color difference between each pixel of the image data in the overlapping area and each pixel of the reference image in the overlapping area is greater than a threshold value, and the occupancy ratio indicating the degree to which the pixels for which the difference is greater than the threshold value occupy the overlapping area is less than an occupancy threshold value, change the classification of the infrared detection spot and the image detection spot to the off state. Change the determination result of the infrared detection determination unit based on the infrared detection spot classified in the on state, and change the determination result of the image detection determination unit based on the image detection spot classified in the on state. The automatic door device according to claim 7.

14. The infrared detection area is divided into a plurality of infrared detection spots. The image detection area is divided into a plurality of image detection spots. Each infrared detection spot is classified into either an on state in which it is determined that a person or an object is detected based on infrared data obtained from the infrared sensor or an off state in which it is determined that a person or an object is not detected. The changing unit For the image detection spot adjacent to the image detection spot at the overlapping position, when an edge formed by continuously having pixels for which at least one of the differences in luminance value and color difference between each pixel of the image data in the overlapping area and each pixel of the reference image in the overlapping area is greater than a threshold value is detected, change the classification of the infrared detection spot to the on state. Change the determination result of the infrared detection determination unit based on the infrared detection spot classified in the on state. The automatic door device according to claim 7.

15. The infrared detection area is divided into a plurality of infrared detection spots. The image detection area is divided into a plurality of image detection spots. Each infrared detection spot is classified into either an on state in which it is determined that a person or an object is detected based on infrared data obtained from the infrared sensor or an off state in which it is determined that a person or an object is not detected. Each image detection spot is classified into at least one of the on state and the off state based on the image data. When no edge formed by consecutive pixels, in which at least one of the differences in luminance value and color difference between each pixel of the image data in the overlapping area and each pixel of the reference image in the overlapping area is greater than a threshold value, is detected for the image detection spot adjacent to the image detection spot at the overlapping position, change the classification of the infrared detection spot to the off state, change the determination result of the infrared detection determination unit based on the infrared detection spot classified in the on state, and change the determination result of the image detection determination unit based on the image detection spot classified in the on state, The automatic door device according to claim 7.

16. The changing unit, For an image detection spot adjacent to the image detection spot at the overlapping position, when the occupancy ratio of pixels in which at least one of the differences in luminance value and color difference between each pixel of the image data in the overlapping area and each pixel of the reference image in the overlapping area is greater than a threshold value is equal to or greater than the occupancy threshold value, regardless of the occupancy ratio of the image detection spot at the overlapping position, change the classification of the infrared detection spot to the on state, The automatic door device according to claim 12.

17. The changing unit, For the infrared detection spot classified in the on state, calculate at least one of the differences in luminance value and color difference for the image detection spot at the time before becoming on around the infrared detection spot based on the image data obtained at the time before becoming on, and determine whether to perform the change based on the difference, The automatic door device according to claim 12.

18. The image detection area is divided into a plurality of image detection spots, The infrared detection area is divided into a plurality of infrared detection spots, Each infrared detection spot is classified into at least one of an on state and an off state based on infrared data obtained from the infrared sensor, comprises a changing unit that changes the detection reference of the infrared sensor based on the image data, The changing unit, For the image detection spot that is in the off state and is located at a position overlapping with the infrared detection spot, when the occupancy ratio indicating the degree to which pixels in the overlapping area of the image data and pixels in the reference image of the overlapping area, where at least one of the luminance values and color differences of each pixel is greater than a threshold value, occupies the overlapping position of the image detection spot is greater than the occupancy threshold, the detection criterion of the infrared detection determination unit is changed downward. The automatic door device according to claim 7.

19. The overlapping area includes at least one infrared detection spot and at least one image detection spot including a plurality of pixels. The automatic door device according to claim 12.

20. The changing unit does not use pixels that are whitewashed or blackwashed in the image data for the change. The automatic door device according to claim 7.

21. An infrared sensor provided with an infrared detection area around a door provided in an opening, for detecting a person or an object within the infrared detection area; An image sensor provided with an image detection area around the door, for detecting a person or an object within the image detection area; An infrared detection determination unit for determining whether a person or an object is detected by the infrared sensor; An image detection determination unit for determining whether a person or an object is detected by the image sensor; A transmission determination unit for determining whether to transmit an opening operation signal for causing the door to perform an opening operation based on each determination result of the infrared detection determination unit and the image detection determination unit; Comprising: The image detection determination unit classifies the state of the image detection area into any one of an on state in which it is determined that a person or an object exists in the detection area, a temporary on state in which the determination of whether a person or an object exists in the detection area is suspended, and an off state in which it is determined that no person or object exists in the detection area, based on the image data obtained from the image sensor. The infrared detection determination unit classifies the state of the infrared detection area into any one of the on state, the temporary on state, and the off state based on the infrared data obtained from the infrared sensor. The image detection area is divided into a plurality of image detection spots. The infrared detection area is divided into a plurality of infrared detection spots. The infrared detection area and the image detection area overlap at least partially. The image detection determination unit classifies the state of each of the plurality of image detection spots into any one of the on state, the temporary on state, and the off state. The infrared detection determination unit classifies the state of each of the plurality of infrared detection spots into any one of the on state, the temporary on state, and the off state. When both the infrared detection spot and the image detection spot at overlapping positions are in the temporary on state, the transmission determination unit regards the state of at least one of the infrared detection spot and the image detection spot in the temporary on state as the on state. The transmission determination unit determines to transmit the opening operation signal when one of the infrared detection spot and the image detection spot is classified into the on state and the motion vector of the detection spot in the on state is directed toward the opening. Sensor for automatic door.

22. The image detection determination unit obtains, for each image detection spot, the number of pixels in which at least one of the difference in luminance value and the color difference between the image data of the image detection spot and the reference image of the image detection spot is equal to or greater than a predetermined threshold value. The image detection determination unit classifies the state of the image detection spot into the on state when the number of pixels is greater than the first pixel number threshold, into the off state when the number of pixels is less than the second pixel number threshold smaller than the first pixel number threshold, and into the temporary on state when the number of pixels is equal to or greater than the second pixel number threshold and equal to or less than the first pixel number threshold. The sensor for automatic door according to claim 21.

23. The infrared detection determination unit obtains the difference between the amount of light received for each infrared detection spot, which is reflected by the infrared detection spot and received by the infrared sensor, and the reference value of the amount of light received determined for each infrared detection spot. The infrared detection determination unit classifies the state of the infrared detection spot into the on state when the difference is greater than the first light reception amount threshold, into the off state when the difference is less than the second light reception amount threshold smaller than the first light reception amount threshold, and into the temporary on state when the difference is equal to or greater than the second light reception amount threshold and equal to or less than the first light reception amount threshold. The sensor for automatic door according to claim 21.

24. The infrared detection determination unit determines that the person or object has been detected based on whether the number of infrared detection spots in the on state is equal to or greater than a predetermined number or whether the total area of the infrared detection spots in the on state is equal to or greater than a predetermined total area. The sensor for an automatic door according to claim 21.

25. An infrared sensor provided with an infrared detection area around a door provided in an opening, for detecting a person or object within the infrared detection area, an image sensor provided with an image detection area around the door, for detecting a person or object within the image detection area, an infrared detection determination unit for determining whether a person or object has been detected by the infrared sensor, an image detection determination unit for determining whether a person or object has been detected by the image sensor, a transmission determination unit for determining whether to transmit an opening operation signal for causing the door to perform an opening operation based on each determination result of the infrared detection determination unit and the image detection determination unit, a change unit for changing at least one of the determination result of the infrared detection determination unit and the determination result of the image detection determination unit based on image data obtained from the image sensor for an area where the infrared detection area and the image detection area overlap, The transmission determination unit determines whether to transmit the opening operation signal based on at least one of the changed determination results. Sensor for an automatic door.

26. The change unit, when the occupancy ratio indicating the degree to which pixels having a difference in at least one of the luminance value and the color difference between each pixel of the image data of the overlapping area and each pixel of the reference image of the overlapping area being greater than a threshold value occupy the overlapping area is equal to or greater than an occupancy threshold value, changes the detection determination result of the infrared sensor to a detected state. The sensor for an automatic door according to claim 25.

27. The change unit, when there are equal to or more than a reference number of pixels having a difference in at least one of the luminance value and the color difference between each pixel of the image data of the overlapping area and each pixel of the reference image of the overlapping area being greater than a threshold value in the overlapping area, and the occupancy ratio indicating the degree to which the pixels having the difference greater than the threshold value occupy the overlapping area is less than the occupancy threshold value, changes the determination results of the infrared detection determination unit and the image detection determination unit to a non-detected state. The sensor for an automatic door according to claim 25.

28. The changing unit changes the determination result of the infrared detection determination unit to a detected state when an edge is detected in which pixels where at least one of the luminance value and the color difference between each pixel of the image data in the overlapping area and each pixel of the reference image in the overlapping area is greater than a threshold value are continuously formed. The sensor for an automatic door according to claim 25.

29. The changing unit changes the determination result of the infrared detection determination unit and the determination result of the image detection determination unit to a non-detected state when an edge in which pixels where at least one of the luminance value and the color difference between each pixel of the image data in the overlapping area and each pixel of the reference image in the overlapping area is greater than a threshold value are not continuously formed is not detected. The sensor for an automatic door according to claim 25.

30. The changing unit does not use pixels that are whitewashed or blackwashed in the image data for the change. The sensor for an automatic door according to claim 25.

31. A step of obtaining infrared data from an infrared sensor that includes an infrared detection area divided into a plurality of infrared detection spots around a door provided in an opening and detects a person or an object within the infrared detection area; A step of obtaining image data from an image sensor that includes an image detection area divided into a plurality of image detection spots around the door and detects a person or an object within the image detection area; A step of classifying the state of each of the plurality of image detection spots in the image detection area into any one of an on state in which it is determined that a person or an object exists in the detection area, a temporary on state in which the determination as to whether a person or an object exists in the detection area is suspended, and an off state in which it is determined that a person or an object does not exist in the detection area based on the image data obtained from the image sensor; A step of classifying the state of each of the plurality of infrared detection spots in the infrared detection area into any one of the on state, the temporary on state, and the off state based on the infrared data obtained from the infrared sensor; A step of regarding the state of at least one of the infrared detection spot and the image detection spot in the temporary on state as the on state when both the infrared detection spot and the image detection spot at overlapping positions overlap with each other and are in the temporary on state, When one of the infrared detection spot and the image detection spot is classified as the on state and the motion vector of the detection spot in the on state is directed toward the opening, determining to perform an opening operation of the door; Based on the determination result indicating to perform the opening operation, causing the door to perform the opening operation; A method for controlling an automatic door, including the above.

32. A step of obtaining infrared data from an infrared sensor that is provided with an infrared detection area around a door provided at an opening and detects a person or an object within the infrared detection area; A step of obtaining image data from an image sensor that is provided with an image detection area around the door and detects a person or an object within the image detection area; Based on the infrared data, determining whether a person or an object is detected by the infrared sensor; Based on the image data, determining whether a person or an object is detected by the image sensor; Based on each determination result as to whether a person or an object is detected by the infrared sensor and the image sensor, determining whether to perform an opening operation of the door; Based on the determination result indicating to perform the opening operation, causing the door to perform the opening operation; Based on the image data regarding an area where the infrared detection area and the image detection area overlap, changing any one of each determination result as to whether a person or an object is detected by the infrared sensor and the image sensor; A method for controlling an automatic door, including the above.

33. A step of obtaining infrared data from an infrared sensor that is provided with an infrared detection area divided into a plurality of infrared detection spots around a door provided at an opening and detects a person or an object within the infrared detection area; A step of obtaining image data from an image sensor that is provided with an image detection area divided into a plurality of image detection spots around the door and detects a person or an object within the image detection area; Based on the image data obtained from the image sensor, classifying each state of the plurality of image detection spots in the image detection area into any one of an on state in which it is determined that a person or an object exists in the detection area, a temporary on state in which the determination as to whether a person or an object exists in the detection area is suspended, and an off state in which it is determined that no person or object exists in the detection area; classifying the state of each of the plurality of infrared detection spots in the infrared detection area into any one of the on state, the temporary on state, and the off state based on the infrared data obtained from the infrared sensor; the infrared detection area and the image detection area at least partially overlap, and when both the infrared detection spot and the image detection spot at overlapping positions are in the temporary on state, regarding at least one of the temporary on state infrared detection spot and image detection spot as being in the on state; determining to perform an opening operation of the door when one of the infrared detection spot and the image detection spot is classified into the on state and the motion vector of the detection spot in the on state is directed toward the opening; causing the door to perform the opening operation based on the determination result that the opening operation is to be performed; A control program for an automatic door for causing a processor to execute.

34. Obtaining infrared data from an infrared sensor provided with an infrared detection area around a door provided at an opening and detecting a person or an object within the infrared detection area; providing an image detection area around the door and obtaining image data from an image sensor that detects a person or an object within the image detection area; determining whether a person or an object is detected by the infrared sensor based on the infrared data; determining whether a person or an object is detected by the image sensor based on the image data; determining whether to perform an opening operation of the door based on each determination result as to whether a person or an object is detected by the infrared sensor and the image sensor; causing the door to perform the opening operation based on the determination result that the opening operation is to be performed; changing any one of the determination results as to whether a person or an object is detected by the infrared sensor and the image sensor based on the image data for an area where the infrared detection area and the image detection area overlap; A control program for an automatic door for causing a processor to execute.

35. an infrared sensor provided with an infrared detection area divided into a plurality of infrared detection spots around a door provided at an opening outputs infrared data; A step of an image sensor having an image detection area divided into a plurality of image detection spots around the door outputting image data; A step of classifying the state of each of the plurality of image detection spots in the image detection area into any one of an on state in which it is determined that a person or an object exists in the detection area, a temporary on state in which the determination as to whether a person or an object exists in the detection area is suspended, and an off state in which it is determined that no person or object exists in the detection area; A step of classifying the state of each of the plurality of infrared detection spots in the infrared detection area into any one of the on state, the temporary on state, and the off state; A step of regarding at least one of the infrared detection spot and the image detection spot in a position where the infrared detection area and the image detection area overlap at least partially and both are in the temporary on state as being in the on state; A step of determining to transmit an opening operation signal for causing the door to open when one of the infrared detection spot and the image detection spot is classified into the on state and the motion vector of the detection spot in the on state is directed toward the opening; A control method for a sensor for an automatic door, including the above steps.

36. On a computer, A step of an infrared sensor having an infrared detection area around a door provided at an opening outputting infrared data; A step of an image sensor having an image detection area around the door outputting image data; A step of determining whether a person or an object is detected by the infrared sensor based on the infrared data; A step of determining whether a person or an object is detected by the image sensor based on the image data; A step of determining whether to transmit an opening operation signal for causing the door to open based on each determination result as to whether a person or an object is detected by the infrared sensor and the image sensor; A step of changing at least any one of each determination result as to whether a person or an object is detected by the infrared sensor and the image sensor based on the image data for an area where the infrared detection area and the image detection area overlap; A step of determining whether to transmit the opening operation signal based on each changed detection determination result; A control program for a sensor for an automatic door to cause it to execute.

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