Door opening / closing control device

Abstract

To materialize a device for controlling door opening / closing which controls the opening / closing of a door in accordance with the movement state of an object detected by one sensor, and which is unaffected by brightness and excels in quietness and durability.SOLUTION: A device for controlling door opening / closing according to one embodiment of the present disclosure comprises a detector (20) including: one or more transmission elements (22) transmitting an FMCW type transmission electromagnetic wave; two or more reception elements (23) receiving a reflected electromagnetic wave having been reflected by an object; and a calculation unit (24) calculating the distance to the object, the moving speed of the object and the angle of the object with respect to the sensor, using the transmitted and received electromagnetic waves. The device for controlling door opening / closing further includes a movement direction calculation unit (32) calculating the movement direction of the object detected by the detector (20), and a door opening / closing control unit (35) controlling the opening / closing of a first slide door (11) and a second slide door (12), using the movement direction and movement speed of the object.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an opening and closing control device for controlling the opening and closing of a door such as an automatic door. [Background technology]

[0002] Door opening / closing control devices that control the opening and closing of doors based on the results of object detection by a sensor are becoming widespread. For example, Patent Document 1 discloses a door control device equipped with a distance measuring device that uses a semiconductor laser to measure the distance to an object. Furthermore, Patent Document 2 discloses an automatic door system that grasps information on the position, direction of movement, and speed of an object based on an image captured by a CCD, and controls the opening and closing of an automatic door. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-142288 [Patent Document 2] Japanese Patent Application Laid-Open No. 2006-225874 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology of Patent Document 1 uses a laser, so in order to change the detection area, it is necessary to rotate or swing the deflection mirror using a motor. This causes noise from the motor, resulting in a problem of poor quietness for the sensor. Furthermore, rotating or driving the deflection mirror wears out the moving parts, resulting in a problem of poor durability. Furthermore, the technology of Patent Document 2 uses a CCD for imaging, so there are problems with saturation when exposed to strong light such as sunlight, making normal detection impossible, and with the technology being completely unable to detect in the dark.

[0005] One aspect of the present invention aims to realize a door opening / closing control device that controls the opening and closing of a door according to the movement of an object detected by a single sensor, is not affected by brightness, and is quiet and durable. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, a door opening / closing control device according to one embodiment of the present disclosure comprises a sensor that senses the entire detection area, the sensor including one or more transmitting elements that transmit FMCW (Frequency Modulated Continuous Wave) type transmitted electromagnetic waves, two or more receiving elements that receive electromagnetic waves reflected by an object from the transmitted electromagnetic waves, and a calculation unit that calculates the distance to the object, the moving speed of the object, and the angle of the object relative to the sensor using the transmitted electromagnetic waves and the received electromagnetic waves; a movement direction calculation unit that calculates the moving direction of the object detected by the sensor; and a door opening / closing control unit that controls the opening and closing of the door using the moving direction and moving speed of the object.

[0007] With this configuration, it is possible to control the opening and closing of a door according to the movement of an object detected by a single sensor. In addition, it is possible to realize a door opening and closing control device that is not affected by brightness and is quiet and durable.

[0008] In the door opening / closing control device according to one aspect of the present invention, the door opening / closing control unit may vary the timing of opening and closing the door depending on the moving direction and the moving speed of the object.

[0009] According to the above configuration, the door can be opened and closed at an appropriate timing according to the moving direction and the moving speed.

[0010] In the door opening / closing control device according to one aspect of the present invention, the door opening / closing control unit may vary the opening / closing width of the door depending on the position of the target.

[0011] According to the above configuration, the door can be opened and closed with an appropriate opening and closing width depending on the target position.

[0012] In a door opening / closing control device according to one aspect of the present invention, the door opens and closes vertically, and the door opening / closing control unit may vary the opening / closing width of the door depending on the height of the target as the position of the target.

[0013] According to the above configuration, the door can be opened and closed with an appropriate opening and closing width according to the height of the object.

[0014] A door opening / closing control device according to one aspect of the present invention may include a number calculation unit that calculates the number of objects simultaneously detected by the sensor, and a passing object number output unit that uses the movement direction calculated by the movement direction calculation unit to determine whether the object is entering through the door or exiting through the door, and outputs the number of objects entering through the door and the number of objects exiting through the door.

[0015] According to the above configuration, the external device can perform various management operations such as management of the number of users by using the number of objects output from the passing object number output unit.

[0016] A door opening / closing control device according to one aspect of the present invention includes a number calculation unit that calculates the number of objects detected by the sensor, and the door opening / closing control unit may vary the opening / closing width of the door depending on the number of objects.

[0017] According to the above configuration, the door can be opened and closed with an appropriate opening and closing width depending on the number of objects.

[0018] In a door opening / closing control device according to one aspect of the present invention, the door opening / closing control unit may, after controlling the door to open, stop controlling the door to open if the direction of movement of the object is not a direction of movement that moves closer to the door.

[0019] According to the above configuration, when an object does not pass through the door, the door can be prevented from opening unnecessarily. [Effects of the Invention]

[0020] According to one aspect of the present disclosure, it is possible to realize a door opening / closing control device that controls the opening and closing of a door according to the movement status of an object detected by a single sensor, is not affected by brightness, and is quiet and durable. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a block diagram showing the configuration of a main part of an automatic door system according to a first embodiment of the present disclosure. FIG. [Figure 2] FIG. 1 is an external view of the automatic door system. [Figure 3] FIG. 10 is a diagram showing an example of a setting pattern of a detector. [Figure 4] 10A and 10B are diagrams illustrating an example of setting of a detection area by a detection area setting unit. [Figure 5] 10 is a diagram showing how the door opening / closing control unit controls the opening and closing of the first sliding door and the second sliding door based on the movement direction calculated by the movement direction calculation unit. FIG. [Figure 6] 10 is a diagram showing how the door opening / closing control unit controls the opening and closing of the first sliding door and the second sliding door based on the movement direction calculated by the movement direction calculation unit. FIG. [Figure 7] 10 is a diagram showing how the door opening / closing control unit controls the opening / closing width of the first sliding door and the second sliding door in accordance with the position of the target calculated by the area determination unit. FIG. [Figure 8] 10 is a diagram showing how the door opening / closing control unit controls the opening / closing width of the first sliding door and the second sliding door in accordance with the position of the target calculated by the area determination unit. FIG. [Figure 9] 10 is a diagram showing how the door opening / closing control unit controls the opening / closing width of the first sliding door and the second sliding door in accordance with the number of objects calculated by the number calculation unit. FIG. [Figure 10] 10 is a diagram showing how the door opening / closing control unit controls the opening / closing width of the first sliding door and the second sliding door in accordance with the number of objects calculated by the number calculation unit. FIG. [Figure 11] FIG. 10 is a diagram showing how the first and second sliding doors are controlled to open when the target is moving in a direction away from the automatic door after the first and second sliding doors have been controlled to open. [Figure 12] FIG. 10 is a block diagram showing the configuration of a main part of a shutter opening and closing system according to a second embodiment of the present disclosure. [Figure 13] FIG. 2 is an external view of the shutter opening and closing system. [Figure 14] 10A and 10B are diagrams illustrating how a shutter opening / closing control unit controls the opening / closing width of the shutter in accordance with the height of the target determined by the position determination unit. [Figure 15] 10A and 10B are diagrams illustrating how a shutter opening / closing control unit controls the opening / closing width of the shutter in accordance with the height of the target determined by the position determination unit. [Figure 16] FIG. 10 is a block diagram showing the main configuration of an automatic door system according to a third embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0022] [Embodiment 1] An embodiment of the present disclosure will be described in detail below. Fig. 1 is a block diagram showing the main configuration of an automatic door system 1 (door system) in this embodiment. Fig. 2 is an external view of the automatic door system 1. Fig. 2 is a view of the automatic door 10 as seen from the outside, showing a first sliding door 11 and a second sliding door 12 (described later) in a closed state.

[0023] As shown in FIGS. 1 and 2, the automatic door system 1 includes an automatic door 10, a detector 20 (sensor), a control unit 30, and an alarm unit 40.

[0024] The automatic door 10 includes a first sliding door 11 (door) and a second sliding door 12 (door) as double sliding doors, a first door pocket 13 in which the first sliding door 11 is located when the first sliding door 11 is in an open state, and a second door pocket 14 in which the second sliding door 12 is located when the second sliding door 12 is in an open state.

[0025] The detector 20 includes a detection unit 21 and a detection area setting unit 26. The detection unit 21 includes one or more transmitting elements 22, two or more receiving elements 23, a calculation unit 24, and a position determination unit 25. The detector 20 is provided on the top of the automatic door 10.

[0026] The transmitting element 22 transmits a transmission electromagnetic wave of the FMCW (Frequency Modulated Continuous Wave) type. Specifically, the transmitting element 22 transmits a transmission electromagnetic wave that has been modulated so that the frequency changes linearly over time, which is called chirp.

[0027] The receiving elements 23 receive reflected electromagnetic waves that are the transmitted electromagnetic waves transmitted from the transmitting elements 22 and reflected by a person or object. Hereinafter, a person or object that is the target of detection by the detector 20 will be referred to as an "object." The receiving elements 23 are often arranged at intervals of λ / 2, where λ is the wavelength of the transmitted electromagnetic waves.

[0028] Here, it is known that the number N of receiving elements 23 and the theoretical angular resolution θ (rad) are approximated to the relationship shown in the following equation (1). θ=2 / N (1) As can be seen from equation (1), the resolution improves as the number N of receiving elements 23 increases, so it is preferable that the number of receiving elements 23 is four or more.

[0029] Furthermore, as described above, the receiving elements 23 are often arranged at intervals of λ / 2, and therefore the shorter the wavelength of the transmitted electromagnetic wave, in other words, the higher the frequency, the more compact the detector 20. Therefore, the frequency of the transmitted electromagnetic wave is preferably 55 GHz or higher.

[0030] Since the detector 20 has the above-mentioned transmitting element 22 and receiving element 23, the range in which the detector 20 can detect an object is large, and as shown in Fig. 2, the detector 20 can set the detectable area as an area including areas D1, D2, D3, and D4. The detector 20 senses the entire detection area.

[0031] Area D1 is an area in which the first sliding door 11 and the second sliding door 12 are located when they are closed, in the direction in which they slide, and an area perpendicular to the sliding direction that is a predetermined distance from the automatic door 10. Area D1 is an area through which an object passes to pass through the automatic door 10. Hereinafter, the direction in which the first sliding door 11 and the second sliding door 12 slide (i.e., the left-right direction in FIG. 2) will be referred to as the sliding direction, and the direction perpendicular to the sliding direction (i.e., the up-down direction in FIG. 2) will be referred to as the depth direction.

[0032] Area D2 is an area near the first door pocket 13, and its sliding range is the range where the first door pocket 13 is located, and its depth range is the above-mentioned predetermined distance from the automatic door 10. Area D3 is an area near the second door pocket 14, and its sliding range is the range where the second door pocket 14 is located, and its depth range is the above-mentioned predetermined distance from the automatic door 10. Area D4 is an area in the sliding direction that ranges from the outer edge of the first door pocket 13 to the outer edge of the second door pocket 14, and its depth range is a predetermined distance outward from areas D1 to D3. Areas D1 to D4 also have predetermined ranges in the height direction. The sliding range and depth range of these areas D1 to D4 are adjusted depending on the site where the automatic door 10 is installed.

[0033] The calculation unit 24 uses the transmitted electromagnetic waves transmitted from the transmitting element 22 and the reflected electromagnetic waves received by the receiving element 23 to calculate the distance from the detector 20 to the target, the moving speed of the target, and the angle of arrival of the reflected electromagnetic waves (in other words, the angle of the target relative to the detector 20).

[0034] Specifically, the calculation unit 24 mixes a signal representing the transmitted electromagnetic wave with a signal representing the reflected electromagnetic wave at predetermined time intervals to generate an intermediate frequency signal. The calculation unit 24 generates an intermediate frequency signal corresponding to each of the multiple receiving elements 23.

[0035] The calculation unit 24 calculates the distance from the detector 20 to the target based on the phase difference between the transmitted electromagnetic wave and the reflected electromagnetic wave that appears in the generated intermediate frequency signal. The calculation unit 24 also calculates the moving speed of the target based on the phase difference between the intermediate frequency signals generated at the predetermined time interval. The calculation unit 24 also calculates the angle of arrival of the reflected electromagnetic wave based on the phase difference between the multiple intermediate frequency signals generated corresponding to the multiple receiving elements 23.

[0036] The calculation unit 24 outputs the calculated distance from the detector 20 to the target, the moving speed of the target, and the angle of arrival of the reflected electromagnetic wave to the position determination unit 25 and the control unit 30.

[0037] The position determining unit 25 determines the position of the target using the distance from the detector 20 to the target and the angle of arrival of the reflected electromagnetic wave, which are calculated by the calculating unit 24.

[0038] Of areas D1 to D4, which are detectable ranges in which an object can be detected, detection area setting unit 26 sets, as a detection area, a predetermined area that includes the position of the object calculated by position determination unit 25. Detection area setting unit 26 outputs the set detection area to detection unit 21. Detection unit 21 performs detection in the detection area set by detection area setting unit 26.

[0039] In one aspect of the present disclosure, when multiple targets exist in the detectable area, the detection area setting unit 26 can set multiple areas as the detection area.

[0040] In one embodiment of the present disclosure, the detector 20 may have one or more detection area setting patterns in advance. The setting pattern may set multiple detection areas as the detection area. In this case, the detection area setting unit 26 may set the detection area by switching the setting pattern based on conditions such as the time of day, the day of the week, or an external input. FIG. 3 is a diagram showing examples of setting patterns held by the detector 20. As shown in FIG. 3, the detector 20 may have, for example, a setting pattern P1 in which the detection areas are the areas D1 and D4, and a setting pattern P2 in which the detection areas are the areas D1, D2, and D4.

[0041] In one embodiment of the present disclosure, the detection area setting unit 26 may set a detection area that is asymmetric with respect to the center of the detectable area of ​​the detector 20. For example, the detection area setting unit 26 may set a detection area that is asymmetric with respect to the center of the detectable area of ​​the detector 20 in accordance with the amount of pedestrian traffic at the site where the automatic door 10 is installed, as detected based on the target position calculated by the position determination unit 25. FIG. 4 is a diagram showing an example of the detection area set by the detection area setting unit 26. As shown in FIG. 4, when there is a greater amount of pedestrian traffic on the first sliding door 11 side than on the second sliding door 12 side, the detection area setting unit 26 may set area D4 as the detection area so that the detection area on the first sliding door 11 side is wider. This improves detection accuracy in the area on the first sliding door 11 side, thereby providing a safer automatic door system.

[0042] As described above, in detector 20, the position of the target calculated by position determination unit 25 is set as the detection area within the detectable range in which the target can be detected, and detection unit 21 performs detection in that detection area, so there is no need to change the orientation of the detector in response to changes in the position of the target, and there is no need to attach a member for changing the detection area. Furthermore, in detector 20, the detection area can be set without changing the detection sensitivity.

[0043] The control unit 30 controls the operation of each unit of the automatic door system 1. The control unit 30 includes an area determination unit 31, a movement direction calculation unit 32, a number calculation unit 33, a passing object number output unit 34, and a door opening / closing control unit 35 (door opening / closing control unit).

[0044] The area determination unit 31 determines the sectional area in which the object detected by the detector 20 exists, using information output from the detector 20, i.e., the calculation result of the calculation unit 24 of the detector 20. More specifically, the area determination unit 31 determines the sectional area in which the object exists, using the distance from the detector 20 to the object and the angle of arrival of the reflected electromagnetic wave calculated by the calculation unit 24. When the detection area of ​​the detector 20 is divided into a plurality of sectional areas D1 to D4, the area determination unit 31 may determine the sectional area in which the object exists among the areas D1 to D4.

[0045] The movement direction calculation unit 32 calculates the movement direction of the object detected by the detector 20. Specifically, the movement direction calculation unit 32 calculates the movement direction of the object from the position of the object determined by the position determination unit 25 at a predetermined time interval.

[0046] The number calculation unit 33 calculates the number of targets detected by the detector 20. Specifically, the number calculation unit 33 calculates the number of targets based on the distance from the detector 20 to the target, the moving speed of the target, and the angle of arrival of the reflected electromagnetic wave, which are output from the calculation unit 24 of the detector 20. The number calculation unit 33 may calculate the number of targets simultaneously detected by the detector 20.

[0047] Based on the movement direction of the object calculated by the movement direction calculation unit 32, the passing object number output unit 34 determines whether the object is entering through the automatic door 10 (hereinafter referred to as a first object) or exiting through the automatic door 10 (hereinafter referred to as a second object). The passing object number output unit 34 calculates the number of first objects and the number of second objects, and outputs these numbers to the external device 100. This allows the external device 100 to perform various management tasks, such as managing the number of users of the automatic door 10, using the number of first objects and the number of second objects output from the passing object number output unit 34.

[0048] The door opening / closing control unit 35 controls the opening and closing of the first sliding door 11 and the second sliding door 12 based on the detection result of the detector 20 in the detection area set by the detection area setting unit 26.

[0049] In one aspect of the present disclosure, the door opening / closing control unit 35 may perform control according to each divided area where an object is present, as determined by the area determination unit 31 based on the detection result of the detector 20. For example, when an object is present in a predetermined divided area, the door opening / closing control unit 35 may perform opening / closing operations of the first sliding door 11 and the second sliding door 12 differently from when an object is not present in the divided area. Specifically, when an object is present in area D2 (or area D3), the door opening / closing control unit 35 may slow down the opening speed of the first sliding door 11 (or the second sliding door 12) compared to when an object is not present in area D2 (or area D3), or may stop the opening operation of the first sliding door 11 (or the second sliding door 12).

[0050] In one aspect of the present disclosure, the door opening / closing control unit 35 may control the opening and closing of the first sliding door 11 and the second sliding door 12 based on the movement speed of the object output from the calculation unit 24 of the detector 20 and the movement direction calculated by the movement direction calculation unit 32.

[0051] 5 and 6 are diagrams showing how the door opening / closing control unit 35 controls the opening and closing of the first sliding door 11 and the second sliding door 12 based on the movement direction calculated by the movement direction calculation unit 32. As shown in FIG. 5, when the door opening / closing control unit 35 detects that the object is moving toward the automatic door 10 at a high speed based on the movement speed and movement direction of the object, the door opening / closing control unit 35 may control the first sliding door 11 and the second sliding door 12 to open at an opening speed faster than normal. Also, as shown in FIG. 6, when the door opening / closing control unit 35 detects that the object is moving toward the automatic door 10 at a low speed based on the movement speed and movement direction of the object, the door opening / closing control unit 35 may control the first sliding door 11 and the second sliding door 12 to open at an opening speed slower than normal.

[0052] In one embodiment of the present disclosure, the door opening / closing control unit 35 may vary the timing of opening and closing the first sliding door 11 and the second sliding door 12 depending on the moving speed of the object output from the calculation unit 24 of the detector 20 and the moving direction calculated by the moving direction calculation unit 32. For example, if it is detected from the moving speed and moving direction of the object that the object is passing through the automatic door 10 at a slow speed, the first sliding door 11 and the second sliding door 12 may be controlled to close at a slower closing speed than usual. In this embodiment, the detector 20, the moving direction calculation unit 32, and the door opening / closing control unit 35 function as a door opening / closing control device that controls the opening and closing of the first sliding door 11 and the second sliding door 12 using the moving direction and moving speed of the object.

[0053] In one embodiment of the present disclosure, the door opening / closing control unit 35 may vary the opening / closing width of the first sliding door 11 and the second sliding door 12 depending on the position of the target calculated by the area determination unit 31 based on the detection results of the detector 20. FIGS. 7 and 8 are diagrams showing how the door opening / closing control unit 35 controls the opening / closing width of the first sliding door 11 and the second sliding door 12 depending on the position of the target calculated by the area determination unit 31. As shown in FIG. 7, the door opening / closing control unit 35 may control the opening / closing width of the first sliding door 11 and the second sliding door 12 to be narrower when the target is located in the center of the opening / closing area of ​​the automatic door 10, and may control the opening / closing width of the first sliding door 11 and the second sliding door 12 to be wider when the target is located at the edge of the opening / closing area of ​​the automatic door 10, as shown in FIG. 8.

[0054] In one aspect of the present disclosure, the door opening / closing control unit 35 may vary the opening / closing width of the first sliding door 11 and the second sliding door 12 depending on the number of objects calculated by the number calculation unit 33. FIGS. 9 and 10 are diagrams showing how the door opening / closing control unit 35 controls the opening / closing width of the first sliding door 11 and the second sliding door 12 depending on the number of objects calculated by the number calculation unit 33. As shown in FIG. 9, the door opening / closing control unit 35 may control the opening / closing width of the first sliding door 11 and the second sliding door 12 to be narrower when the number of detected objects is small, and may control the opening / closing width of the first sliding door 11 and the second sliding door 12 to be wider when the number of detected objects is large, as shown in FIG. 10.

[0055] In one aspect of the present disclosure, as shown in FIG. 11, after controlling the first sliding door 11 and the second sliding door 12 to open, the door opening / closing control unit 35 may stop controlling the opening of the first sliding door 11 and the second sliding door 12 if the movement direction of the object calculated by the movement direction calculation unit 32 is a movement direction that does not approach the automatic door 10.

[0056] The alarm unit 40 issues an alarm to an object near the automatic door 10. The alarm unit 40 may issue an alarm by outputting sound or light. When the area determination unit 31 determines that an object is present in area D2 or area D3, the alarm unit 40 issues an alarm to an object near the automatic door 10. This makes it possible to notify a person present in area D2 or area D3 that there is a risk that the first sliding door 11 or the second sliding door 12 will open and hit them. The alarm unit 40 is controlled by the control unit 30.

[0057] In the automatic door system 1 according to one embodiment of the present disclosure, the detection area of ​​the detector 20 includes area D1, which is the area through which an object passes to pass through the automatic door 10, as well as areas D2 and D3, which are areas near two door pockets, namely the first door pocket 13 and the second door pocket 14. This makes it possible for a single detector 20 to detect an object present in an area that includes the areas near the two door pockets.

[0058] A door opening / closing control device according to one embodiment of the present disclosure includes one detector 20, a movement direction calculation unit 32, and a door opening / closing control unit 35 that controls the opening and closing of the first sliding door 11 and the second sliding door 12 using the movement direction and movement speed of the object. This door opening / closing control device can control the opening and closing of the first sliding door 11 and the second sliding door 12 according to the movement status of the object. Furthermore, this door opening / closing control device can control the opening and closing of the first sliding door 11 and the second sliding door 12 using one detector 20. Furthermore, since the detector 20 is a sensor that uses electromagnetic waves, the door opening / closing control device does not require driving like a laser sensor and is therefore quiet and durable.

[0059] Furthermore, the technology described in Patent Document 2 uses captured images, which means that the individual to be detected is included in the image. This means that there is a possibility that the individual can be identified from the image, which may pose a problem in light of the recent increase in privacy protection and regulations.

[0060] In contrast, a door opening / closing control device according to one aspect of the present disclosure uses transmitted and reflected electromagnetic waves to calculate the distance to the target, the target's moving speed, and the target's angle, and performs detection; it does not perform detection using captured images that are visible to humans, and individuals are not identified.

[0061] Furthermore, the door opening / closing control device according to one embodiment of the present disclosure does not use a configuration that performs detection by outputting an electrical signal according to the intensity of light, as in the CCD (Charge Coupled Device) described in Patent Document 2. Therefore, by using electromagnetic waves with wavelengths other than those contained in sunlight that reaches the ground, it is possible to reliably detect the movement of an object even when there is strong light such as direct sunlight or when the surroundings are dark. Note that instead of electromagnetic waves with wavelengths other than those contained in sunlight that reaches the ground, electromagnetic waves other than visible light may also be used.

[0062] [Embodiment 2] Other embodiments of the present disclosure will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0063] In the first embodiment, the detector 20 is applied to an automatic door system, but in this embodiment, the detector 20 is applied to a shutter opening and closing system.

[0064] Fig. 12 is a block diagram showing the main configuration of a shutter opening / closing system 50 (opening / closing system) in this embodiment. Fig. 13 is an external view of the shutter opening / closing system 50. As shown in Figs. 12 and 13, the shutter opening / closing system 50 includes a shutter 51, a detector 20, and a control unit 30A.

[0065] The shutter 51 can be opened and closed in the vertical direction. The shutter 51 changes from a closed state to an open state by moving the shutter 51 upward.

[0066] As shown in Figure 13, the detector 20 in this embodiment can have a detectable area that includes area D5, which is an area near the shutter 51, and area D6, which is an area that is a predetermined distance outside area D5 in the depth direction.

[0067] The control unit 30A includes a shutter opening / closing control unit 36 ​​instead of the door opening / closing control unit 35 of the control unit 30 in the first embodiment.

[0068] The shutter opening / closing control unit 36 ​​controls the opening / closing of the shutter 51 based on the detection result of the detector 20 .

[0069] In one aspect of the present disclosure, the shutter opening / closing control unit 36 ​​may vary the opening / closing width of the shutter 51 depending on the height of the target determined by the position determination unit 25. Figures 14 and 15 are diagrams showing how the shutter opening / closing control unit 36 ​​controls the opening / closing width of the shutter 51 depending on the height of the target determined by the position determination unit 25. As shown in Figure 12, the shutter opening / closing control unit 36 ​​may control the opening / closing width of the shutter 51 to be narrower when the height of the target is low, and may control the opening / closing width of the shutter 51 to be wider when the height of the target is high, as shown in Figure 15.

[0070] In one embodiment of the present disclosure, the shutter opening / closing control unit 36 ​​may control the opening and closing of the shutter 51 based on the moving speed of the object output from the calculation unit 24 of the detector 20 and the moving direction calculated by the moving direction calculation unit 32. For example, when the shutter opening / closing control unit 36 ​​detects that the object is moving fast toward the shutter 51 based on the moving speed and moving direction of the object, it may control the shutter 51 to open at a faster opening speed than usual.

[0071] In one embodiment of the present disclosure, the shutter opening / closing control unit 36 ​​may vary the timing of opening and closing the shutter 51 depending on the moving speed of the object output from the calculation unit 24 of the detector 20 and the moving direction calculated by the moving direction calculation unit 32. For example, if it is detected that the object is passing through the shutter 51 at a slow speed based on the moving speed and moving direction of the object, the shutter 51 may be controlled to close at a slower closing speed than usual.

[0072] In one aspect of the present disclosure, after controlling the shutter 51 to open, the shutter opening / closing control unit 36 ​​may stop controlling the shutter 51 to open if the movement direction of the object calculated by the movement direction calculation unit 32 is a direction that does not move closer to the shutter 51.

[0073] As described above, the shutter opening / closing system 50 in this embodiment includes the detector 20 that can set the position of the target calculated by the position determination unit 25 as a detection area within the detectable range in which the target can be detected, and the shutter 51 that opens and closes based on the detection results of the detector 20. This makes it possible to set the position of the target calculated by the position determination unit 25 as a detection area within the detectable range in which the target can be detected, so there is no need to change the orientation of the detector in response to changes in the position of the target, and there is no need to attach a member for changing the detection area.

[0074] [Embodiment 3] Other embodiments of the present disclosure will be described below. For ease of explanation, the same reference numerals will be used to designate components having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0075] Fig. 16 is a block diagram showing the main configuration of an automatic door system 1A in this embodiment. As shown in Fig. 16, the automatic door system 1A includes a detector 20A and a controller 30B instead of the detector 20 and controller 30 in the first embodiment.

[0076] In the automatic door system 1 of embodiment 1, the area determination unit 31, the movement direction calculation unit 32, the number calculation unit 33, and the passing object number output unit 34 were configured to be included in the control unit 30. In contrast, in the automatic door system 1A, the detector 20A is equipped with the area determination unit 61, the movement direction calculation unit 62, the number calculation unit 63, and the passing object number output unit 64. The functions of the area determination unit 61, the movement direction calculation unit 62, the number calculation unit 63, and the passing object number output unit 64 are similar to the functions of the area determination unit 31, the movement direction calculation unit 32, the number calculation unit 33, and the passing object number output unit 34 of embodiment 1. Therefore, the automatic door system 1A of this embodiment also achieves the same effects as the automatic door system 1 of embodiment 1.

[0077] In the above-described embodiments 1 to 3, the detector 20 is described as being applied to an automatic door system or a shutter opening and closing system, but the detector 20 can also be applied to other door opening and closing systems, such as a gate opening and closing system that controls the opening and closing of a gate.

[0078] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present disclosure. [Explanation of symbols]

[0079] 1. 1A Automatic Door System 10 Automatic Doors 11 First sliding door (double sliding door, door) 12 Second sliding door (double sliding door, door) 13 First door pocket 14 Second door pocket 20, 20A detector (sensor) 21 Detection unit 22 Transmitting element 23 Receiving element 24 Calculation section 25 Positioning section 26 Detection area setting section 30, 30A, 30B control section 31, 61 Area determination section 32, 62 Movement direction calculation unit 33, 63 Number calculation part 34, 64 Passing object number output section 35 Door opening / closing control unit (door opening / closing control unit) 36 Shutter opening / closing control unit (door opening / closing control unit) 40 Alarm section 50 Shutter opening and closing system (opening and closing system) 51 shutter

Claims

1. One sensor sensing the entire detection area, one or more transmitting elements that transmit FMCW (Frequency Modulated Continuous Wave) electromagnetic waves; two or more receiving elements that receive reflected electromagnetic waves reflected by an object from the transmitted electromagnetic waves; a sensor including a calculation unit that calculates a distance to the target, a moving speed of the target, and an angle of the target relative to the sensor using the transmitted electromagnetic wave and the reflected electromagnetic wave; a movement direction calculation unit that calculates a movement direction of an object detected by the sensor; a door opening / closing control unit that controls opening and closing of a door using the moving direction and the moving speed of the object, The door opening / closing control unit varies the opening / closing speed of the door depending on the moving direction and the moving speed of the object.

2. The door opening / closing control device according to claim 1 , wherein the door opening / closing control unit varies timings for opening and closing the door depending on the moving direction and the moving speed of the object.

3. The door opening / closing control device according to claim 1 or 2, wherein the door opening / closing control unit varies an opening / closing width of the door depending on a position of the target.

4. The door opens and closes vertically, The door opening and closing control device according to claim 3 , wherein the door opening and closing control unit varies the opening and closing width of the door depending on a height of the target as the position of the target.

5. a number calculation unit that calculates the number of objects simultaneously detected by the sensor; A door opening / closing control device according to any one of claims 1 to 4, comprising: a passing object number output unit that uses the movement direction calculated by the movement direction calculation unit to determine whether the object is entering through the door or leaving through the door, and outputs the number of objects entering through the door and the number of objects leaving through the door.

6. a number calculation unit that calculates the number of objects detected by the sensor; The door opening / closing control device according to any one of claims 1 to 5, wherein the door opening / closing control unit varies the opening / closing width of the door depending on the number of the targets.

7. The door opening / closing control unit according to any one of claims 1 to 6, wherein after controlling the door to open, if the movement direction of the object is a movement direction that does not approach the door, the door opening / closing control unit stops the door opening control.

8. The door opening / closing control unit If the object is moving towards the door at a high speed, the door is opened at a speed faster than normal. If the object is moving towards the door at a slow speed, open the door at a slower opening speed than normal. If the object is passing through the door at a slow speed, close the door at a slower closing speed than normal. The door opening and closing control device according to any one of claims 1 to 7, wherein at least one of the following is executed.

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