Automatic door device, sensor system for automatic doors, method for determining movement patterns, and program for determining movement patterns.

Abstract

To provide a technique of an automatic door device that can grasp a traffic situation around an automatic door.SOLUTION: An automatic door device 100 of a certain embodiment of the present invention comprises: a first actuation sensor that detects a person or an object within a first detection area of a door provided in an opening part; a second actuation sensor that detects a person or an object within a second detection area present on an opposite side across the opening part; an acquisition unit 101 that acquires respective detection data of the first and second actuation sensors; an identity determination unit 103 that determines whether or not a detection target detected by the first actuation sensor, and a detection target detected by the second actuation sensor are identical on the basis of the respective detection data of the first and second actuation sensors; and a traffic line determination unit 104 that determines a traffic line within a detection area of the detection target determined to be identical on the basis of the respective detection data of the first and second actuation sensors.SELECTED DRAWING: Figure 2

Description

Technical Field

[0005] ,

[0001] The present invention relates to an automatic door device, an automatic door sensor system, a traffic flow determination method, and a traffic flow determination program.

Background Art

[0002] Devices that count the number of people entering and leaving an automatic door using sensors are known. For example, Patent Document 1 describes a device for counting the number of people entering and leaving an automatic door having a motor for opening and closing the door. This device includes sensors installed inside and outside the building for detecting passing objects, and auxiliary sensors for preventing the passing objects from being sandwiched by the door, and controls the driving device based on the signals from the sensors. This device detects the moving direction of the passing object and that the passing object has passed through the door using these sensors, and counts the passing objects from the detection results.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Regarding a facility having an automatic door, from the viewpoint of realizing an efficient layout, it is important to grasp the traffic situation around the automatic door. The device described in Patent Document 1 can count the number of people entering and leaving by detecting passing people in time series with the internal and external sensors and the auxiliary sensors, but it cannot count the number of people passing across the front of the automatic door or the number of people who made a U-turn and did not enter the building. Therefore, this device is not sufficient from the viewpoint of grasping the traffic situation around the automatic door.

[0005] In view of the above, one of the objectives of the present invention is to provide a technology for an automatic door device capable of grasping the traffic situation around the automatic door. [Means for solving the problem]

[0006] To solve the above problems, an automatic door device according to one aspect of the present invention is an automatic door device comprising: a first activation sensor that detects a person or object in a first detection area of ​​a door provided in an opening; a second activation sensor that detects a person or object in a second detection area located on the opposite side of the opening from the first detection area; an acquisition unit that acquires detection data from the first activation sensor and the second activation sensor; an identity determination unit that determines whether the object detected by the first activation sensor and the object detected by the second activation sensor are the same based on the detection data from the first activation sensor and the second activation sensor; and a movement determination unit that determines the movement path of the object determined to be the same within the detection area based on the detection data from the first activation sensor and the second activation sensor.

[0007] Another embodiment of the present invention is an automatic door sensor system comprising: a first activation sensor that detects a person or object in a first detection area of ​​a door provided in an opening; a second activation sensor that detects a person or object in a second detection area located on the opposite side of the opening from the first detection area; an acquisition unit that acquires detection data from the first activation sensor and the second activation sensor; an identity determination unit that determines whether the object detected by the first activation sensor and the object detected by the second activation sensor are the same based on the detection data from the first activation sensor and the second activation sensor; and a movement determination unit that determines the movement path of the object determined to be the same within the detection area based on the detection data from the first activation sensor and the second activation sensor.

[0008] A movement path determination method in yet another aspect of the present invention is a movement path determination method comprising: acquiring detection data from a first activation sensor that detects a person or object in a first detection area of ​​a door provided in an opening and a second activation sensor that detects a person or object in a second detection area located on the opposite side of the opening from the first detection area; determining whether the object detected by the first activation sensor and the object detected by the second activation sensor are the same based on the detection data from the first activation sensor and the second activation sensor; and determining the movement path of the object determined to be the same within the detection area based on the detection data from the first activation sensor and the second activation sensor.

[0009] A movement path determination program in yet another aspect of the present invention is a movement path determination program that causes a computer to perform the following steps: acquire detection data from a first activation sensor that detects a person or object in a first detection area of ​​a door provided in an opening and a second activation sensor that detects a person or object in a second detection area located on the opposite side of the opening from the first detection area; determine whether the object detected by the first activation sensor and the object detected by the second activation sensor are the same based on the detection data from the first and second activation sensors; and determine the movement path of the object determined to be the same within the detection area based on the detection data from the first and second activation sensors.

[0010] Furthermore, any combination of the above, or any substitution of the components or expressions of the present invention between methods, apparatus, programs, temporary or non-temporary storage media recording programs, systems, etc., are also valid embodiments of the present invention. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a technology for an automatic door system that can understand the traffic conditions around an automatic door. [Brief explanation of the drawing]

[0012] [Figure 1] It is a front view schematically showing an automatic door device. [Figure 2] It is a block diagram showing the configuration of the automatic door device of the first embodiment. [Figure 3] It is a diagram exemplifying the detection area of the automatic door device of the first embodiment. [Figure 4] It is a schematic diagram showing the detection area of the first embodiment when viewed from the left - right direction. [Figure 5] It is a flowchart showing the processing of the automatic door device of the first embodiment. [Figure 6] It is a schematic diagram showing an example of a traffic flow line. [Figure 7] It is a schematic diagram showing an example of a traffic flow line. [Figure 8] It is a schematic diagram showing an example of a traffic flow line. [Figure 9] It is a schematic diagram showing an example of a traffic flow line. [Figure 10] It is a schematic diagram showing an example of a traffic flow line. [Figure 11] It is a table showing the relationship between the earliest detection area, the last detection area, and the traffic flow line when the detection target passes through only one of the outdoor detection area and the indoor detection area. [Figure 12] It is a table showing the relationship between the earliest detection area, the last detection area, and the traffic flow line when the detection target passes through both the outdoor detection area and the indoor detection area. [Figure 13] It is a diagram exemplifying the detection area of the automatic door device of the second embodiment. [Figure 14] It is a schematic diagram showing the detection area of the second embodiment when viewed from the left - right direction. [Figure 15] It is a flowchart showing the processing of the automatic door device of the second embodiment. [Figure 16] It is a diagram showing an example of a detection area where at least one of the first detection area and the second detection area is adjacent to a plurality of detection areas.

Mode for Carrying Out the Invention

[0013] Hereinafter, the present invention will be described with reference to the accompanying drawings based on preferred embodiments. In the embodiments and modifications, the same or equivalent components and members are denoted by the same reference numerals, and redundant descriptions will be omitted as appropriate. Also, the dimensions of the members in each drawing are shown enlarged or reduced as appropriate for easy understanding. In addition, some of the members that are not important for explaining the embodiments are omitted in each drawing.

[0014] Also, separate components having common points are distinguished by attaching "first", "second", etc. at the beginning of their names, and these are omitted when collectively referred to. Also, terms including ordinals such as first and second are used to describe various components, but this term is used only for the purpose of distinguishing one component from another, and the components are not limited by this term.

[0015] First Embodiment FIG. 1 is a front view schematically showing an automatic door device 100. FIG. 1 is a front view schematically showing the automatic door device 100 of the present embodiment. The automatic door device 100 shown in FIG. 1 is of a double-swing door type, and two doors 9 automatically open and close left and right. The doors 9 are a pair on the left and right, and are configured to be reciprocally movable along a fix 22 fixedly arranged with a space therebetween across an opening 23, and open and close the opening 23. As an example, the automatic door device 100 is a device that operates to open and close a door for opening and closing the width of a wall or the like that partitions a space in various facilities such as stations, hotels, department stores, hospitals, and elderly care facilities.

[0016] Hereinafter, the direction along the opening and closing direction of the automatic door device 100 will be referred to as the left-right direction. As shown in Figure 1, when viewing the automatic door device 100 from the front, the left side will be referred to as "left" or "leftward," and the right side will be referred to as "right" or "rightward." The direction along the projection direction of the automatic door device 100 will be referred to as the front-back direction. The side away from the automatic door device 100 will be referred to as "front" or "forward," and the side approaching the automatic door device 100 in the front-back direction will be referred to as "rear" or "rearward." In Figure 1, the detection areas 70 are positioned in front of and behind the opening 23 and the fix 22. The projection direction of the automatic door device 100 will be referred to as the "up-down direction." The left-right dimension may also be referred to as the "left-right width," and the front-back dimension as the "front-back width." Such directional notations do not restrict the orientation of the automatic door device 100, and the automatic door device 100 can be used in any orientation.

[0017] Door 9 is in a fully closed state when the left and right ends of the door come into contact with each other so that the opening 23 is closed. Door 9 moves so that the ends of the door separate, and the ends of the door move to near the end of the fixed 22 on the opening 23 side and stop, opening the opening 23 to a fully open state. Note that the automatic door device 100 may be a double sliding door type, or a single sliding door type, etc.

[0018] Figure 2 is a schematic block diagram of the automatic door device 100 according to the present invention. Each block shown in the following figures can be realized in hardware terms by components such as a computer processor, CPU, and memory, as well as electronic circuits and mechanical devices, and in software terms by computer programs, etc. However, here we are depicting functional blocks that are realized through the cooperation of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways by combinations of hardware and software.

[0019] As shown in Figure 2, the automatic door device 100 includes an automatic door sensor 10, a movement path determination device 80, and an automatic door drive device 90 that drives the door 9 to open and close.

[0020] The automatic door drive unit 90 includes a door controller 91 and a door engine 92. The door controller 91 controls the door engine 92 to open and close the door 9 based on activation signals and detection information from the automatic door sensor 10. There are no limitations on the transmission path 96 that transmits the activation signals and detection information from the automatic door sensor 10, but in this example, the transmission path 96 includes an internal bus (e.g., CAN: Controller Area Network). Based on the control of the door controller 91, the door engine 92 rotates a drive motor (not shown) to drive the door 9 to open and close.

[0021] When the door controller 91 receives a start signal from the automatic door sensor 10 to the start sensor 4, it activates the motor (not shown) of the door engine 92 to drive the door 9 until it is fully open. After the door 9 changes to the fully open state, the door controller 91 holds it in the fully open state for a certain period of time, and then operates the door engine 92 in the reverse direction to drive the door 9 until it is fully closed. When the door controller 91 receives detection information from the auxiliary photoelectric sensor 30 while the door 9 is being driven to close, it reverses the direction in which the door engine 92 drives the door 9, bringing the door 9 to the fully open state.

[0022] The automatic door sensor 10 detects a person or object (hereinafter referred to as "detection target") within the detection area 70 of the automatic door provided in the opening 23. The automatic door sensor 10 includes an outdoor activation sensor 4A, an indoor activation sensor 4B, and an auxiliary photoelectric sensor 30. In this embodiment, the outdoor activation sensor 4A is an example of one of the first activation sensor and the second activation sensor, and the indoor activation sensor 4B is an example of the other of the first activation sensor and the second activation sensor.

[0023] The outdoor activation sensor 4A detects the object to be detected in the outdoor detection area 70A, which is located around the outdoor side of the opening 23. The outdoor detection area 70A is a detection area located on the outdoor side of the door 9 when it is fully closed. The outdoor activation sensor 4A is located, for example, in the center of the left-right direction on the outer surface of the transom 16 on the outdoor side above the opening 23. The outdoor detection area 70A in this embodiment is an example of one of the first detection area and the second detection area.

[0024] The indoor activation sensor 4B detects the object in the indoor detection area 70B, which is located around the indoor side of the opening 23. The indoor detection area 70B is a detection area located on the indoor side of the fully closed door 9. The indoor detection area 70B is on the opposite side of the opening 23 from the outdoor detection area 70A. The indoor activation sensor 4B is located, for example, in the center of the left-right direction on the indoor side outer surface of the transom 16 above the opening 23. The indoor detection area 70B in this embodiment is an example of the other of the first and second detection areas.

[0025] The outdoor activation sensor 4A and the indoor activation sensor 4B are infrared reflection type sensors that emit and receive infrared light diagonally downward from their positions on the transom 16, and detect objects entering the door 9 and output an activation signal. Hereinafter, the outdoor activation sensor 4A and the indoor activation sensor 4B may be collectively referred to as activation sensor 4. The detection area 70 of the automatic door device 100 is composed of the outdoor detection area 70A and the indoor detection area 70B.

[0026] In this embodiment, the outdoor activation sensor 4A sequentially acquires the amount of infrared light received in the outdoor detection area 70A. The indoor activation sensor 4B sequentially acquires the amount of infrared light received in the indoor detection area 70B. For example, the outdoor activation sensor 4A and the indoor activation sensor 4B each determine the presence or absence of a detection target in their respective detection areas based on the acquired amount of light received. For example, the outdoor activation sensor 4A and the indoor activation sensor 4B each determine that a detection target exists when the detection level of the amount of light received in their respective detection areas exceeds a predetermined level, and generate an activation signal. Hereinafter, the state in which it is determined that a detection target exists in the detection area 70 will be referred to as the detection state, and the state in which it is not the detection state will be referred to as the non-detection state.

[0027] The auxiliary photoelectric sensor 30 is a photoelectric detection device and has a light emitter and a light receiver (neither of which are shown) located near the opening 23 of the fixed 22. The auxiliary photoelectric sensor 30 detects when the light rays passing between the light emitter and the light receiver are blocked and transmits detection information to the door controller 91 indicating that a person or object is present on the track of the door 9. In addition to the photoelectric method, the auxiliary photoelectric sensor 30 may also be a light reflection method or an ultrasonic method detection device attached to the transom 16.

[0028] The detection area of ​​the activation sensor 4 will be explained using Figures 3 and 4. Figure 3 is a schematic diagram showing the detection area 70 as viewed from above, and shows the detection area 70 on the floor surface. Figure 4 is a schematic diagram showing the detection area 70 of the first embodiment as viewed from the left and right directions.

[0029] The outdoor detection area 70A consists of multiple first detection spots rA arranged in a matrix with 12 rows in the left-right direction and 6 rows in the front-back direction. The indoor detection area 70B consists of multiple second detection spots rB arranged in a matrix with 12 rows in the left-right direction and 6 rows in the front-back direction. In other words, the detection area 70 consists of multiple first and second detection spots rA and rB arranged in a matrix with 12 rows in the left-right direction and 12 rows in the front-back direction. Hereinafter, the first detection spot rA and the second detection spot rB may be collectively referred to as detection spot r.

[0030] Each detection spot r is assigned an address corresponding to its position in the array: 1A, 1B, ..., 12K, 12L. Each assigned address corresponds to the position information of each detection spot r.

[0031] A detection spot r is classified into either an on state or an off state based on the amount of infrared light received, which is acquired as detection data. A detection spot r is classified as on when the amount of infrared light received at that detection spot r is equal to or greater than a standard value, and is classified as off when the amount of infrared light received at that detection spot r is less than the standard value. For example, if a person or object is present within the detection area 70, the amount of light received in the detection data at the detection spot r where the person or object is located exceeds the standard value, so that detection spot r is classified as on. On the other hand, if no person or object is present within the detection area 70, the amount of light received in the detection data at each detection spot r does not exceed the standard value, so each detection spot r is classified as off. The activation sensor 4 determines that a detection state is in effect based on the detection spot r being on.

[0032] As shown in Figure 3, the outdoor detection area 70A and indoor detection area 70B of this embodiment are divided into the first to fifth outdoor detection regions Aout, Lout, Rout, Pout, and Dout, and the first to fifth indoor detection regions Ain, Lin, Rin, Pin, and Din, respectively. The number of detection regions divided in the outdoor detection area 70A and indoor detection area 70B can be two or more. Each detection region is classified as ON based on whether any of the detection spots r within that region are ON, and is classified as ON based on whether all of the detection spots r within that region are OFF. The first to fifth outdoor detection regions Aout, Lout, Rout, Pout, and Dout of this embodiment are examples of one of the first and second detection regions, and the first to fifth indoor detection regions Ain, Lin, Rin, Pin, and Din of this embodiment are examples of the other of the first and second detection regions.

[0033] The fifth outdoor detection area Dout consists of the first detection spot rA with addresses 7A-7L and 8D-8I, and is set on the front side (outdoor side) of door 9 so as to be included in the trajectory of door 9 in the opening 23 across the left-right direction of the detection area 70. The fifth indoor detection area Din consists of the second detection spot rB with addresses 1A-1L and 2D-2I, and is set on the rear side (indoor side) of door 9 so as to be included in the trajectory of door 9 in the opening 23 across the left-right direction of the detection area 70.

[0034] The fourth outdoor detection area Pout consists of the first detection spot rA with addresses 9D to 10I, is the middle part of the detection area 70 in the left-right direction, and is set between the second outdoor detection area Lout and the third outdoor detection area Rout, and between the first outdoor detection area Aout and the fifth outdoor detection area Dout. The fourth indoor detection area Pin consists of the second detection spot rB with addresses 3D to 4I, is the middle part of the detection area 70 in the left-right direction, and is set between the second indoor detection area Lin and the third indoor detection area Rin, and between the first indoor detection area Ain and the fifth indoor detection area Din.

[0035] The second outdoor detection area Lout consists of the first detection spot rA with addresses 8A to 12C and is located to the left of the first outdoor detection area Aout and the fourth outdoor detection area Pout. The third outdoor detection area RA3 consists of the first detection spot rA with addresses 8J to 12L and is located to the right of the first outdoor detection area Aout and the fourth outdoor detection area Pout.

[0036] The second indoor detection area Lin consists of the second detection spot rB with addresses 2A to 6C and is set to the left of the first indoor detection area Ain and the fourth indoor detection area Pin. The third indoor detection area Rin consists of the second detection spot rB with addresses 2J to 6L and is set to the right of the first indoor detection area Ain and the fourth indoor detection area Pin.

[0037] The first outdoor detection area Aout consists of the first detection spot rA with addresses 11D to 12I, is located in the middle of the detection area 70 in the left-right direction, between the second outdoor detection area Lout and the third outdoor detection area Rout, and in front of the fourth outdoor detection area Pout. The first indoor detection area Ain consists of the second detection spot rB with addresses 5D to 6I, is located in the middle of the detection area 70 in the left-right direction, between the second indoor detection area Lin and the third indoor detection area Rin, and behind the fourth indoor detection area Pin.

[0038] As shown in Figures 3 and 4, in this embodiment, a portion of the fifth outdoor detection area Dout and a portion of the fifth indoor detection area Din overlap on the trajectory of the door 9 to form an overlap detection area 70C. Specifically, the overlap detection area 70C is composed of a portion of the first detection spot rA with addresses 7D to 7I and a portion of the second detection spot rB with addresses 1D to 1I that overlap on the trajectory of the door 9. Hereinafter, a detection spot r that includes the overlap detection area 70C may be referred to as an overlap detection spot r. That is, the overlap detection spot r of the outdoor detection area 70A is the detection spot r with addresses 7D to 7I, and the overlap detection spot r of the indoor detection area 70B is the detection spot r with addresses 1D to 1I. Furthermore, an overlap detection spot r in the other detection area that overlaps with an overlap detection spot r in one of the outdoor detection area 70A and indoor detection area 70B is called an opposite overlap detection spot r. That is, for example, the opposite overlap detection spot r for an overlap detection spot r at address 1D is the overlap detection spot r at address 7D. Furthermore, the overlap detection area 70C is not limited to the overlap of a portion of the fifth outdoor detection area Dout and a portion of the fifth indoor detection area Din on the trajectory of the door 9, but is sufficient if they overlap in the vicinity of the trajectory of the door 9. The shape of each detection spot r, each detection area, and the detection area 70 may be a polygon other than a circle, ellipse, rectangle, or rectangle. The number and size of each detection spot r, each detection area, and the detection area 70 are not limited to the example in Figure 3, but may be set arbitrarily.

[0039] Returning to Figure 2, the movement path determination device 80 comprises an acquisition unit 101, a identification unit 102, a same determination unit 103, a movement path determination unit 104, and a storage unit 105.

[0040] The acquisition unit 101 acquires the amount of infrared light received by each detection spot r of the outdoor activation sensor 4A and the indoor activation sensor 4B as detection data.

[0041] The identification unit 102 identifies the earliest detection area and earliest detection spot where the target was first detected when the outdoor activation sensor 4A or indoor activation sensor 4B changed from a non-detection state to a detection state, and the last detection area and last detection spot where the target was last detected when the outdoor activation sensor 4A or indoor activation sensor 4B changed from a detection state to a non-detection state. The identification unit 102 also identifies the earliest detection area among the outdoor detection area 70A and indoor detection area 70B where the target was first entered.

[0042] The identity determination unit 103 determines, based on the detection data from the outdoor activation sensor 4A and the indoor activation sensor 4B, that the object detected by the outdoor activation sensor 4A and the object detected by the indoor activation sensor 4B are the same.

[0043] The movement path determination unit 104 determines the movement path within the detection area R of the detection target that has been determined to be the same, based on the detection data from the outdoor activation sensor 4A and the indoor activation sensor 4B.

[0044] The memory unit 105 stores programs for executing various processes of the present invention, as well as counts obtained by individually and cumulatively counting each movement pattern described later (hereinafter referred to as "decision count"). The memory unit 105 can also store information acquired and generated by the movement determination device 80 in chronological order.

[0045] Figure 5 is a flowchart of the process S100 of the movement path determination device 80 of the first embodiment. In each of the following steps S101 to S109, it is assumed that the acquisition unit 101 continues to sequentially acquire detection data from the outdoor activation sensor 4A and the indoor activation sensor 4B.

[0046] In step S101, the identification unit 102 determines whether the detection spot r of the outdoor activation sensor 4A or the indoor activation sensor 4B is in the ON state. If it is not in the ON state (N in step S101), process S100 returns to the beginning of step S101 and repeats step S101. If it is in the ON state (Y in step S101), the identification unit 102 identifies the detection spot r that first changed from the OFF state to the ON state as the first detection spot, and process S100 proceeds to step S102.

[0047] In step S102, the identification unit 102 identifies the first detection area and the first detection region based on the first detection spot.

[0048] In step S103, the same determination unit 103 determines whether both the overlapping detection spot r in the nearest detection area and the overlapping detection spot r on the opposite side are in the ON state. For example, if the nearest detection area is the outdoor detection area 70A, the same determination unit 103 determines whether both at least one of the first detection spots rA with addresses 7D to 7I and at least one of the overlapping detection spots r on the opposite side are in the ON state. If neither of the overlapping detection spots r are in the ON state (N in step S103), processing S100 proceeds to step S104. In this case, it is considered that the object being detected remains in the nearest detection area without passing through the opening 23. If both of the overlapping detection spots r are in the ON state (Y in step S103), the same determination unit 103 determines that the overlapping fifth outdoor detection area Dout and the fifth indoor detection area Din are simultaneously classified as ON, and processing S100 proceeds to step S105. In this case, it is considered that the object being detected is located on the overlapping detection area 70C.

[0049] In step S104, the identification unit 102 determines whether all detection spots r are in the off state. If it is determined that all detection spots r are not in the off state (N in step S104), process S100 returns to the beginning of step S103. In this case, it is considered that the detected object has not left the first detection area and remains in the first detection area. If it is determined that all detection spots r are in the off state (Y in step S104), process S100 proceeds to step S108. In this case, it is considered that the detected object has left the detection area 70.

[0050] In step S105, the identity determination unit 103 determines that the object detected by the outdoor activation sensor 4A and the object detected by the indoor activation sensor 4B are the same, based on the determination in step S103 that both the overlap detection spot r and the overlap detection spot r on the opposite side are in the ON state. As a result, the object detected by the outdoor activation sensor 4A and the object detected by the indoor activation sensor 4B are associated.

[0051] In step S106, the identification unit 102 determines whether all overlap detection spots r are in the off state. If it is determined that all overlap detection spots r are not in the off state (N in step S106), processing S100 returns to the beginning of step S106. In this case, it is considered that the object being detected has not left the overlap detection area 70C but has remained in the overlap detection area 70C. If it is determined that all overlap detection spots r are in the off state (Y in step S106), processing S100 proceeds to step S107. In this case, it is considered that the object being detected has either passed through the overlap detection area 70C or turned back without passing through the opening 23.

[0052] In step S107, the identification unit 102 determines whether all detection spots r are in the off state. If it is determined that all detection spots r are not in the off state (N in step S107), process S100 returns to the beginning of step S107. In this case, it is considered that the detected object remains in the detection area 70 without leaving it. If it is determined that all detection spots r are in the off state (Y in step S107), process S100 proceeds to step S108. In this case, it is considered that the detected object has left the detection area 70.

[0053] In step S108, the identification unit 102 identifies the last detection area. Specifically, the identification unit 102 identifies the detection spot r that last changed from the ON state to the OFF state as the last detection spot, and identifies the last detection area based on that last detection spot.

[0054] In step S109, the movement path determination unit 104 determines the movement path of the object to be detected based on the earliest detection area and the last detection area identified by the identification unit 102. An example of the determination process of the movement path determination unit 104 will be described below. First, using Figures 6 to 8, an example in which the object to be detected passes through only one of the outdoor detection area 70A and the indoor detection area 70B will be described. In the following examples of Figures 6 to 8, for simplicity, an example of movement in the indoor detection area 70B will be described, but the same movement path determination method can be applied to the outdoor detection area 70A as well.

[0055] Figure 6 is a schematic diagram showing movement paths U1 to U4. In movement paths U1 and U2, the earliest detection area 71 and the last detection area 72 are included in the first indoor detection area Ain. In movement path U3, the earliest detection area 71 and the last detection area 72 are included in the second indoor detection area Lin. In movement path U4, the earliest detection area 71 and the last detection area 72 are included in the third indoor detection area Rin. In cases like these, where both the earliest detection area 71 and the last detection area 72 are included in the same detection area among multiple detection areas, the movement path determination unit 104 determines that the movement path pattern is a U-turn.

[0056] Figure 7 is a schematic diagram showing movement paths C1 and C2. In movement paths C1 and C2, one of the first detection area 61 and the last detection area 62 is included in the second indoor detection area Lin, and the other is included in the third indoor detection area Rin. In this case, the movement path determination unit 104 determines that the movement path pattern is a crossing.

[0057] Figure 8 is a schematic diagram showing movement paths T1 and T2. In movement paths T1 and T2, one of the first detection area 71 and the last detection area 72 is included in the first indoor detection area Ain, and the other is included in one of the second indoor detection area Lin and the third indoor detection area Rin. In this case, the movement path determination unit 104 determines the movement path pattern to be an L-shaped turn. In this specification, an L-shaped turn is a turn in which the angle between the direction in which the movement path enters the detection area 70 and the direction in which the movement path exits the detection area 70 is approximately 90° in a plan view.

[0058] Next, using Figures 9 to 10, we will explain an example in which the object to be detected passes through both the outdoor detection area 70A and the indoor detection area 70B.

[0059] Figure 9 is a schematic diagram showing movement paths S1 to S3. In movement paths S1 to S3, the earliest detection area 71 is included in the outdoor detection area 70A, and the last detection area 72 is included in the indoor detection area 70B. Also, in movement paths S1 to S3, when the detected object passes through the overlapping detection spots r at addresses 1F and 7F, it is considered that both the overlapping detection spot r in the earliest detection area (address 7F) and the overlapping detection spot r on the opposite side (address 1F) are turned on in the overlapping detection area 70C. In this case, the identity determination unit 103 determines that the detected object detected by the outdoor activation sensor 4A and the detected object detected by the indoor activation sensor 4B are the same in movement paths S1 to S3, and the movement path determination unit 104 determines that the object has passed through (entered the room) the movement pattern of the detected object that has been determined to be the same.

[0060] Figure 10 is a schematic diagram showing movement paths K1 to K3. In movement paths K1 to K3, the earliest detection area 71 is included in the indoor detection area 70B, and the last detection area 72 is included in the outdoor detection area 70A. Also, in movement paths K1 to K3, when the detected object passes through the overlapping detection spots r at addresses 1F and 7F, it is considered that both the overlapping detection spot r in the earliest detection area (address 7F) and the overlapping detection spot r on the opposite side (address 1F) are turned on in the overlapping detection area 70C. In this case, the identity determination unit 103 determines that the detected object detected by the outdoor activation sensor 4A and the detected object detected by the indoor activation sensor 4B in movement paths S1 to S3 are the same, and the movement path determination unit 104 determines that the detected object has passed through (exited) the movement pattern of the detected object that has been determined to be the same.

[0061] In summary, in step S109, the movement path determination unit 104 can determine the movement path according to Figures 11 and 12. Figure 11 is a table showing the relationship between the earliest detection area 71 and the last detection area 72 and the movement path when the object to be detected passes through only one of the outdoor detection area 70A or the indoor detection area 70B. Figure 12 is a table showing the relationship between the earliest detection area 71 and the last detection area 72 and the movement path when the object to be detected passes through both the outdoor detection area 70A and the indoor detection area 70B.

[0062] In step S110, the memory unit 105 stores the cumulative number of decisions for each movement determined by the movement determination unit 104. For example, if the movement is determined to be a U-turn, the memory unit 1053 stores a new cumulative number of decisions obtained by adding 1 to the stored cumulative number of decisions for U-turns. For example, if the movement is determined to be a crossing, the memory unit 105 stores a new cumulative number of decisions obtained by adding 1 to the stored cumulative number of decisions for crossings. For example, if the movement is determined to be a pass-through (entry), the memory unit 105 stores a new cumulative number of decisions obtained by adding 1 to the stored cumulative number of decisions for pass-throughs (entry). For example, if the movement is determined to be a pass-through (exit), the memory unit 105 stores a new cumulative number of decisions obtained by adding 1 to the stored cumulative number of decisions for pass-throughs (entry). For example, if the memory unit 105 determines that the movement path is an L-shaped turn, it stores a new cumulative number of decisions obtained by adding 1 to the stored cumulative number of decisions regarding L-shaped turns.

[0063] The administrator of the automatic door system 100 can arbitrarily retrieve the cumulative number of decisions for each movement path from the memory unit 105. The memory unit 105 resets each cumulative number of decisions when a predetermined timing is reached or when the administrator of the automatic door system 100 performs a predetermined operation.

[0064] After step S110, process S100 ends. The steps described above are merely examples, and various modifications are possible.

[0065] Here, for example, from the perspective of optimizing the placement of products in a store, there is a need to refer to the movement path of the detected object throughout the entire detection area 70 when the detected object enters and exits the store through the automatic door device 100. As a method for determining the movement path of the detected object throughout the entire detection area 70, it is envisioned that the movement path of the detected object is determined in the outdoor detection area 70A and the indoor detection area 70B respectively, and the manager of the automatic door device 100 refers to these two determined movement paths to determine the movement path of the detected object throughout the entire detection area 70. However, with this method, the correspondence between the movement paths in the outdoor detection area 70A and the indoor detection area 70B for a given detected object may not be properly made. For example, if multiple different detected objects enter the outdoor detection area 70A and exit from the indoor detection area 70B, the movement path is determined for each of the multiple different detected objects in the outdoor detection area 70A and the indoor detection area 70B. As multiple movement paths are detected in both the outdoor detection area 70A and the indoor detection area 70B, there is a possibility that movement paths of different detection targets in the outdoor detection area 70A and the indoor detection area 70B may be mistakenly identified as the movement path of the same detection target. As a result, it may not be possible to properly grasp the movement paths of the detection targets passing through the automatic door device 100 across the entire detection area 70.

[0066] In this embodiment, the identity determination unit 103 determines whether the object detected by the outdoor activation sensor 4A and the object detected by the indoor activation sensor 4B are the same, based on the detection data from the outdoor activation sensor 4A and the indoor activation sensor 4B. The movement path determination unit 104 determines the movement path within the detection area 70 of the objects that have been determined to be the same, based on the detection data from the outdoor activation sensor 4A and the indoor activation sensor 4B. This configuration makes it possible to more accurately grasp the traffic situation around the automatic door device 100.

[0067] In this embodiment, the identity determination unit 103 determines that the detection target is the same based on the fact that the fifth outdoor detection area Dout and the fifth indoor detection area Din, which are arranged with at least a portion overlapping each other, are simultaneously classified as ON. Here, when the outdoor detection area Dout and the fifth indoor detection area Din are simultaneously classified as ON, it is considered that the detection target is located within the overlapping detection area 70C, and therefore it is highly likely that the detection targets detected by the outdoor activation sensor 4A and the indoor activation sensor 4B are the same. Thus, with this configuration, it is possible to determine with greater accuracy whether the detection targets detected by the outdoor activation sensor 4A and the indoor activation sensor 4B are the same.

[0068] Furthermore, the movement path determination device 80 distinguishes between detection targets by detecting the vector of the movement direction of the detection target based on the on and off states of each detection spot r. Therefore, for example, even if the indoor activation sensor 4B detects another detection target while the outdoor activation sensor 4A is detecting a detection target, the device suppresses the miscounting of the movement path of the detection target.

[0069] The following describes some variations.

[0070] The memory unit 105 may store movement patterns for each gender and age group of the detected person by utilizing an image sensor or the like as the automatic door sensor 10. Similarly, the movement pattern determination unit 104 may determine movement patterns for each gender and age group of the detected person.

[0071] In this embodiment, the movement path of the object to be detected was determined based on the earliest detection area and the last detection area, but is not limited thereto. The movement path of the object to be detected may also be determined based on the order in which the first to fifth outdoor detection areas Aout, Lout, Rout, Pout, Dout and the first to fifth indoor detection areas Ain, Lin, Rin, Pin, Din are classified as ON, or the movement path of the object to be detected may be determined based on the transition path when each detection spot r transitions to the ON state within the detection area 70.

[0072] In this embodiment, the movement path determination unit 104 determined that the movement path was either passing through (entering) or passing through (exiting) when the detected object passed through both the outdoor detection area 70A and the indoor detection area 70B, but it is not limited to this. For example, the movement path determination unit 104 may determine at least one of the direction of travel when entering or exiting and the direction of travel after entering or exiting. For example, as shown in the "Detailed Movement Path" in Figure 12, if the first detection area is the second outdoor detection area Lout and the last detection area is the second indoor detection area Lin, the movement path determination unit 104 may determine that the movement path is "entering from the left and proceeding to the left."

[0073] In this embodiment, an example was shown in which the first detection area and the second detection area are provided outdoors and indoors, respectively, but the system is not limited to this. For example, the first detection area and the second detection area may both be provided indoors, or both may be provided outdoors.

[0074] In this embodiment, an example was shown in which all of the detection spots r in the detection area 70 are activation spots for generating an activation signal when a target is detected, but the embodiment is not limited to this. Some of the detection spots r in the detection area 70 may be set as invalid spots that do not generate an activation signal.

[0075] In the description of the embodiment, an example was shown in which the movement path determination unit 104 makes a determination regarding the movement path patterns shown in Figures 11 and 12, but it is not limited to this. The movement path determination unit 104 may also make a determination regarding movement path patterns not shown in Figures 11 and 12.

[0076] In this embodiment, it is determined that the same detection target is identified based on the fact that an overlapping detection spot r in one of the outdoor detection area 70A and the indoor detection area 70B, and an overlapping detection spot r in the other detection area that overlaps with that overlapping detection spot r, are simultaneously classified as ON. However, the embodiment is not limited to this. It is also possible to determine that the same detection target is identified based on the fact that at least one of the overlapping detection spots r in the fifth outdoor detection area Dout and at least one of the overlapping detection spots r in the fifth indoor detection area Din are simultaneously classified as ON.

[0077] In this embodiment, the earliest detection area and the last detection area in the detection area 70 are specified, but the earliest detection area and the last detection area may also be specified for the outdoor detection area 70A and the indoor detection area 70B, respectively. In this case, for example, if a detection target that has entered the indoor detection area 70B passes through the opening 23 and exits the outdoor detection area 70A, and it is determined that the detection target is the same, the earliest detection area in the indoor detection area 70B may be specified as the earliest detection area of ​​the detection target in the detection area 70 without considering the earliest detection area of ​​the outdoor detection area 70A, and the last detection area in the outdoor detection area 70A may be specified as the last detection area of ​​the detection target in the detection area 70 without considering the last detection area of ​​the indoor detection area 70B.

[0078] Second Embodiment A second embodiment of the present invention will be described below. In the drawings and description of the second embodiment, the same or equivalent components and members as in the first embodiment will be denoted by the same reference numerals. Descriptions that overlap with those of the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from those of the first embodiment. The same applies to the drawings and description of the third and fourth embodiments below.

[0079] Figure 13 is a diagram illustrating the detection area 70 of the automatic door device 100 according to the second embodiment. Figure 14 is a schematic diagram showing the detection area 70 of the second embodiment as viewed from the left and right directions.

[0080] As shown in Figures 13 and 14, in the second embodiment, the fifth outdoor detection area Dout and the fifth indoor detection area Din do not overlap and are adjacent to each other near the track of the door 9. Specifically, the first detection spot rA at addresses 7D to 7I and the second detection spot rB at addresses 1D to 1I are adjacent to each other. Hereinafter, detection spots r that are adjacent to each other at the boundary between the fifth outdoor detection area Dout and the fifth indoor detection area Din may be referred to as adjacent detection spots r. That is, the adjacent detection spots r in the outdoor detection area 70A are the detection spots r at addresses 7D to 7I, and the adjacent detection spots r in the indoor detection area 70B are the detection spots r at addresses 1D to 1I. Furthermore, adjacent detection spots r that are on the opposite side of the opening 23 from an adjacent detection spot r and are adjacent to that adjacent detection spot r are referred to as opposite adjacent detection spots r. That is, for example, the opposite adjacent detection spot r for the adjacent detection spot r at address 1D is the adjacent detection spot r at address 7D.

[0081] Figure 15 is a flowchart of the process S200 of the automatic door device 100 according to the second embodiment. Steps S201, S202, S204, S207-S210 in Figure 15 are basically the same as steps S101, S102, S104, S107-S110 in Figure 4, except for points that are specifically mentioned, so their explanation is omitted.

[0082] After steps S201 to S202, in step S203, the same determination unit 103 determines whether the adjacent detection spot r and the adjacent detection spot r on the opposite side in the first detection area have been turned on in sequence. For example, if the first detection area is the outdoor detection area 70A, the same determination unit 103 determines whether at least one of the first detection spots rA with addresses 7D to 7I has been turned on, and then at least one of the adjacent detection spots r on the opposite side has been classified as turned on. If the adjacent detection spots r have not been turned on in sequence (N in step S203), processing S200 proceeds to step S204. In this case, it is considered that the object being detected has not passed through the opening 23 and remains in the first detection area. If the adjacent detection spots r have been classified as turned on in sequence (Y in step S203), processing S200 proceeds to step S205. In this case, it is considered that the object being detected has passed through the opening 23.

[0083] In step S205, the same determination unit 103 determines that the detection target detected by the outdoor activation sensor 4A and the detection target detected by the indoor activation sensor 4B are the same, based on the determination in step S203 that the adjacent detection spot r and the adjacent detection spot r on the opposite side were sequentially classified as ON.

[0084] In step S206, the identification unit 102 determines whether all adjacent detection spots r are in the off state. If it is determined that all adjacent detection spots r are not in the off state (N in step S206), processing S200 returns to the beginning of step S206. In this case, it is considered that the detection target remains in the adjacent detection spots r at addresses 1D to 1I and 7D to 7I. If it is determined that all adjacent detection spots r are in the off state (Y in step S206), processing S200 proceeds to step S207. In this case, it is considered that the detection target has either passed through the opening 23 or turned back without passing through the opening 23.

[0085] After that, the process S200 is completed after steps S207 to S210.

[0086] In the second embodiment, the same determination unit 103 determines that the detected object is the same based on the fact that the fifth outdoor detection area Dout and the fifth indoor detection area Din, which are arranged adjacent to each other, are sequentially classified as ON. Here, when the outdoor detection area Dout and the fifth indoor detection area Din are sequentially classified as ON, it is considered that the detected object has passed through the boundary portion of the fifth outdoor detection area Dout and the fifth indoor detection area Din, and therefore it is highly likely that the detected objects detected by the outdoor activation sensor 4A and the indoor activation sensor 4B are the same. Therefore, with this configuration, it is possible to determine with greater accuracy whether the detected objects detected by the outdoor activation sensor 4A and the indoor activation sensor 4B are the same.

[0087] The following describes a modified version of the second embodiment.

[0088] Figure 16 shows an example of a detection area in which at least one of the first detection area and the second detection area is adjacent to multiple detection areas. For example, as shown in Figure 16, when at least one of the first detection area and the second detection area is adjacent to multiple detection areas, the same determination unit 103 may determine that the detection target is the same based on the fact that the associated first detection area and second detection area, among the adjacent first and second detection areas, are sequentially classified as ON. In the example of Figure 16, the outdoor detection area 70A includes the outdoor detection area Eout, and the indoor detection area 70B includes the indoor detection area Ein1 and the indoor detection area Ein2 provided on the wall 2 side (left side). The outdoor detection area Eout is adjacent to the two indoor detection areas Ein1 and Ein2. The outdoor detection area Eout and the indoor detection area Ein1 are associated with each other. For example, the storage unit 105 stores combinations of outdoor detection area Eout and indoor detection area Ein for determining that they are the same detection target by sequentially classifying them as ON. In this embodiment, the storage unit 105 stores the outdoor detection area Eout and the indoor detection area Ein1 in association. Here, for example, if no goods or other items are placed on the wall 2 side, it is thought that the detection target will pass through the outdoor detection area Eout and then proceed straight ahead or to the right as shown in movement paths Q1 and Q2, without passing through the wall 2 side. That is, it is thought that the detection target that enters the outdoor detection area Eout will enter the indoor detection area Ein1 without entering the indoor detection area Ein2. Therefore, although the outdoor detection area Eout and the indoor detection area Ein2 are adjacent to each other, it is considered that the possibility of the outdoor detection area Eout and the indoor detection area Ein2 being turned on in sequence for the same detection target is extremely low. Therefore, the identity determination unit 103 may determine that the detection targets are the same based on the fact that the outdoor detection area Eout and the indoor detection area Ein1, which are associated with each other, are classified as being turned on in sequence. With this configuration, even if multiple different detection targets exist in, for example, the outdoor detection area Eout and the indoor detection area Ein2, and the outdoor detection area Eout and the indoor detection area Ein2 are sequentially classified as ON, it is suppressed that the system mistakenly determines that the same detection target is passing through.

[0089] In the second embodiment, the fifth outdoor detection area Dout and the fifth indoor detection area Din are arranged without spacing, but are not limited to this, and may be arranged with spacing between them as long as they are adjacent to each other.

[0090] The detection area 70 may include both the overlapping detection area 70C of the first embodiment and the adjacent detection area of ​​the second embodiment. In this case, the overlapping detection area 70C may be determined to be the same detection target if they are simultaneously classified as ON, and the adjacent detection areas may be determined to be the same detection target if they are sequentially classified as ON.

[0091] In the second embodiment, it was determined that adjacent detection spot r and adjacent detection spot r located on the opposite side of the opening 23 from adjacent detection spot r and adjacent to it were sequentially classified as ON, and that they were the same detection target. However, the embodiment is not limited to this. At least one of the adjacent detection spots r in the fifth outdoor detection area Dout and at least one of the adjacent detection spots r in the fifth indoor detection area Din may be determined to be the same detection target if they are simultaneously classified as ON.

[0092] Any combination of the embodiments and modifications described above is also useful as an embodiment of the present invention. The new embodiments resulting from these combinations possess the combined effects of the respective embodiments and modifications. [Explanation of Symbols]

[0093] 4A Outdoor activation sensor, 4B Indoor activation sensor, 9 Door, 10 Sensor for automatic door, 20 Door drive unit, 22 Fix, 23 Opening, 70 Detection area, 80 Movement path determination device, 90 Automatic door drive unit, 100 Automatic door device, 101 Acquisition unit, 102 Identification unit, 103 Identical determination unit, 104 Movement path determination unit, 105 Storage unit.

Claims

1. A first activation sensor that detects a person or object within a first detection area of ​​a door installed in an opening, A second activation sensor detects a person or object in a second detection area located on the opposite side of the opening from the first detection area, An acquisition unit that acquires detection data from the first activation sensor and the second activation sensor, A unit that determines whether the object detected by the first activation sensor and the object detected by the second activation sensor are the same, based on the detection data from the first activation sensor and the second activation sensor, A movement path determination unit that determines the movement path of the detection target within the detection area based on the detection data of the first activation sensor and the second activation sensor, An automatic door system equipped with the following features.

2. The first detection area includes the first detection region, The second detection area includes a second detection area which is arranged so that at least a portion of it overlaps with the first detection area. The first detection area and the second detection area are each classified as ON when the person or object is present in their respective detection areas. The same determination unit determines that the detection target is the same based on the fact that the first detection area and the second detection area are simultaneously classified as the ON state. The automatic door device according to claim 1.

3. The first detection area is composed of a plurality of first detection regions. The aforementioned second detection area is composed of a plurality of second detection regions. The first detection area and the second detection area are each classified as ON when the person or object is present in their respective detection areas. The same determination unit determines that the detection target is the same based on the fact that the first detection area and the second detection area, which are arranged adjacent to each other, are sequentially classified as the ON state. The automatic door device according to claim 1 or 2.

4. The same determination unit determines that the detection targets are the same based on the fact that the related first detection area and second detection area, among the adjacently arranged first detection area and second detection area, are sequentially classified as the ON state. The automatic door device according to claim 3.

5. A first activation sensor that detects a person or object within a first detection area of ​​a door installed in an opening, A second activation sensor detects a person or object in a second detection area located on the opposite side of the opening from the first detection area, An acquisition unit that acquires detection data from the first activation sensor and the second activation sensor, A unit that determines whether the object detected by the first activation sensor and the object detected by the second activation sensor are the same, based on the detection data from the first activation sensor and the second activation sensor, A movement path determination unit that determines the movement path of the detection target within the detection area based on the detection data of the first activation sensor and the second activation sensor, A sensor system for automatic doors that includes the following features.

6. The first detection area includes the first detection region, The second detection area includes a second detection area which is arranged so that at least a portion of it overlaps with the first detection area. The first detection area and the second detection area are each classified as ON when the person or object is present in their respective detection areas. The same determination unit determines that the detection target is the same based on the fact that the first detection area and the second detection area are simultaneously classified as the ON state. The sensor system for automatic doors according to claim 5.

7. The first detection area is composed of a plurality of first detection regions. The aforementioned second detection area is composed of a plurality of second detection regions. The first detection area and the second detection area are each classified as ON when the person or object is present in their respective detection areas. The same determination unit determines that the detection target is the same based on the fact that the first detection area and the second detection area, which are arranged adjacent to each other, are sequentially classified as the ON state. The automatic door sensor system according to claim 5 or 6.

8. The same determination unit determines that the detection targets are the same based on the fact that the related first detection area and second detection area, among the adjacently arranged first detection area and second detection area, are sequentially classified as the ON state. The sensor system for automatic doors according to claim 7.

9. The steps include acquiring detection data from a first activation sensor that detects a person or object within a first detection area of ​​a door provided in an opening, and a second activation sensor that detects a person or object within a second detection area located on the opposite side of the opening from the first detection area, A step of determining whether the object detected by the first activation sensor and the object detected by the second activation sensor are the same, based on the detection data from the first activation sensor and the second activation sensor. The steps include determining the movement path of the detection target within the detection area based on the detection data from the first activation sensor and the second activation sensor, A method for determining movement patterns, which includes the following features.

10. On the computer, The steps include acquiring detection data from a first activation sensor that detects a person or object within a first detection area of ​​a door provided in an opening, and a second activation sensor that detects a person or object within a second detection area located on the opposite side of the opening from the first detection area, A step of determining whether the object detected by the first activation sensor and the object detected by the second activation sensor are the same, based on the detection data from the first activation sensor and the second activation sensor. The steps include determining the movement path of the detection target within the detection area based on the detection data from the first activation sensor and the second activation sensor, A program for determining movement patterns to execute a command.

Images