Automatic door systems, sensors for automatic doors, methods and programs

Abstract

To provide a technique of an automatic door device which is, when a plurality of detection objects is detected in a detection area, capable of appropriately distinguishing the resulting detection objects therebetween.SOLUTION: An automatic door device 100 according to a specific aspect includes: an activation sensor 4 which has a detection area made up of a plurality of detection spots around an opening and detects a person or an object as a detection object; a reference point generation unit 84 which generates a reference point on the basis of the shape of a detection block made up of one detection spot or a plurality of detection spots in a detection state; and a partition line generation unit 85 which, when a plurality of detection blocks are present in the detection area, generates partition lines for partitioning between the detection blocks on the basis of the respective reference points of the detection blocks.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an automatic door device, a sensor for an automatic door, a method, and a 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 that has a motor for opening and closing the door. This device includes a sensor installed inside and outside the building that detects a person passing through, and an auxiliary sensor for preventing a person passing through from being sandwiched by the door, and controls a drive device based on the signal from the sensor. This device detects the moving direction of the person passing through and that the person has passed through the door using these sensors, and counts the number of people passing through based on the detection results.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The device described in Patent Document 1 can count the number of people entering and leaving by detecting the people passing through in time series using the internal and external sensors and the auxiliary sensor, but it is difficult to appropriately distinguish each detection target when a plurality of detection targets are detected within the detection area.

[0005] The present invention has been made in view of such problems, and thus, one of the objectives is to provide a technology for an automatic door device that can appropriately distinguish a plurality of detected detection targets when a plurality of detection targets are detected within the detection area.

Means for Solving the Problems

[0006] To solve the above problems, an automatic door device according to one aspect of the present invention includes: an activation sensor that detects a person or object having a detection area consisting of a plurality of detection spots around an opening; a reference point generation unit that generates a reference point based on the shape of a detection block consisting of one or more of the detection spots in the detection state; and a demarcation line generation unit that generates demarcation lines that demarcate the spaces between each detection block based on the respective reference point of each detection block when a plurality of the detection blocks exist within the detection area. .

[0007] Another embodiment of the present invention provides an automatic door sensor comprising: a detection unit that detects a person or object having a detection area consisting of a plurality of detection spots around an opening; a reference point generation unit that generates a reference point based on the shape of a detection block consisting of one or more of the detection spots in a detected state; and a demarcation line generation unit that generates demarcation lines that demarcate the detection targets based on the reference point of each of the clusters of detection spots when a plurality of the detection blocks exist within the detection area.

[0008] A method used in an automatic door device according to yet another aspect of the present invention comprises the steps of: detecting a person or object in a detection area consisting of a plurality of detection spots provided around an opening; generating a reference point based on the shape of a detection block consisting of one or more of the detection spots in the detected state; and generating a demarcation line that demarcates the detection objects based on the respective reference point of each of the detection blocks when a plurality of the detection blocks exist within the detection area.

[0009] A program used in an automatic door device according to yet another aspect of the present invention is a program that causes a computer to perform the steps of: detecting a person or object in a detection area consisting of a plurality of detection spots provided around an opening; generating a reference point based on the shape of a detection block consisting of one or more of the detection spots in the detected state; and generating a demarcation line that demarcates the detection objects between them based on the respective reference point of the detection block when a plurality of the detection blocks exist within the detection area.

[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, when multiple detection targets are detected within a detection area, the technology for an automatic door device that can appropriately distinguish between multiple detected targets is provided. [Brief explanation of the drawing]

[0012] [Figure 1] This is a schematic front view showing the automatic door device of the embodiment. [Figure 2] Figure 1 is a block diagram illustrating the automatic door system in schematic form. [Figure 3] Figure 1 is a schematic diagram showing an example of the detection area of ​​an automatic door device. [Figure 4] This is a schematic diagram showing an example of the movement progression of multiple detection targets. [Figure 5] This figure shows the detection blocks and their trajectories corresponding to the movement transitions of multiple detection targets shown in Figure 4. [Figure 6] This is a flowchart illustrating the processing of the automatic door device according to the embodiment. [Figure 7] This diagram illustrates a method for generating reference points and lane markings. [Figure 8]This is a diagram for explaining a method of regenerating reference points and division lines. [Figure 9] This is a diagram showing another example of the movement transition of a plurality of detection targets. [Figure 10] This is a diagram showing the trajectory of detection blocks corresponding to the movement transition of a plurality of detection targets shown in FIG. 9. [Figure 11] This is a schematic diagram showing an example of a detection area divided into a plurality of detection regions. [Figure 12] This is a schematic diagram showing a first example of a flow pattern. [Figure 13] This is a schematic diagram showing a second example of a flow pattern. [Figure 14] This is a schematic diagram showing a third example of a flow pattern. [Figure 15] This is a schematic diagram showing a fourth example of a flow pattern. [Figure 16] FIG. 16(a) is a diagram illustrating a state where each detection block merges in a state where a plurality of detection targets are approaching and arranged side by side, and FIG. 16(b) is a diagram illustrating a state where each detection block merges in a state where a plurality of detection targets are approaching and arranged vertically. [Figure 17] This is a diagram for explaining a method of generating reference points and division lines when three detection targets exist in a detection area.

Embodiments for Carrying Out the Invention

[0013] Among the embodiments disclosed in this specification, those composed of a plurality of objects may integrate the plurality of objects, and conversely, those composed of one object may be divided into a plurality of objects. Whether integrated or not, it should be configured to achieve the object of the invention.

[0014] In the embodiments disclosed herein, those in which multiple functions are provided in a distributed manner may have some or all of those multiple functions integrated into a single unit, and conversely, those in which multiple functions are integrated may have some or all of those functions provided in a distributed manner. Whether the functions are integrated or distributed, the configuration should be such that the objective of the invention can be achieved.

[0015] Furthermore, separate components that share common characteristics are distinguished by adding "1st," "2nd," etc., to the beginning of their names, and these are omitted when referring to them collectively. In addition, terms containing ordinal numbers such as "1st," "2nd," etc., are used to describe various components, but these terms are used solely for the purpose of distinguishing one component from others, and do not limit the components themselves.

[0016] The present invention will be described below with reference to the drawings, based on preferred embodiments. In embodiments and modifications, the same or equivalent components and members will be denoted by the same reference numerals, and redundant explanations will be omitted as appropriate. When there are multiple identical or equivalent elements that are denoted by alphabetical codes, the numbers 1, 2, 3, etc. will be added to the end of the codes to distinguish them, and the numbers will be omitted when referring to them collectively. In addition, the dimensions of the members in each drawing will be enlarged or reduced as appropriate to facilitate understanding. Furthermore, some members that are not important for explaining the embodiments will be omitted from the drawings.

[0017] Embodiment Hereinafter, an automatic door device 100 according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 is a schematic front view showing the automatic door device 100 of the embodiment. The automatic door device 100 shown in Figure 1 is a double sliding door type, in which two doors 9 automatically open and close to the left and right. The doors 9 are a pair, left and right, and are configured to move back and forth along fixed 22 that are fixedly arranged with a gap between them on the left and right sides of the opening 23, thereby opening and closing the opening 23. As an example, the automatic door device 100 is a device that opens and closes doors for openings such as walls that partition spaces in various facilities such as train stations, hotels, department stores, hospitals, and elderly care facilities.

[0018] 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 area in front of the automatic door device 100 will be referred to as "front" or "forward," and the area beyond the automatic door device 100 in the front-back direction will be referred to as "rear" or "rearward." In Figure 1, the detection area 70 is arranged from the front to the rear of the opening 23 and the fix 22. The dimension in the left-right direction may also be referred to as the "left-right width," and the dimension in the front-back direction may be referred to 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.

[0019] 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 on both sides move away from each other, 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.

[0020] The automatic door device 100 includes an automatic door sensor 10 and an automatic door drive device 90 that drives the door 9 to open and close. The automatic door sensor 10 mainly includes an activation sensor 4. The activation sensor 4 has a detection area 70 around the opening 23 and detects a person or object (hereinafter referred to as "detection target").

[0021] The activation sensor 4 is positioned, for example, on the transom 16 above the opening 23. It emits and receives infrared light diagonally downward from its position on the transom 16, and detects, for example, an object entering the door 9, and outputs an activation signal. Details of the activation sensor 4 will be described later.

[0022] The auxiliary photoelectric sensor 30 functions as an aperture detection unit that detects an object to be detected in the opening 23. The auxiliary photoelectric sensor 30 can detect whether an object has passed through the opening 23 by detecting the movement of the object to be detected across the opening 23. For example, the auxiliary photoelectric sensor 30 is a photoelectric detection device and has a light emitter 301 and a light receiver 302 positioned near the opening 23 of the fixed 22. The auxiliary photoelectric sensor 30 detects when the light ray passing between the light emitter 301 and the light receiver 302 is blocked, and transmits detection information indicating the presence of a person or object on the track of the door 9 to the door controller 91 via the communication unit 88. In addition to the photoelectric type, the auxiliary photoelectric sensor 30 may also be a light reflection type or ultrasonic type detection device attached to the transom 16.

[0023] As shown in Figure 1, 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 control information from the automatic door sensor 10. There are no limitations on the transmission path 96 that transmits the control 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). The door engine 92 drives the door 9 to open and close by rotating a drive motor (not shown) based on the control of the door controller 91.

[0024] When the door controller 91 receives a start signal from the automatic door sensor 10, 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.

[0025] Figure 2 is a schematic block diagram of the automatic door device 100 according to the present invention. Each block shown in Figure 2 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., but here, the functional blocks realized by the cooperation of these components are depicted. 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.

[0026] As shown in Figure 2, the automatic door device 100 includes an automatic door sensor 10 and an automatic door drive device 90 that drives the door 9 to open and close. The automatic door sensor 10 includes a start sensor 4, an auxiliary photoelectric sensor 30, and an information processing unit 80.

[0027] The activation sensor 4 will be explained with reference to Figure 3. Figure 3 is a schematic diagram showing an example of a detection area 70 consisting of multiple detection spots 71. Figure 3 shows the detection area 70 on the floor surface. The activation sensor 4 detects the object to be detected in the detection area 70 which has multiple detection spots 71. The activation sensor 4 in this example is an infrared reflection type sensor that emits infrared light into the detection area 70 and receives the reflected light from the object to be detected.

[0028] The detection area 70 has a three-dimensional range from the floor to the transom 16 where the activation sensor 4 is located and to the ceiling. The detection area 70 is composed of multiple detection spots 71 arranged in a matrix, with 12 columns in the left-right direction parallel to the direction of movement of the door 9, and 12 rows in the front-back direction perpendicular to the direction of movement of the door 9. Each row is assigned the 1st row, 2nd row, ... 11th row, 12th row from front to back. Each column is assigned the columns A, B, ... K, L from left to right. In this embodiment, an opening 23 is provided between the 6th row and the 7th row, and the door 9 moves between the 6th row and the 7th row.

[0029] Each detection spot 71 is assigned an address 1A, 1B, ..., 12K, 12L corresponding to its position in the matrix. Each assigned address corresponds to the position information of each detection spot 71. The shape of each detection spot 71 and the overall shape of the detection area 70 may be a polygon other than a circle, ellipse, rectangle, or rectangle. As mentioned above, the detection spots 71 may have various shapes, and their shape may also change depending on the sensor method, etc., and they represent individual regions into which the detection area 70 is divided into multiple parts. Conversely, it may also be thought that the detection area 70 as a whole is formed by multiple detection spots 71.

[0030] The automatic door sensor 10 generates an activation signal to open and close the door 9 when each detection spot 71 in the detection area 70 detects an object.

[0031] The activation sensor 4 may be configured to detect the entire detection area 70 using a single detection unit (for example, an infrared reflective sensor), but the activation sensor 4 in this embodiment comprises first and second detection units 41 and 42 and an integration unit 43. The first detection unit 41 is positioned in front of the transom 16 to detect objects in detection spots 71 belonging to rows 1 to 6. The second detection unit 42 is positioned behind the transom 16 to detect objects in detection spots 71 belonging to rows 7 to 12. The integration unit 43 integrates the detection signals from the first detection unit 41 and the second detection unit 42 and outputs them to the information processing unit 80 as a detection signal for the entire detection area 70. For example, the first detection unit 41 and the integration unit 43 are provided on the indoor side, and the second detection unit 42 is provided on the outdoor side.

[0032] As shown in Figure 2, the information processing unit 80 includes an input unit 81, an opening / closing processing unit 82, a specification unit 83, a reference point generation unit 84, a demarcation line generation unit 85, a movement line identification unit 86, a storage unit 87, and a communication unit 88.

[0033] The input unit 81 sequentially acquires the detection level at each of the multiple detection spots 71, which will be described later, from the activation sensor 4. In this example, the input unit 81 sequentially acquires the detection signal for the entire detection area 70, which has been integrated by the integration unit 43. The input unit 81 also acquires the detection result from the auxiliary photoelectric sensor 30.

[0034] The switching / opening processing unit 82 determines that a detection target exists if the detection level at the detection spot 71 is within a predetermined range, based on the results obtained from the input unit 81, and generates an activation signal. The state in which a detection target is determined to exist at each detection spot 71 is called a detection state, and the state in which no detection is detected is called a non-detection state.

[0035] The identification unit 83 identifies the earliest detection area, which is the detection region to which the detection block 72 consisting of detection spots 71 that changed to a detection state immediately after the target entered the detection area 70 belongs, and the last detection area, which is the detection region to which the detection block 72 consisting of detection spots 71 that were in a detection state immediately before the target exited the detection area 70 belongs. The identification unit 83 identifies the trajectory of the detection block 72. The detection block 72 and the detection region will be described later.

[0036] The reference point generation unit 84 generates reference points based on the shape of the detection block 72. The demarcation line generation unit 85 generates demarcation lines that demarcate the detection targets based on the reference points of each detection block 72 when multiple detection blocks 72 exist within the detection area 70. Details of the processing in the reference point generation unit 84 and the demarcation line generation unit 85 will be described later.

[0037] The movement path identification unit 86 identifies the movement path of the object to be detected within the detection area 70.

[0038] The memory unit 87 stores input information and intermediate processing information in chronological order. In particular, the memory unit 87 stores transition information showing the changes in the position of the detection block 72. The transition information is information relating to the position of the detection block 72 that changes over time, and includes chronological position information of the detection block 72, etc. The memory unit 87 stores a count (hereinafter referred to as "decision count") obtained by individually and cumulatively counting the programs for executing various processes of the present invention and each movement pattern described later. The communication unit 88 transmits the activation signal of the opening / closing processing unit 82 to the door controller 91 of the automatic door drive device 90.

[0039] Figure 3 shows the case where a single detection spot 71 becomes detected by a single detection target X. Code X-1 indicates the state immediately after the detection target X enters the detection area 70. Specifically, code X-1 can be considered the state in which the detection target X is first detected in the detection area 70. Code X-2 indicates the state immediately before the detection target X exits the detection area 70. Specifically, code X-2 can be considered the state in which the detection target X is last detected in the detection area 70. Note that the hatched areas in Figure 3 indicate the detection block 72. The same applies to the following figures.

[0040] A detection block 72 is defined as a block consisting of one or more detection spots 71 in a detection state among multiple detection spots 71 in the detection area 70. When the object to be detected moves within the detection area 70, the detection block 72 virtually forms a trajectory of movement within the detection area 70.

[0041] Even with a single detection target X, multiple detection spots 71 may be in a detection state. In this case, the detection target X forms a detection block 72 consisting of multiple detection spots 71 in a detection state. A detection block 72 consisting of two or more detection spots 71 is a set of detection spots 71 that are located closer to each other than a predetermined distance (hereinafter referred to as the "threshold"). In this example, the detection block 72 consists of two or more adjacent detection spots 71. The threshold here is a distance equivalent to the width of a single detection spot 71.

[0042] Figure 4 is a schematic diagram showing an example of the movement transition of multiple detection targets X and Y. In Figure 4, symbols X-1 and Y-1 indicate the state immediately after detection targets X and Y enter the detection area 70. In particular, symbols X-1 and Y-1 can be said to represent the state in which detection targets X and Y are first detected in the detection area 70. Symbols X-2 and Y-2 indicate the state in which detection targets X and Y have moved to the vicinity of the front side of the opening 23, and symbols X-3 and Y-3 indicate the state in which detection targets X and Y have moved to the vicinity of the rear side of the opening 23. Symbols X-4 and Y-4 indicate the state immediately before detection targets X and Y exit the detection area 70. In particular, symbols X-4 and Y-4 can be said to represent the state in which detection targets X and Y are last detected in the detection area 70.

[0043] Figure 5 shows the detection blocks 72 and their trajectories 73 and 74, corresponding to the movement transitions of multiple detection targets X and Y shown in Figure 4.

[0044] As shown in Figure 5, when detection targets X and Y pass through the opening 23 at approximately the same time, detection targets X and Y may come closer to each other than the threshold near the opening 23. As a result, the two detection blocks 72X and 72Y, each consisting of detection spots 71 detected by detection targets X and Y, become adjacent to each other, making it difficult to distinguish the boundary between the two detection blocks 72X and 72Y. In other words, within this range, the two detection blocks 72X and 72Y merge and become one. This merging of multiple detection blocks 72 by coming closer than the threshold is called the merging of multiple detection blocks 72, and the state in which multiple detection blocks 72 have merged is called the merging state.

[0045] On the other hand, after multiple detection blocks 72 merge, if detection blocks 72X and 72Y move beyond a threshold, the boundary becomes discernible. This state, where multiple detection blocks 72 in a merged state move beyond a threshold, is referred to as the multiple detection blocks 72 branching out.

[0046] If multiple detection blocks 72 merge and then branch off, it becomes difficult to determine the correspondence between the branched detection blocks 72 and the detection targets X and Y. In other words, when there is merging and branching, the multiple detection blocks 72 before the merging and the multiple detection blocks 72 after the branching become disconnected, their correspondence becomes unclear, and it becomes difficult to handle them continuously.

[0047] Based on the above, the process S100 of the automatic door device 100 of this embodiment will be explained with reference to Figure 6. Figure 6 is a flowchart of the process S100 of the automatic door device 100 of this embodiment. In each of the following steps S101 to S109, the activation sensor 4 is assumed to be continuously outputting detection data to the information processing unit 80 in sequence.

[0048] In step S101, the identification unit 83 determines whether the detection spot 71 has changed from a non-detection state to a detected state. If the detection spot 71 remains in a non-detection state and does not change (N in step S101), process S100 returns to the beginning of step S101 and repeats step S101. If the detection spot 71 has changed to a detected state (Y in step S101), process S100 proceeds to step S102.

[0049] In step S102, the identification unit 83 determines whether there are multiple detection blocks 72 in the detection area 70. In this step, for example, the identification unit 83 can determine that there are multiple detection blocks 72 if there are multiple detection spots 71 that are separated by a threshold or more in the detection area 70. In this case, the threshold is the distance corresponding to the width of a single detection spot 71. In other words, the identification unit 83 can determine that there are multiple detection blocks 72 if there is a non-detection detection spot 71 interposed between the multiple detection blocks 72. If there are multiple detection blocks 72 (Y in step S102), the process S100 proceeds to step S103. If there are no multiple detection blocks 72 (N in step S102), the process S100 proceeds to step S105.

[0050] In step S103, the reference point generation unit 84 generates reference points PX and PY for each detection block 72X and 72Y. Figure 7 illustrates the method for generating reference point P. As shown in Figure 7, the reference point generation unit 84 in this embodiment uses the centroid of the figure formed by each detection block 72X and 72Y (a rectangle in the example of Figure 7) as the reference points PX and PY for each detection block 72X and 72Y. After that, processing S100 proceeds to step S104.

[0051] In step S104, the demarcation line generation unit 85 generates demarcation lines T that demarcate the area between the detected targets X and Y based on each reference point. Figure 7 also illustrates the method for generating the demarcation lines T. As shown in Figure 7, the demarcation line generation unit 85 in this embodiment generates the perpendicular line of the line segment S connecting the respective reference points PX and PY for the detected targets X and Y as the demarcation line T on the line segment S. In the example in Figure 7, the perpendicular line T is the perpendicular bisector of the line segment S. After that, processing S100 proceeds to step S105.

[0052] In step S105, the memory unit 87 stores transition information. For example, the memory unit 87 stores the positions of each detection block 72X and 72Y at that time as transition information. If a demarcation line T is generated via step S104, the memory unit 87 also stores the position of the demarcation line T along with the positions of each detection block 72X and 72Y.

[0053] In step S106, the identification unit 83 determines whether all detection spots 71 have changed to a non-detection state. If there are detection spots 71 in a detected state (N in step S106), the process S100 returns to the beginning of step S102 and repeats steps S102 to S105 until all detection spots 71 have changed to a detected state. Therefore, the reference point generation unit 84 regenerates reference points every unit time (for example, every few ms), and the demarcation line generation unit 85 regenerates demarcation lines based on the regenerated reference points.

[0054] The method for regenerating the reference point P and the boundary line T in steps S102 to S105, which are repeated when there is a detection spot 71 in a detected state in step S106 (N in step S106), will be described. Figure 8 is a diagram illustrating the method for regenerating the reference point P and the boundary line T. In step S102, the identification unit 83 can determine that if the boundary line T has already been generated, there are multiple detection blocks 72. If there are multiple detection blocks 72 (Y in step S102), in step S103, the reference point generation unit 84 regenerates new reference points PX2 and PY2 for each detection block 72X and 72Y based on the boundary line T1 generated in the previous processing loop for steps S102 to S105. For example, the reference point generation unit 84 regenerates a new reference point PX2 for detection block 72X using detection block 72 on one side of the boundary line T1 as a reference, and regenerates a reference point PY2 for detection block 72Y using detection block 72 on the other side of the boundary line T1 as a reference. Then, in step S104, the boundary line generation unit 85 regenerates a new boundary line T2 based on the regenerated reference points PX2 and PY2. By repeating the regeneration of the boundary line T until all detection spots 71 change to a non-detection state, and by storing the position of the detection block 72 and its corresponding boundary line T as transition information, it becomes possible to appropriately distinguish between detection targets X and Y from the time they enter the detection area 70 until they exit.

[0055] If all detection spots 71 change to a non-detection state (Y in step S106), process S100 proceeds to step S107.

[0056] In step S107, the identification unit 83 identifies the trajectory of the detection block 72 based on the transition information. The method for identifying the trajectory of the detection block 72 in step S107 will be explained using Figures 9 and 10. Figure 9 is a diagram showing another example of the movement transition of multiple detection targets X and Y. Figure 10 is a diagram showing the trajectories 73 and 74 of the detection block 72 corresponding to the movement transitions of the multiple detection targets X and Y shown in Figure 9.

[0057] In the examples in Figures 9 and 10, multiple detection targets X and Y, which were initially separated from each other upon entering the detection area 70, pass through the opening 23 in a close proximity and then proceed in different directions. Therefore, each detection block 72 merges and becomes one before passing through the opening 23, and then branches off after passing through the opening 23. In this case, it is difficult to determine the correspondence between the multiple detection blocks 72 before merging and the multiple detection blocks 72 after branching.

[0058] In this embodiment, when multiple detection targets X and Y exist in the detection area 70, the identification unit 83, based on the detection blocks 72 obtained from the transition information, sets the detection block 72 on one side as the detection block 72X for detection target X, and the detection block 72 on the other side as the detection block 72Y for detection target Y, using the demarcation line T as a reference. By executing this process every unit of time, the identification unit 83 appropriately determines the transition of the positions of detection blocks 72X and 72Y while distinguishing between them, and identifies the trajectories of detection blocks 72X and 72Y based on the transition of their respective positions. In the example in Figure 9, for simplification, the process of demarcating detection blocks 72X and 72Y by the demarcation line T is performed for detection targets X and Y in four states X-1 to X-4 and Y-1 to Y-4, respectively, but in reality, it is preferable to perform this demarcation process in more states. Furthermore, if there are no multiple detection targets X and Y in the detection area 70, the identification unit 83 identifies the trajectory of the detection block 72 based on the obtained change in the position of the detection block 72. After that, the process S100 proceeds to step S108.

[0059] In step S108, the identification unit 83 identifies the earliest detection area and the last detection area of ​​the detection block 72 based on the trajectories 73 and 74 of the detection block 72. If there are multiple detection targets within the detection area 70, the identification unit 83 identifies the earliest detection area and the last detection area for each trajectory 73 and 74. If there is a single detection target within the detection area 70, the identification unit 83 identifies the earliest detection area and the last detection area based on the trajectory of that single detection target.

[0060] The detection area will be explained using Figure 11. Figure 11 shows an example of multiple detection areas within the detection area 70. As shown in Figure 11, the detection area 70 is divided into multiple detection areas. In the following explanation, the front side of the automatic door device 100 will be referred to as the indoor side, and the rear side of the automatic door device 100 as the outdoor side. In the example in Figure 11, the detection area 70 is divided into detection areas Din, Pin, Ain, Lin, and Rin from the 1st to the 6th row on the front side (indoor side), and into detection areas Dout, Pout, Aout, Lout, and Rout from the 7th to the 12th row on the rear side (outdoor side). The number of detection areas can be two or more.

[0061] Detection area Din consists of detection spots 71 at addresses 6A to 6L and detection spots 71 at addresses 5D to 5I. Detection area Pin consists of detection spots 71 at addresses 3D to 4I. Detection area Ain consists of detection spots 71 at addresses 1D to 2I. Detection area Lin consists of detection spots 71 at addresses 1C to 5A. Detection area Rin consists of detection spots 71 at addresses 1L to 5J.

[0062] Detection area Dout consists of detection spots 71 at addresses 7A to 7L and detection spots 71 at addresses 8D to 8I. Detection area Pout consists of detection spots 71 at addresses 9D to 10I. Detection area Aout consists of detection spots 71 at addresses 11D to 12I. Detection area Lout consists of detection spots 71 at addresses 8A to 12C. Detection area Rout consists of detection spots 71 at addresses 8J to 12L.

[0063] The earliest detection region and the last detection region will be explained using Figures 10 and 11. In the example in Figure 10, according to trajectory 73, the starting point of detection block 72X of detection target X is detection block 72 at addresses 1D and 1E, so the earliest detection region of detection block 72X is detection region Ain. The ending point of detection block 72X of detection target X is detection block 72 at addresses 12D and 12E, so the last detection region of detection block 72X is detection region Aout. According to trajectory 74, the starting point of detection block 72Y of detection target Y is detection block 72 at addresses 1J and 1K, so the earliest detection region of detection block 72X is detection region Rin. The ending point of detection block 72Y of detection target Y is detection block 72 at addresses 12H and 12I, so the last detection region of detection block 72Y is detection region Aout.

[0064] In the example shown in Figure 10, the start and end points of detection blocks 72X and 72Y are each detection blocks 72 consisting of multiple detection spots 71. In such cases, the identification unit 83 may determine, based on predetermined conditions, that at least one of the start and end points is a detection block 72 consisting of a single detection spot 71. For example, the identification unit 83 may divide the detection block 72 consisting of addresses 1D and 1E, and determine the detection block 72 that is further from the other detection blocks 72 (addresses 1J and 1K) among the divided multiple detection blocks 72 as the start point, or divide the detection block 72 consisting of addresses 1J and 1K, and determine the detection block 72 that is further from the other detection blocks 72 (addresses 1D and 1E) among the divided multiple detection blocks 72 as the start point. This process can also be applied when determining that an end point consisting of multiple detection spots 71 is a detection block 72 consisting of a single detection spot 71.

[0065] After step S108, process S100 proceeds to step S109.

[0066] In step S109, the movement path identification unit 86 identifies the movement path pattern of each detection target based on the earliest detection area and the last detection area for each detection target. The method for identifying the movement path pattern in step S109 will be described below with reference to Figures 12 to 15.

[0067] Figure 12 is a schematic diagram showing a first example of a movement pattern. If the earliest detection area including the starting point S of movement M is one of the detection areas Lin, Lout, Ain, Aout, Rin, or Rout, and the last detection area including the ending point Q of movement M is the same detection area as the earliest detection area, the movement identification unit 86 determines that the movement pattern is a U-turn. Figure 14 shows an example of a movement pattern that is determined to be a U-turn.

[0068] Figure 13 is a schematic diagram showing a second example of a movement path pattern. The movement path identification unit 86 determines the movement path pattern to be a crossing when the earliest detection area including the starting point S of the movement path M is detection area Lin and the last detection area including the ending point Q of the movement path M is detection area Rin, when the earliest detection area is detection area Rin and the last detection area is detection area Lin, when the earliest detection area is detection area Lout and the last detection area is detection area Rout, and when the earliest detection area is detection area Rout and the last detection area is detection area Lout. Figure 13 shows an example of a movement path pattern that is determined to be a crossing.

[0069] Figure 14 is a schematic diagram showing a third example of a movement pattern. The movement pattern identification unit 86 determines the movement pattern to be a 90° turn if the earliest detection area including the starting point S of movement pattern M is one of the detection areas Lin, Lout, Rin, or Rout, and the last detection area including the ending point Q of movement pattern M is one of the detection areas Ain or Aout. The movement pattern identification unit 86 also determines the movement pattern to be a 90° turn if the earliest detection area is one of the detection areas Ain or Aout, and the last detection area is one of the detection areas Lin, Lout, Rin, or Rout. Figure 14 shows an example of a movement pattern that is determined to be a 90° turn.

[0070] Figure 15 is a schematic diagram showing a fourth example of a movement pattern. If the earliest detection area including the starting point S of movement M is one of detection areas Lin, Ain, or Rin, and the last detection area including the ending point Q of movement M is one of detection areas Lout, Aout, or Rout, the movement pattern identification unit 86 determines that the movement pattern is an exit. If the earliest detection area is one of detection areas Lout, Aout, or Rout, and the last detection area is one of detection areas Lin, Ain, or Rin, the movement pattern identification unit 86 determines that the movement pattern is an entry. Figure 15 shows an example of a movement pattern that is determined to be an exit or an entry.

[0071] Next, we will explain the movement patterns for entering and exiting a room. In the case of exiting, if the first detection area is detection area Lin, the exit is from the left; if the first detection area is detection area Rin, the exit is from the right; and if the first detection area is detection area Ain, the exit is from the front. Thus, the movement patterns for exiting can be categorized. Similarly, in the case of entering a room, if the last detection area is detection area Lin, the person proceeds to the left after entering; if the last detection area is detection area Rin, the person proceeds to the right after entering; and if the last detection area is detection area Ain, the person proceeds straight ahead after entering. Thus, the movement patterns for entering a room can be categorized.

[0072] Furthermore, in the case of entry, if the first detection area is detection area Lout, the person enters from the left; if the first detection area is detection area Rout, the person enters from the right; and if the first detection area is detection area Aout, the person enters from the front, thus differentiating the entry path. Similarly, in the case of exit, if the last detection area is detection area Lout, the person proceeds to the left after exiting; if the last detection area is detection area Rout, the person proceeds to the right after exiting; and if the last detection area is detection area Aout, the person proceeds straight ahead after exiting, thus differentiating the exit path.

[0073] In this way, by combining the earliest detection area and the last detection area, it becomes possible to understand the detailed movement patterns of people entering and leaving the room.

[0074] After step S109, process S100 proceeds to step S110.

[0075] In step S110, the memory unit 87 stores the cumulative number of decisions for each movement pattern. The administrator of the automatic door device 100 can arbitrarily retrieve the cumulative number of decisions for each movement pattern from the memory unit 87. The memory unit 87 can reset each cumulative number of decisions when a predetermined timing is reached or when the administrator of the automatic door device 100 performs a predetermined operation. After step S110, process S100 returns to the beginning of step S101, and the loop of steps S101 to S110 is repeated. The steps described above are merely examples, and various modifications are possible.

[0076] As described above, in this embodiment, the reference point generation unit 84 generates reference points based on the shape of the detection block 72, and the demarcation line generation unit 85 generates demarcation lines that demarcate the spaces between each detection block 72 based on the reference points of each detection block 72 when multiple detection blocks 72 exist within the detection area 70. With this configuration, by using demarcation lines, it is possible to appropriately distinguish between multiple detection targets even when multiple detection blocks 72 exist within the detection area 70. In particular, even when multiple detection targets X and Y are close together and the detection blocks 72 merge in a side-by-side position (see Figure 16(a)), or when multiple detection targets X and Y are close together and the detection blocks 72 merge in a vertical position (see Figure 16(b)), demarcation lines are appropriately placed between the detection blocks 72 corresponding to each detection target, so that multiple detection targets can be appropriately distinguished.

[0077] In this embodiment, the reference point generation unit 84 uses the centroid of the figure formed by the detection block 72 as the reference point P. With this configuration, the demarcation line T can be generated more appropriately, making it possible to distinguish between multiple detection targets more appropriately.

[0078] In this embodiment, the demarcation line generation unit 85 generates a demarcation line T on the line segment S, which is the perpendicular bisector of the line segment S connecting the reference points P of the multiple detected objects. With this configuration, the demarcation line T can be generated more appropriately, making it possible to distinguish between multiple detected objects more appropriately.

[0079] In this embodiment, the reference point generation unit 84 regenerates reference points every unit of time, and the demarcation line generation unit 85 regenerates demarcation lines based on the regenerated reference points. With this configuration, even if multiple detection targets move, it is possible to appropriately generate demarcation lines T for each of their positions and appropriately distinguish between multiple detection targets.

[0080] In this embodiment, the identification unit 83 identifies the earliest detection area and the last detection area based on transition information, and the movement path identification unit 86 identifies the movement path of the detection target based on the earliest detection area and the last detection area. When multiple detection blocks 72 exist within the detection area 70, the identification unit 83 identifies the transition of the position of the detection block 72 on one side and the transition of the position of the detection block 72 on the other side based on the boundary line, and identifies the earliest detection area and the last detection area for the detection block 72 on one side and the detection block 72 on the other side, respectively, based on the identified transitions. With this configuration, multiple detection targets can be appropriately distinguished, and therefore the movement paths of multiple detection targets can be appropriately identified.

[0081] The embodiments of the present invention have been described in detail above. The embodiments described above are merely examples of how to implement the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes, such as changes, additions, and deletions of components, are possible as long as they do not depart from the spirit of the invention as defined in the claims. In the embodiments described above, the contents in which such design changes are possible are described with notations such as "of the embodiments" or "in the embodiments," but this does not mean that design changes are not permitted in contents without such notations.

[0082] [Differentiation] The following describes modified examples. In the drawings and descriptions of the modified examples, the same reference numerals are used for components and members that are identical or equivalent to those in the embodiments. Descriptions that overlap with those in the embodiments will be omitted as appropriate, and the descriptions will focus on the configurations that differ from those in the embodiments.

[0083] In the description of the embodiment, an example was shown in which the detection area 70 has detection spots 71 set on the front and rear sides of the opening 23, but the detection area 70 may have only detection spots 71 set on one side of the opening 23.

[0084] In the description of the embodiment, an example was shown in which both of the multiple detection units 41 and 42 are provided on the transom 16. However, some or all of the multiple detection units 41 and 42 may be provided on surfaces other than the transom 16, such as walls or ceilings.

[0085] In the description of the embodiment, an example was shown in which the activation sensor 4 detects detection spots 71 set on the front and rear sides of the opening 23 using multiple detection units 41 and 42. However, the activation sensor 4 may also be configured to detect the detection spots 71 set on the front and rear sides of the opening 23 using a single detection unit.

[0086] In the description of the embodiment, an example was shown in which the detection area 70 is provided for a single opening 23, but the detection area 70 may be provided for multiple openings 23. For example, part or all of the detection area 70 may be provided between multiple openings 23, each of which is equipped with an automatic door.

[0087] In the description of the embodiment, an example was shown in which the integration unit 43 is provided on the activation sensor 4, but the invention is not limited to this. For example, the integration unit 43 may be provided on the information processing unit 80.

[0088] In the description of the embodiment, an automatic door sensor performed the process of the present invention, but the invention is not limited thereto, and the process of the present invention may also be performed by a device included in an automatic door system (such as an automatic door drive device).

[0089] The description of the embodiment showed the case where there are two detection targets within the detection area 70, but the principle of the present invention can also be applied when there are three or more detection targets within the detection area 70. For example, with reference to Figure 17, the case where there are three detection targets X, Y, and Z within the detection area 70 will be described. As shown in Figure 17, the reference point generation unit 84 generates reference points PX, PY, and PZ for each of the detection blocks 72X, 72Y, and 72Z of detection targets X, Y, and Z, respectively, and the demarcation line generation unit 85 generates demarcation lines T between detection targets X and Y, detection targets Y and Z, and detection targets Z and X, respectively. This makes it possible to appropriately distinguish between detection targets X, Y, and Z.

[0090] In the description of the embodiment, the earliest detection area and the last detection area were identified based on the trajectory, but the invention is not limited to this. The earliest detection area and the last detection area may also be identified based at least on the detection block 72 immediately after the detection target enters the detection area 70 and the detection block 72 immediately before the detection target exits the detection area 70.

[0091] In the description of the embodiment, the reference point generation unit 84 used the centroid of the figure formed by each detection block 72X and 72Y as the reference point P. However, it is not limited to this, and the centroid identified using the method described in International Publication No. 2012 / 073821 may be used as the reference point. Alternatively, the reference point generation unit 84 may use any point in the figure formed by each detection block 72X and 72Y as the reference point P.

[0092] In the description of the embodiment, the perpendicular line T is the perpendicular bisector of the line segment S, but is not limited to this, and may be generated as a boundary line T at any position on the line segment S, for example. Furthermore, the boundary line T is not limited to the perpendicular line of the line segment S, but only needs to be at least inclined with respect to the line segment S.

[0093] In the description of the embodiment, a reference point P and a demarcation line T were generated when it was determined that multiple detection blocks 72 exist within the detection area 70. However, the invention is not limited to this, and for example, a reference point P and a demarcation line T may be generated in response to the distance between multiple detection blocks 72 becoming less than or equal to a predetermined value.

[0094] In the description of the embodiment, an example of the detection area of ​​the detection area 70 is shown in Figure 11, but the detection area of ​​the detection area 70 is not limited to this and can be modified in various ways.

[0095] In the description of the embodiment, an example was shown where the activation sensor 4 is an infrared reflection type sensor, but it is not limited to this. For example, the activation sensor may be a radio wave type sensor, an ultrasonic type sensor, a laser scanning type sensor, or an image type sensor.

[0096] In the description of the embodiment, an example was shown in which all detection spots 71 in the detection area 70 are activation spots that generate an activation signal to open and close the door 9 when an object is detected, but the invention is not limited to this. Some of the detection spots 71 in the detection area 70 may be set as inactive spots that do not generate an activation signal.

[0097] In the description of the embodiment, an example of a movement pattern determined by the movement pattern identification unit 86 is shown in Figures 12 to 15. However, the movement pattern identification unit 86 may be configured to determine movement patterns different from those shown in Figures 12 to 15.

[0098] In the description of the embodiments, an example was shown in which the transmission line 96 includes an internal bus, but the invention is not limited thereto. Known wired or wireless means of information transmission can be used as the transmission line.

[0099] In the description of the embodiment, an example was shown in which detection information from the auxiliary photoelectric sensor 30 is transmitted to the door controller 91 via the information processing unit 80, but the embodiment is not limited to this. The detection information from the auxiliary photoelectric sensor may be transmitted directly to the door controller 91, or it may be transmitted to the door controller 91 via other routes.

[0100] The modifications described above produce the same functions and effects as each embodiment.

[0101] 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]

[0102] 4 activation sensor, 10 automatic door sensor, 23 opening, 41 first detection unit, 42 second detection unit, 50 movement path identification device, 71 detection spot, 72 detection block, 80 information processing unit, 81 input unit, 82 opening / closing processing unit, 83 identification unit, 84 reference point generation unit, 85 lane line generation unit, 86 movement path identification unit, 87 storage unit, 88 communication unit, 100 automatic door device.

Claims

1. An activation sensor having a detection area consisting of multiple detection spots around an opening, which detects a person or object as the target of detection, A reference point generation unit generates a reference point based on the shape of a detection block consisting of one or more detection spots in the detection state, A boundary line generation unit generates boundary lines that demarcate the spaces between detection blocks based on the reference point of each detection block when multiple detection blocks exist within the detection area, Equipped with, Automatic door system.

2. The reference point generation unit uses the centroid of the figure formed by the detection block as the reference point. The automatic door device according to claim 1.

3. The boundary line generation unit generates perpendicular lines on the line segments connecting the reference points of the multiple detected objects as boundary lines. The automatic door device according to claim 1.

4. The reference point generation unit regenerates the reference point every unit of time, The lane line generation unit regenerates the lane lines based on the regenerated reference points. The automatic door device according to claim 1.

5. The aforementioned detection area is divided into multiple detection regions, A storage unit that stores transition information regarding the transition of the position of the detection block, A special unit identifies the earliest detection area, which is the detection region to which the detection block consisting of the detection spot that changed to a detected state immediately after the detection target entered the detection area, and the last detection area, which is the detection region to which the detection block consisting of the detection spot that was in a detected state immediately before the detection target exited the detection area, based on the transition information. A movement path identification unit that identifies the movement path of the object to be detected based on the preceding detection area and the last detection area, Furthermore, The identifying unit, when multiple detection blocks exist within the detection area, identifies the changes in the positions of the detection blocks on one side and the changes in the positions of the detection blocks on the other side, based on the demarcation line, and identifies the earliest detection area and the last detection area for the detection blocks on the one side and the other side, respectively, based on the identified changes. The automatic door device according to any one of claims 1 to 4.

6. A detection unit that has a detection area consisting of multiple detection spots around an opening and detects a target that is a person or an object, A reference point generation unit generates a reference point based on the shape of a detection block consisting of one or more detection spots in the detection state, A boundary line generation unit generates boundary lines that demarcate the detection targets based on the reference points of each of the clusters of detection spots when multiple detection blocks exist within the detection area. Equipped with, Sensor for automatic doors.

7. The steps include detecting a person or object in a detection area consisting of multiple detection spots provided around an opening, A step of generating a reference point based on the shape of a detection block consisting of one or more detection spots in the detection state, The steps include: generating demarcation lines that demarcate the detection targets based on the reference points of each of the detection blocks when there are multiple detection blocks within the detection area; Equipped with, A method used in automatic door systems.

8. A program used in an automatic door system, On the computer, The steps include detecting a person or object in a detection area consisting of multiple detection spots provided around an opening, A step of generating a reference point based on the shape of a detection block consisting of one or more detection spots in the detection state, The steps include: generating demarcation lines that demarcate the detection targets based on the reference points of each of the detection blocks when there are multiple detection blocks within the detection area; A program to execute.

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