Automatic door systems, sensors for automatic doors, traffic flow identification devices, traffic flow identification methods, traffic flow identification programs

Abstract

To provide a technique of an automatic door device capable of comprehending the flow lines of each detection target even when multiple detection targets overlap.SOLUTION: An automatic door device 100 in a mode includes: an activation sensor 4 that has a detection area constituted of multiple detection spots for detecting a detection target as a person or thing around an opening area; an identification unit 5 that identifies a starting point and a terminal point in a detection area in a trajectory of a detection block constituted of one or more detection spots in detection status out of the detection status; a branch determination part 28 that determines whether the trajectory branches to multiple trajectories; and a flow line identification unit 6 that identifies the flow line as the detection target based on the starting point and the terminal point identified by the identification unit 5.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an automatic door device, a sensor for an automatic door, a traffic flow identification device, a traffic flow identification method, and a traffic flow identification 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 that detect 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] 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. However, it is difficult to grasp the traffic flow of each detection target when a plurality of detection targets overlap.

[0005] The present invention has been made in view of such problems, and one of its purposes is to provide a technology for an automatic door device capable of grasping the traffic flow of each detection target even when a plurality of detection targets overlap.

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 has a detection area consisting of multiple detection spots and detects a detection target which is a person or object around an opening; a specification unit that identifies the start and end points in the detection area of ​​the trajectory of a detection block consisting of one or more detection spots that are in a detected state from among the multiple detection spots; a branching determination unit that determines whether the trajectory has branched into multiple paths; and a movement path identification unit that identifies the movement path of the detection target based on the start and end points identified by the specification unit.

[0007] 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]

[0008] According to the present invention, it is possible to provide an automatic door system technology that can understand the movement path of each detection target even when multiple detection targets overlap. [Brief explanation of the drawing]

[0009] [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 another schematic diagram showing an example of the detection area of ​​the automatic door device in Figure 1. [Figure 5] This is another schematic diagram showing an example of the detection area of ​​the automatic door device in Figure 1. [Figure 6] This is a schematic diagram showing an example of a detection area divided into multiple sections. [Figure 7] This is a schematic diagram showing the first example of a movement pattern. [Figure 8] This is a schematic diagram showing a second example of a movement pattern. [Figure 9]This is a schematic diagram showing a third example of a movement pattern. [Figure 10] This is a schematic diagram showing a fourth example of a movement pattern. [Figure 11] Figure 1 is a flowchart illustrating an example of the process for an automatic door system. [Modes for carrying out the invention]

[0010] Among the embodiments disclosed herein, those composed of multiple objects may be integrated, and conversely, those composed of a single object may be divided into multiple objects. Whether or not they are integrated, the invention can be constructed in a way that achieves its objective.

[0011] 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.

[0012] 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.

[0013] An automatic door device in one aspect of the present disclosure includes: an activation sensor that has a detection area consisting of a plurality of detection spots and detects a detection target which is a person or object around an opening; a specification unit that identifies the start and end points in the detection area of ​​the trajectory of a detection block consisting of one or more detection spots that are in a detected state from among the plurality of detection spots; a branching determination unit that determines whether the trajectory has branched into a plurality; and a movement path identification unit that identifies the movement path of the detection target based on the start and end points identified by the specification unit.

[0014] According to this configuration, even when a plurality of detection targets overlap, it becomes possible to recognize the movement routes of each detection target. An automatic door device capable of grasping each movement route based on the recognized movement routes of each detection target can be provided.

[0015] As an example, when a plurality of starting points separated from each other and a single end point are specified for a locus, the branch determination unit determines that the locus has branched into a plurality, and the movement route identification unit may identify each movement route based on the combination of each of the plurality of starting points and the single end point. In this case, even when the trajectories extending from the plurality of starting points merge due to the overlap of a plurality of detection targets within the detection area and form a single end point, it becomes possible to recognize the movement routes of each detection target. Note that in this specification, the branching of a locus includes the merging of a plurality of trajectories.

[0016] As an example, when a single starting point and a plurality of end points separated from each other are specified for a locus, the branch determination unit determines that the locus has branched into a plurality, and the movement route identification unit may identify each movement route based on the combination of the single starting point and each of the plurality of end points. In this case, the processing for monitoring the trajectories of the detection blocks in the specifying unit and the movement route identification unit can be lightened.

[0017] As an example, when a locus separated from a given locus by a predetermined distance or more is specified, the branch determination unit determines that the locus has branched into a plurality, and the specifying unit may regard the locus as a plurality of different loci and specify the starting point and end point of each locus. In this case, since the movement route is specified when the locus branches, even if the locus changes complicatedly, the correspondence relationship between the starting point and the end point can be easily grasped.

[0018] As an example, this automatic door device includes a storage unit that stores transition information regarding the transition of a locus, and the specifying unit may specify the starting point and end point of the locus based on the transition information stored in the storage unit. In this case, since the movement route can be specified from the stored transition information, even if the locus changes complicatedly, the correspondence relationship between the starting point and the end point can be easily grasped.

[0019] An automatic door sensor in one aspect of the present disclosure has a detection area consisting of a plurality of detection spots provided around an opening, and includes a detection unit that detects a person or object in the vicinity of the opening, a specification unit that identifies the start and end points in the detection area of ​​the trajectory of a detection block consisting of one or more detection spots in the detection state from among the plurality of detection spots, a branching determination unit that determines whether the trajectory has branched into multiple paths, and a movement path identification unit that identifies the movement path of the detected object based on the start and end points identified by the specification unit. The branching determination unit determines that the trajectory has branched into multiple paths if a single start point and a plurality of distant end points are identified for the trajectory, and the movement path identification unit identifies each movement path based on each combination of the single start point and the plurality of end points.

[0020] This configuration makes it possible to provide an automatic door sensor that can recognize the movement path of each detection target even when multiple targets are overlapping.

[0021] A movement path identification device in one aspect of the present disclosure has a detection area consisting of a plurality of detection spots provided around an opening, and includes a detection unit that detects a person or object that is a detection target around the opening, a specification unit that specifies the start and end points in the detection area of ​​the trajectory of a detection block consisting of one or more detection spots that are in a detected state from among the plurality of detection spots, a branching determination unit that determines whether the trajectory has branched into multiple paths, and a movement path identification unit that identifies the movement path of the detection target based on the start and end points specified by the specification unit. The branching determination unit determines that the trajectory has branched into multiple paths if a single start point and a plurality of distant end points are specified for the trajectory, and the movement path identification unit identifies each movement path based on each combination of the single start point and the plurality of end points.

[0022] This configuration provides a movement identification device that can recognize the movement of each detection target even when multiple detection targets overlap.

[0023] 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.

[0024] [First Embodiment] Hereinafter, an automatic door device 100 according to the first 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.

[0025] 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.

[0026] 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.

[0027] 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 and an information processing unit 20, which will be described later. The activation sensor 4 detects people or objects (hereinafter referred to as "detection targets") around the opening 23.

[0028] 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.

[0029] The auxiliary photoelectric sensor 30 functions as an opening detection unit that detects the object to be detected in the opening 23. By detecting the movement of the object to be detected across the opening 23, the auxiliary photoelectric sensor 30 can complement the movement identification function of the movement identification unit 6 and the movement determination function of the movement determination unit 7, which will be described later. For example, the auxiliary photoelectric sensor 30 can detect whether the object to be detected has passed through the opening 23. For example, the appropriateness of the identification result of the movement identification unit 6 can be determined according to the detection result of the auxiliary photoelectric sensor 30. Also, for example, the appropriateness of the determination result of the movement determination unit 7 can be determined according to the detection result of the auxiliary photoelectric sensor 30. As a result, misrecognition by the movement identification unit 6 or misjudgment by the movement determination unit 7 can be reduced.

[0030] As an 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 rays passing between the light emitter 301 and the light receiver 302 are blocked, and transmits detection information indicating the presence of a person or object on the track of the door 9 to the control unit 91 via the communication unit 8. 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.

[0031] As shown in Figure 1, the automatic door drive unit 90 includes a control unit 91 and a door engine 92. The control unit 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). Based on the control of the control unit 91, the door engine 92 rotates a drive motor (not shown) to drive the door 9 to open and close.

[0032] When the control unit 91 receives a start signal from the start sensor 4 via 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 control unit 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 control unit 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.

[0033] 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.

[0034] The automatic door sensor 10 described above can be configured to include an information processing unit 20 that processes the detection results of the activation sensor 4 and the auxiliary photoelectric sensor 30.

[0035] The activation sensor 4 will be explained with reference to Figures 3 and 4. Figures 3 and 4 are schematic diagrams showing an example of a detection area 70 consisting of multiple detection spots 71. This diagram shows the detection area 70 on the floor surface. The activation sensor 4 detects the object to be detected in the detection area 70 having 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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 has two 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 20 as a detection signal for the entire detection area 70.

[0040] As shown in Figure 2, the information processing unit 20 includes an input unit 25, an opening / closing processing unit 26, a specific unit 5, a branch determination unit 28, a movement path identification unit 6, a movement path determination unit 7, a storage unit 3, and a communication unit 8.

[0041] The input unit 25 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 25 sequentially acquires the detection signal for the entire detection area 70 integrated by the integration unit 43. The input unit 25 also acquires the detection result from the auxiliary photoelectric sensor 30. Based on the results acquired by the input unit 25, the switching processing unit 26 determines that a detection target exists if the detection level at each detection spot 71 is within a predetermined range, 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 there is no detection state is called a non-detection state.

[0042] The memory unit 3 stores input information and intermediate processing information in chronological order. In particular, the memory unit 3 stores transition information regarding the transition of the trajectory 73 of the detection block 72, which will be described later. The trajectory 73 of the detection block 72 corresponds to the movement trajectory of the object being detected. The transition information of the trajectory 73 is information about the trajectory 73 that changes over time, and includes chronological position information of the detection block 72, etc. Therefore, the identification unit 5 can identify the trajectory 73 of the detection block 72 based on the transition information. The memory unit 3 also stores the program P100, which will be described later. The communication unit 8 transmits the activation signal of the opening / closing processing unit 26 to the control unit 91 of the automatic door drive device 90.

[0043] (Trajectory of the detected block) Figure 3 shows the case where a single detection spot 71 becomes detected by a single detection target X. A block consisting of one or more detection spots 71 that are in a detected state among multiple detection spots 71 in the detection area 70 is called a detection block 72. When the detection target X moves, the position of the detection block 72 changes along with the movement of the detection target X. As a result, the detection block 72 virtually forms a movement trajectory 73 (shown by a dashed line) in the detection area 70. The trajectory 73 has a starting point S and an ending point Q. The starting point S of the trajectory 73 is the detection block 72 consisting of the detection spot 71 that changed to a detected state immediately after the detection target X entered the detection area 70 among multiple detection spots 71. The ending point Q of the trajectory 73 is the detection block 72 consisting of the detection spot 71 that was in a detected state immediately before the detection target X exited the detection area 70 among multiple detection spots 71.

[0044] In addition, depending on the detection target, even with a single detection target X, multiple detection spots 71 may be in a detection state. In this case, a block consisting of multiple detection spots 71 in a detection state is called a detection block 72. A detection block 72 consisting of two or more detection spots 71 is a collection of detection spots 71 that are located closer to each other than a predetermined distance. In this example, the detection block 72 consists of two or more detection spots 71 that are adjacent to each other. In other words, the predetermined distance is the width of a single detection spot 71.

[0045] Figure 4 shows a case where multiple detection spots 71 (addresses 1F and 1G) are detected by multiple detection targets X1 and X2. Since these detection spots 71 are adjacent to each other, they are detected as a single detection block 72. As the multiple detection targets X1 and X2 move, the position of the detection block 72 changes, and a trajectory 73 is formed. In the example in Figure 4, the multiple detection targets X1 and X2 split up and move to the left and right midway, so the trajectory 73 branches midway, and the trajectory 73 has two endpoints Q1 and Q2.

[0046] The identification unit 5 will be explained with reference to Figures 2, 3, and 4. The identification unit 5 identifies the start and end points in the detection area 70 of the trajectory 73 of a detection block 72 consisting of one or more detection spots 71 in a detected state. In the example in Figure 3, the identification unit 5 identifies a single start point S and a single end point Q. In the example in Figure 4, the identification unit 5 identifies a single start point S and multiple (two in this example) end points Q1 and Q2.

[0047] The branching determination unit 28 will be explained with reference to Figures 2 and 4. The branching determination unit 28 determines whether the trajectory 73 has branched into multiple paths. Specifically, the branching determination unit 28 determines that the trajectory 73 has branched into multiple paths if multiple distant starting points S1 and S2 and a single ending point Q are identified for the trajectory 73. The branching determination unit 28 also determines that the trajectory 73 has branched into multiple paths if a single starting point S and multiple distant ending points Q1 and Q2 are identified for the trajectory 73. The branching determination may be performed when multiple ending points Q1 and Q2 are identified, or it may be performed before the ending points Q1 and Q2 are identified. In this embodiment, the branching determination unit 28 determines that the trajectory 73 has branched into multiple paths when the detection block 72 splits into multiple detection blocks 72 that are separated by a predetermined distance or more, and the identification unit 5 identifies the ending point Q of each trajectory 73. In this case, the multiple trajectories 73 after branching can be monitored at an early stage. Furthermore, when the branching determination unit 28 determines that the trajectory 73 has branched into multiple paths, the identification unit may consider the trajectory 73 as a separate trajectory consisting of multiple detection blocks 72, and identify a starting point S and an ending point Q for each trajectory. In this case, a single starting point S and ending point Q are identified for the trajectory, resulting in the same processing as in the example shown in Figure 3.

[0048] The movement path identification unit 6 will be explained with reference to Figures 2, 3, and 4. The movement path identification unit 6 identifies the movement path M of the detection target X based on the start and end points identified by the identification unit 5. As shown in Figure 3, if the trajectory 73 has a single start point S and a single end point Q, the movement path identification unit 6 identifies the movement path M connecting the start point S (address 1F) and the end point Q (address 12F).

[0049] However, as shown in Figure 4, a single starting point S may be formed when multiple detection targets X1 and X2 overlap and are detected as a single unit. The overlapping of multiple detection targets means that multiple detection spots 71 that have been detected by multiple detection targets are adjacent to each other. In this case, the trajectory 73 has multiple ending points Q1 and Q2.

[0050] Thus, when the trajectory 73 has multiple endpoints Q1 and Q2, it is desirable to be able to understand the movement path corresponding to each of the multiple endpoints Q1 and Q2. Therefore, in this embodiment, when the branching determination unit 28 identifies a single starting point S and multiple endpoints Q1 and Q2 that are far apart from each other for the trajectory 73, it determines that the trajectory 73 has branched into multiple paths, and the movement path identification unit 6 identifies the respective movement paths M1 and M2 based on each combination of the single starting point S and the multiple endpoints Q1 and Q2.

[0051] In particular, the movement path identification unit 6 identifies multiple movement paths M1 and M2 that connect each of the multiple endpoints Q1 and Q2 to a single starting point S. Specifically, the movement path identification unit 6 identifies movement path M1 that connects endpoint Q1 (address 10A) to starting point S (addresses 1F, 1G), and movement path M2 that connects endpoint Q2 (address 10L) to starting point S (addresses 1F, 1G). In other words, the movement path identification unit 6 can identify the same number of movement paths M1 and M2 as there are multiple endpoints Q1 and Q2, corresponding to each endpoint Q1 and Q2. Multiple endpoints Q that are far apart from each other refer to a state in which multiple endpoints Q are not adjacent due to the presence of detection spots 71 in an undetected state between multiple endpoints Q. The number of movement paths to be identified may differ from the number of multiple endpoints Q1 and Q2.

[0052] An example of the branching determination operation of the branching determination unit 28 will be described. In this embodiment, the branching determination unit 28 monitors the trajectory 73 and, when it determines that the trajectory 73 has branched into multiple paths, identifies multiple paths based on each of the multiple trajectories 73. When the identification unit 5 determines that the trajectory 73 has branched into multiple paths, it considers the trajectory to consist of multiple detection blocks 72 and identifies the starting point S and ending point Q of each trajectory. As another example, the branching determination unit 28 may not identify the paths before the multiple ending points are identified, and may identify each of the multiple paths when the multiple ending points are identified.

[0053] Referring to Figures 2 and 5, we will explain the case where the trajectory 73 has multiple starting points S1 and S2 and a single ending point Q1. Figure 5 is a schematic diagram showing an example of a detection area 70 consisting of multiple detection spots 71. Figure 5 shows the trajectory 73 of a detection block 72 formed by the movement of multiple detection targets X1 and X2. In this example, separate trajectories 73 extending from multiple starting points S1 (address 3A) and S2 (address 3L) merge along the way to form a single ending point Q (addresses 12F and 12G).

[0054] The identification unit 5 of the embodiment can identify a plurality of distant starting points S1 and S2 and a single ending point Q. The branching determination unit 28 determines that the trajectory 73 has branched into multiple paths when a plurality of distant starting points S1 and S2 and a single ending point Q are identified for the trajectory 73, and the movement path identification unit 6 identifies the respective movement paths M1 and M2 based on the combination of each of the plurality of starting points S1 and S2 and the single ending point Q.

[0055] In particular, the movement path identification unit 6 identifies multiple movement paths M1 and M2 that connect starting points S1 and S2 to a single ending point Q. Specifically, the movement path identification unit 6 identifies movement path M1 that connects starting point S1 (address 3A) and ending point Q (addresses 12F, 12G), and movement path M2 that connects starting point S2 (address 3L) and ending point Q (addresses 12F, 12G). In other words, the movement path identification unit 6 can identify the same number of movement paths M1 and M2 as the number of multiple starting points S1 and S2 corresponding to each starting point S1 and S2. The number of movement paths identified may differ from the number of multiple starting points.

[0056] The movement path determination unit 7 will be explained with reference to Figures 6 and 7. The movement path determination unit 7 determines the movement path of the detected object X based on the start point S and end point Q of the movement path M recognized by the movement path identification unit 6. As an example, the detection area 70 is divided into multiple sub-areas, and the movement path determination unit 7 determines the movement path pattern of the movement path M from the start sub-area to which the start point S of the movement path M belongs and the end sub-area to which the end point Q belongs. Each movement path pattern is counted individually and cumulatively, and the count (hereinafter referred to as the "number of determinations") is stored in the storage unit 3.

[0057] Figure 6 shows an example of a detection area 70 divided into multiple sections. 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 6, the detection area 70 is divided into sections D1, P1, A1, L1, and R1 from the 1st to the 6th row on the front side (indoor side), and into sections D2, P2, A2, L2, and R2 from the 7th to the 12th row on the rear side (outdoor side). The number of sections can be two or more.

[0058] Area D1 consists of detection spots 71 with addresses 6A to 6L and detection spots 71 with addresses 5D to 5I. Area P1 consists of detection spots 71 with addresses 3D to 4I. Area A1 consists of detection spots 71 with addresses 1D to 2I. Area L1 consists of detection spots 71 with addresses 1C to 5A. Area R1 consists of detection spots 71 with addresses 1L to 5J.

[0059] Area D2 consists of detection spots 71 with addresses 7A-7L and detection spots 71 with addresses 8D-8I. Area P2 consists of detection spots 71 with addresses 9D-10I. Area A2 consists of detection spots 71 with addresses 11D-12I. Area L2 consists of detection spots 71 with addresses 8A-12C. Area R2 consists of detection spots 71 with addresses 8J-12L.

[0060] Figure 7 is a schematic diagram showing a first example of a movement pattern. If the starting point S of movement M belongs to one of the sectioned areas L1, L2, A1, A2, R1, or R2, and the ending point Q belongs to the same sectioned area as the starting point S, the movement pattern determination unit 7 determines that the movement pattern is a U-turn. Figure 7 shows an example of a movement pattern that is determined to be a U-turn.

[0061] Figure 8 is a schematic diagram showing a second example of a movement pattern. The movement pattern determination unit 7 determines the movement pattern to be a cross-section when the starting point S is in sectioned area L1 and the ending point Q is in sectioned area R1, when the starting point S is in sectioned area R1 and the ending point Q is in sectioned area L1, when the starting point S is in sectioned area L2 and the ending point Q is in sectioned area R2, and when the starting point S is in sectioned area R2 and the ending point Q is in sectioned area L2. Figure 8 shows an example of a movement pattern that is determined to be a cross-section.

[0062] Figure 9 is a schematic diagram showing a third example of a movement pattern. If the starting point S of movement M belongs to one of the sectioned areas L1, L2, R1, or R2, and the ending point Q belongs to one of the sectioned areas A1 or A2, the movement pattern determination unit 7 determines that the movement pattern is a 90° turn. Similarly, if the starting point S of movement M belongs to one of the sectioned areas A1 or A2, and the ending point Q belongs to one of the sectioned areas L1, L2, R1, or R2, the movement pattern determination unit 7 also determines that the movement pattern is a 90° turn. Figure 9 shows an example of a movement pattern that is determined to be a 90° turn.

[0063] Figure 10 is a schematic diagram showing a fourth example of a movement pattern. If the starting point S of movement M belongs to one of the indoor partitioned areas L1, A1, or R1, and the ending point Q belongs to one of the outdoor partitioned areas L2, A2, or R2, the movement pattern determination unit 7 determines that the movement pattern is an exit. If the starting point S of movement M belongs to one of the outdoor partitioned areas L2, A2, or R2, and the ending point Q belongs to one of the indoor partitioned areas L1, A1, or R1, the movement pattern determination unit 7 determines that the movement pattern is an entry. Figure 10 shows an example of a movement pattern that is determined to be either an exit or an entry.

[0064] The memory unit 3 stores the cumulative number of decisions made 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 3. The memory unit 3 resets 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.

[0065] Next, we will explain the patterns of movement into and out of the room. In the case of exiting, if the starting point S belongs to area L1, the exit is from the left; if the starting point S belongs to area R1, the exit is from the right; and if the starting point S belongs to area A1, the exit is from the front. Thus, the patterns of movement into the room can be categorized. Similarly, in the case of entering, if the ending point Q belongs to area L1, the entry is made to the left; if the ending point Q belongs to area R1, the entry is made to the right; and if the ending point Q belongs to area A1, the entry is made to the front. Thus, the patterns of movement into the room can be categorized.

[0066] Furthermore, in the case of entry, the entry route can be categorized as follows: if the starting point S belongs to area L2, entry is from the left; if the starting point S belongs to area R2, entry is from the right; and if the starting point S belongs to area A2, entry is from the front. Similarly, in the case of exit, the exit route can be categorized as follows: if the ending point Q belongs to area L2, exit to the left; if the ending point Q belongs to area R2, exit to the right; and if the ending point Q belongs to area A2, exit straight ahead.

[0067] Thus, according to this embodiment, the combination of the starting point S and ending point Q of the movement path M makes it possible to grasp the detailed movement patterns for entering and exiting the room. The memory unit 3 stores the cumulative number of decisions made for the grasped movement patterns. The administrator of the automatic door device 100 can arbitrarily obtain the cumulative number of decisions for the detailed movement patterns for entering and exiting the room from the memory unit 3. The memory unit 3 resets the cumulative number of decisions for entering and exiting the room when a predetermined timing is reached or when the administrator of the automatic door device 100 performs a predetermined operation.

[0068] The aforementioned movement path identification device 50 can be configured to include an activation sensor 4 and an information processing unit 20. In the movement path identification device 50, the activation sensor 4 functions as a detection unit that detects a target object in a detection area having a plurality of detection spots provided around an opening.

[0069] Referring to Figures 4 and 11, an example of the operation process of the automatic door device 100 of this embodiment will be described. This description will show the operation along the trajectory 73 in Figure 4. Figure 11 is a flowchart of process S110 of the automatic door device 100.

[0070] When process S110 starts, the specific unit 5 determines whether the activation sensor 4 has changed from a non-detection state to a detection state (step S111). If the activation sensor 4 remains in a non-detection state and does not change (N in step S111), the process returns to the beginning of step S111 and repeats step S111.

[0071] When the activation sensor 4 changes to a detection state (Y in step S111), the identification unit 5 identifies the starting point S of the trajectory 73 of the detection block 72 (step S112). In this step, the identification unit 5 can identify the detection block that first detected the target (hereinafter referred to as the "first detection area") as the starting point S of the trajectory 73.

[0072] After step S112 is performed, the identification unit 5 determines whether the activation sensor 4 has changed from a detection state to a non-detection state (step S113).

[0073] If the activation sensor 4 remains in a detection state without change (N in step S113), the branching determination unit 28 monitors the trajectory 73 of the detection block 72 and determines whether the trajectory 73 has branched (step S114). In this step, the branching determination unit 28 can determine that the trajectory 73 of the detection block 72 has branched if the detection block 72 splits into multiple detection blocks 72 that are separated by a predetermined distance or more. In this case, the predetermined distance is the width of a single detection spot 71. In other words, the branching determination unit 28 can determine that the trajectory 73 has branched if a detection spot 71 in a detected state is interposed between multiple detection blocks 72.

[0074] If trajectory 73 branches (Y in step S114), the identification unit 5 starts monitoring each of the multiple trajectories after the branch as trajectories 731 and 732 (step S115). After starting to monitor multiple trajectories 73, the identification unit 5 may set a predetermined flag to avoid duplicate branching judgments for the same branch. Also, if there is another new branch after the branch (hereinafter referred to as "secondary branch"), the identification unit 5 also monitors each of the trajectories after the secondary branch. After step S115 is executed, the process returns to the beginning of step S113.

[0075] If trajectory 73 has not branched and there are no secondary branches (N in step S114), the process returns to the beginning of step S113.

[0076] If the activation sensor 4 changes to a non-detection state (Y in step S113), the identification unit 5 identifies the endpoint Q of the trajectory 73 of the detection block 72 (step S116). In this step, the identification unit 5 can identify the detection block that last detected the target object (hereinafter referred to as the "last detection region") as the endpoint Q of the trajectory 73. Also, if the trajectory 73 branches into multiple trajectories 731 and 732 in step S113, the identification unit 5 can identify the last detection region of each trajectory as multiple endpoints Q1 and Q2. Note that the timing at which the last detection regions of trajectories 731 and 732 are detected may be the same or different.

[0077] Once step S116 is performed, the movement path identification unit 6 identifies the movement path to be detected based on the start point S and end point Q of the trajectory 73 identified by the identification unit 5 (step S117). In this step, if a single start point S and a single end point Q are identified, the movement path identification unit 6 identifies the movement path connecting the start point S and the end point Q.

[0078] Furthermore, when a single starting point S and multiple distant ending points Q1 and Q2 are identified, the movement path identification unit 6 identifies multiple movement paths M1 and M2 based on the combination of each of the multiple ending points Q1 and Q2 and the single starting point S. In other words, it identifies movement path M1 connecting ending point Q1 and starting point S as the movement path of the detection target X1, and movement path M2 connecting ending point Q2 and starting point S as the movement path of the detection target X2.

[0079] After step S117 is executed, the movement path determination unit 7 determines the movement paths of the detection targets X1 and X2 based on the movement paths M1 and M2 identified by the movement path identification unit 6 (step S118).

[0080] After step S118 is executed, the memory unit 3 cumulatively stores the number of times the movement path determination unit 7 has made a determination for each movement path pattern (step S119). After step S119 is executed, the process returns to the beginning of step S111 and repeats the loop of steps S111 to S119. The steps described above are merely examples, and various modifications are possible.

[0081] The above is a description of the first embodiment.

[0082] The second and third embodiments of the present invention will be described below. In the drawings and descriptions of the second and third embodiments, the same or equivalent components and members as those 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 descriptions will focus on the configurations that differ from those of the first embodiment.

[0083] [Second Embodiment] The steps include: detecting a person or object in the vicinity of an opening in a detection area 70 consisting of a plurality of detection spots 71 provided around the opening 23 (S111, S113); identifying a starting point S and an ending point Q in the detection area 70 of the trajectory of a detection block 72 consisting of one or more detection spots 71 that are in a detected state (S112, S116); determining that the trajectory has branched into multiple paths if a single starting point and a plurality of distant ending points have been identified for the trajectory (S114); and identifying the respective paths M1 and M2 based on the combination of a single starting point S and a plurality of ending points Q1 and Q2 (S117).

[0084] According to the second embodiment, the same functions and effects as the first embodiment are achieved.

[0085] [Third Embodiment] A third embodiment of the present invention is a movement path identification program P100 (computer program) using an automatic door. This program P100 causes the computer to perform the following steps: detect a detection target, which is a person or object, in a detection area 70 consisting of a plurality of detection spots 71 provided around the opening 23 (S111, S113); identify a starting point S and an ending point Q in the detection area 70 of the trajectory of a detection block 72 consisting of one or more detection spots 71 that are in a detected state (S112, S116); determine that the trajectory has branched into multiple paths if a single starting point and a plurality of distant ending points have been identified for the trajectory (S114); and identify each movement path M1, M2 based on the combination of a single starting point S and a plurality of ending points Q1, Q2 (S117).

[0086] These functions of program P100 may be installed in the storage (e.g., memory unit 3) of the automatic door sensor 10 as an application program that implements multiple modules corresponding to the functional blocks of the automatic door sensor 10. Program P100 may be read into the main memory of the processor (e.g., CPU) of a computer built into the automatic door sensor 10 and executed.

[0087] According to the third embodiment, the same actions and effects as the first embodiment are achieved.

[0088] 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.

[0089] [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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 20.

[0095] In the description of the embodiment, an example of the division area of ​​the detection area 70 is shown in Figure 6, but the division area of ​​the detection area is not limited to this and can be modified in various ways.

[0096] In the description of the embodiment, an example was shown in which the movement path identification unit 6 recognizes a movement path from a trajectory where the number of endpoints Q or starting points S is 2, but it is not limited to this. The movement path identification unit 6 may be configured to recognize movement paths from trajectories where the number of endpoints Q is 3 or more, or trajectories where the number of starting points S is 3 or more.

[0097] In the description of the embodiment, an example was shown in which the memory unit 3 is provided in the automatic door sensor 10, but the invention is not limited to this. The memory unit may be provided in the automatic door drive device or outside the automatic door device.

[0098] 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.

[0099] 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.

[0100] In the description of the embodiment, an example was shown in which the specific unit 5 is mounted on the automatic door sensor 10, but the invention is not limited to this. The specific unit may be mounted on the automatic door drive device or provided on the outside of the automatic door device.

[0101] In the description of the embodiment, examples of movement patterns determined by the movement pattern determination unit 7 are shown in Figures 7 to 10. However, the movement pattern determination unit 7 may be configured to determine movement patterns different from those shown in Figures 7 to 10.

[0102] 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.

[0103] In the description of the embodiment, an example was shown in which detection information from the auxiliary photoelectric sensor 30 is transmitted to the control unit 91 via the information processing unit 20, but the embodiment is not limited to this. The detection information from the auxiliary photoelectric sensor may be transmitted directly to the control unit 91, or it may be transmitted to the control unit 91 via other routes.

[0104] The modifications described above produce the same functions and effects as each embodiment.

[0105] 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]

[0106] 3 Memory unit, 4 Activation sensor, 5 Identification unit, 6 Movement path identification unit, 7 Movement path determination unit, 10 Sensor for automatic door, 23 Opening, 28 Branch determination unit, 41 First detection unit, 42 Second detection unit, 50 Movement path identification device, 71 Detection spot, 72 Detection block, 73 Trajectory, 100 Automatic door device.

Claims

1. A detection sensor having a detection area consisting of multiple detection spots, which detects a person or object around an opening, A identifying unit that identifies the start and end points in the detection area of ​​the trajectory of a detection block consisting of one or more detection spots in a detected state from among the plurality of detection spots, A branching determination unit that determines whether the aforementioned trajectory has branched into multiple paths, A movement path identification unit identifies the movement path to be detected based on the start point and end point identified by the identification unit and the determination result by the branch determination unit, An automatic door system equipped with the following features.

2. The branching determination unit determines that the trajectory has branched into multiple paths if it identifies multiple distant starting points and a single ending point with respect to the trajectory. The automatic door device according to claim 1, wherein the movement path identification unit identifies each movement path based on the combination of each of the plurality of starting points and the single ending point.

3. The branching determination unit determines that the trajectory has branched into multiple paths if a single starting point and multiple distant ending points are identified for the trajectory. The automatic door device according to claim 1, wherein the movement path identification unit identifies each movement path based on the combination of the single starting point and the plurality of ending points.

4. The branching determination unit determines that the trajectory has branched into multiple paths if a trajectory located at a predetermined distance or more from the trajectory is identified. The automatic door device according to claim 1, wherein the identifying unit considers the trajectory to be a plurality of different trajectories and identifies the starting point and ending point of each trajectory.

5. It includes a storage unit that stores information about the progression of the aforementioned trajectory, The automatic door device according to claim 1, wherein the identifying unit identifies the starting point and the ending point of the trajectory based on the transition information stored in the storage unit.

6. A detection unit has a detection area consisting of multiple detection spots provided around an opening, and detects a person or object that is a detection target around the opening. A identifying unit that identifies the start and end points in the detection area of ​​the trajectory of a detection block consisting of one or more detection spots in a detected state from among the plurality of detection spots, A branching determination unit that determines whether the aforementioned trajectory has branched into multiple paths, A movement path identification unit identifies the movement path of the object to be detected based on the start point and the end point identified by the identification unit, Equipped with, The branching determination unit determines that the trajectory has branched into multiple paths if a single starting point and multiple distant ending points are identified for the trajectory. The aforementioned movement path identification unit is a sensor for automatic doors that identifies each movement path based on the combination of the single starting point and the plurality of ending points.

7. A detection unit has a detection area consisting of multiple detection spots provided around an opening, and detects a person or object that is a detection target around the opening. A identifying unit that identifies the start and end points in the detection area of ​​the trajectory of a detection block consisting of one or more detection spots in a detected state from among the plurality of detection spots, A branching determination unit that determines whether the aforementioned trajectory has branched into multiple paths, A movement path identification unit identifies the movement path of the object to be detected based on the start point and the end point identified by the identification unit, Equipped with, The branching determination unit determines that the trajectory has branched into multiple paths if a single starting point and multiple distant ending points are identified for the trajectory. The aforementioned movement path identification unit is a movement path identification device that identifies each movement path based on the combination of the single starting point and the plurality of ending points.

8. A computer detects a person or object in the vicinity of an opening in a detection area consisting of a plurality of detection spots provided around the opening, The computer identifies the start and end points in the detection area of ​​the trajectory of a detection block consisting of one or more detection spots in a detected state from among the plurality of detection spots. The computer determines that the trajectory has branched into multiple paths if it identifies a single starting point and a plurality of mutually separated ending points for the trajectory. The computer identifies the movement path of each object to be detected based on the combination of the single starting point and the plurality of ending points, A method for identifying movement patterns, including the method described above.

9. A step of detecting a person or object in the vicinity of an opening in a detection area consisting of multiple detection spots provided around the opening, A step of identifying the start and end points in the detection area of ​​the trajectory of a detection block consisting of one or more detection spots in a detected state from among the plurality of detection spots, If a single starting point and multiple distant ending points are identified for the aforementioned trajectory, the step of determining that the trajectory has branched into multiple paths, The steps include identifying the movement path of each target to be detected based on the combination of the single starting point and the plurality of ending points, A movement path identification program that is executed by a computer.

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