Opening and closing control system
The system addresses the inefficiency of existing control systems by using three-dimensional coordinate sensors and monitoring target area settings to optimize the operation of movable parts based on object attributes and states, enhancing safety and efficiency.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- OPTEX CO LTD
- Filing Date
- 2025-11-19
- Publication Date
- 2026-06-11
Smart Images
Figure JP2025040352_11062026_PF_FP_ABST
Abstract
Description
Opening and Closing Control System 【0001】 The present invention relates to an opening and closing control system that outputs a control signal for controlling the opening and closing of a movable part that opens and closes a passage area. 【0002】 As an opening and closing control system, for example, the one described in Patent Document 1 is already known. This opening and closing control system includes a movable part (a "door" in Patent Document 1) that opens and closes a passage area (a "door opening" in Patent Document 1), and sensors (a "traveling surface sensor" and a "rear surface sensor" in Patent Document 1) that detect a detected object. In this opening and closing control system, the movable part is controlled to open and close according to the detection result by the sensor. 【0003】 Japanese Patent Application Laid-Open No. 2023-536826 【0004】 Patent Document 1 does not describe appropriately setting a monitoring target area associated with opening and closing control based on the attributes (e.g., the height of a person) and states (e.g., the moving direction) of the detected object. In this regard, there is room for improvement in the opening and closing control system described in Patent Document 1. 【0005】 An object of the present invention is to provide an opening and closing control system capable of setting an appropriate monitoring target area based on the attributes and states of a detected object. 【0006】 The features of the present invention are an opening and closing control system that outputs a control signal for controlling the opening and closing of a movable part that opens and closes a passage area, including a sensor capable of acquiring the three-dimensional coordinates of a detected object within a detectable range, a monitoring target area setting unit that sets a monitoring target area associated with the opening and closing control within the detectable range, a signal control unit that outputs an external control signal corresponding to the content of the opening and closing control corresponding to the monitoring target area when the sensor detects the detected object in the monitoring target area, and a feature amount calculation unit that calculates the feature amount of the detected object using the three-dimensional coordinates acquired by the sensor. The monitoring target area setting unit sets the monitoring target area based on the feature amount. 【0007】According to this configuration, the monitoring area is set based on the characteristic quantities (attributes and state) of the detected object calculated using three-dimensional coordinates. Therefore, it is possible to realize an opening / closing control system that can set an appropriate monitoring area based on the attributes and state of the detected object. 【0008】 Furthermore, in the present invention, it is preferable that the monitoring target area setting unit can set a plurality of monitoring target areas with different content for opening and closing control, and that the monitoring target area setting unit can set the plurality of monitoring target areas based on the feature quantities. 【0009】 According to this configuration, the monitoring area setting unit can set multiple monitoring areas with different opening / closing control content (for example, an area for opening a movable part and an area for stopping a movable part). This makes it possible to realize an opening / closing control system that can set multiple monitoring areas with different opening / closing control content based on the attributes and state of the detected object. 【0010】 Furthermore, in the present invention, an opening / closing state identification unit is provided to identify the opening / closing state of the movable part, and the monitoring target area setting unit preferably sets the monitoring target area based on the feature quantity and the opening / closing state. 【0011】 In this configuration, the monitored area is set based not only on feature quantities but also on the open / closed state. This makes it easier to set a more appropriate monitored area compared to a configuration where the monitored area is set based only on feature quantities. 【0012】 Furthermore, in the present invention, it is preferable that the monitoring target area setting unit sets the area outside the monitoring target area with respect to the movable part within the detectable range as the feature calculation area, and that the feature calculation unit calculates the feature quantities using the three-dimensional coordinates of the detected object in the feature calculation area. 【0013】 In this configuration, the detected object enters the feature calculation area before entering the monitored area. Therefore, feature quantities can be calculated before the detected object enters the monitored area, and the monitored area can be set (changed) based on these feature quantities. This avoids delays in setting (changing) the monitored area, which could result in inappropriate opening and closing control. 【0014】 Furthermore, in the present invention, it is preferable that the signal control unit sets the content of the opening and closing control based on the feature quantity. 【0015】 According to this configuration, the content of the opening and closing control is set based on the characteristic quantities (attributes and state) of the detected object calculated using three-dimensional coordinates. Therefore, an opening and closing control system capable of performing appropriate opening and closing control based on the attributes and state of the detected object can be realized. 【0016】 Furthermore, in the present invention, the feature calculation unit is capable of calculating multiple feature quantities of different categories, and the monitoring target area setting unit preferably sets the monitoring target area based on the multiple feature quantities. 【0017】 This configuration allows for the setting of a more appropriate monitoring area compared to a configuration where the monitoring area is set based on only one feature. Therefore, it is possible to realize an open / close control system that can set a more appropriate monitoring area. 【0018】 Furthermore, in the present invention, it is preferable that the feature quantity calculation unit calculates the height of the detected object as the feature quantity using the three-dimensional coordinates acquired by the sensor. 【0019】 This configuration allows for the setting of an appropriate monitoring area depending on whether the detected object is a child or not. This enables the realization of an open / close control system that can set an appropriate monitoring area. 【0020】 Furthermore, in the present invention, it is preferable that the feature quantity calculation unit calculates the direction of movement of the detected object as the feature quantity using the three-dimensional coordinates acquired over time by the sensor. 【0021】 This configuration allows for the setting of an appropriate monitoring area based on whether, for example, a detected object is moving toward the passage area. This enables the realization of an opening / closing control system that can set an appropriate monitoring area. 【0022】 Furthermore, in the present invention, it is preferable that the feature quantity calculation unit calculates the velocity of the detected object as the feature quantity using the three-dimensional coordinates acquired over time by the sensor. 【0023】 This configuration allows for an expanded monitoring area when, for example, the detected object is moving at a relatively high speed. This makes it easier to set an appropriate monitoring area. In addition, it allows for a reduced monitoring area when, for example, the detected object is moving at a relatively low speed. This reduces unnecessary opening time. 【0024】 Furthermore, in the present invention, it is preferable that the feature quantity calculation unit calculates the approach speed of the detected object to the passage area as the feature quantity using the three-dimensional coordinates acquired over time by the sensor. 【0025】 This configuration allows for an expansion of the monitoring area when, for example, the approach speed of the detected object is relatively high. This makes it easier to set an appropriate monitoring area. 【0026】 This is a side view showing the area to be monitored, etc. This is a top view showing the area to be monitored, etc. This is a block diagram showing the configuration of the opening / closing control system and the door control device. This is a side view showing an example of when the area to be monitored is set based on the height of the detected object. This is a top view showing an example of when the area to be monitored is set based on the height of the detected object. This is a top view showing an example of when the area to be monitored is set based on the height of the detected object. This is a top view showing an example of when the area to be monitored is set based on the direction of movement of the detected object. This is a top view showing an example of when the area to be monitored is set based on the direction of movement of the detected object. This is a top view showing an example of when the area to be monitored is set based on the number of detected objects. This is a top view showing the area to be monitored, etc. This is a top view showing an example of when the area to be monitored is set based on the speed of the detected object. This is a top view showing an example of when the area to be monitored is set based on the speed of the detected object. 【0027】 Embodiments for carrying out the present invention will be described with reference to the drawings. 【0028】[Overall Configuration of the Opening / Closing Control System] As shown in Figures 1 and 2, the opening / closing control system 1 is equipped with a sensor 2. The sensor 2 is attached to a support member 4 located above the movable part 3. The support member 4 may also support the upper part of the movable part 3. The sensor 2 is positioned above the movable part 3. The movable part 3 may or may not be included in the opening / closing control system 1. 【0029】 In this embodiment, the movable part 3 is a sliding automatic door. However, the present invention is not limited thereto, and the movable part 3 may be a swing-type automatic door or a retractable electric shutter. 【0030】 The movable part 3 is controlled to open and close by a control signal output by the opening / closing control system 1. When the movable part 3 is controlled to open, it moves in the direction of the black arrow in Figure 2. When the movable part 3 is controlled to close, it moves in the opposite direction to the black arrow in Figure 2. In this way, the movable part 3 opens and closes the passage area 5. The passage area 5 is not particularly limited, but may be, for example, an entrance to a building, or a road or tunnel. 【0031】 In this manner, the opening / closing control system 1 outputs a control signal related to the opening and closing control of the movable part 3 that opens and closes the passage area 5. 【0032】 Sensor 2 is capable of acquiring the three-dimensional coordinates of a detected object T (see Figure 4) within the detectable range 6. That is, the opening / closing control system 1 is equipped with a sensor 2 capable of acquiring the three-dimensional coordinates of a detected object T within the detectable range 6. The sensor 2 is not particularly limited, but may be, for example, a millimeter-wave radar or a LiDAR (Light Detection and Ranging) device. The detectable range 6 is the range in which the sensor 2 can acquire the three-dimensional coordinates of the detected object T. The detected object T may be a person, a car, an animal, etc. 【0033】[Opening and Closing Control] As shown in Figure 3, the opening and closing control system 1 includes a monitoring target area setting unit 7. As shown in Figures 1 and 2, the monitoring target area setting unit 7 sets one or more monitoring target areas 11 within the detectable range 6. Although not particularly limited, in this embodiment, the activation area 8, the first safety area 9, and the second safety area 10 are set as monitoring target areas 11. That is, in this embodiment, three monitoring target areas 11 are set. The activation area 8, the first safety area 9, and the second safety area 10 are all set as three-dimensional spaces. Also, although not particularly limited, in this embodiment, the activation area 8, the first safety area 9, and the second safety area 10 are all rectangles in plan view. 【0034】 As shown in Figures 1 and 2, the activation area 8 is set in front of the movable part 3 (to the right in Figures 1 and 2). The first safety area 9 is set in front of the movable part 3 and in its vicinity. The first safety area 9 is sandwiched between the movable part 3 and the activation area 8. The second safety area 10 is set over the entire door pocket of the movable part 3. 【0035】 However, the present invention is not limited thereto. The first safety area 9 may be set in a state that overlaps with the door rail (not shown) of the movable part 3 in a plan view, or it may be set in a state that straddles (penetrates) the door rail (in other words, it may be set over the front and back of the movable part 3). Also, the second safety area 10 may be set in a state that is only near the door pocket of the movable part 3 in a plan view (in other words, it does not have to be set in the door pocket itself), or it may be set over the door pocket and its vicinity. 【0036】As shown in Figure 3, the opening / closing control system 1 includes a signal control unit 12. The signal control unit 12 acquires the detection result from the sensor 2 and information indicating the activation area 8, the first safety area 9, and the second safety area 10 set by the monitoring target area setting unit 7. The signal control unit 12 is configured to output a control signal to the outside based on the detection result and the information. More specifically, when the sensor 2 detects an object T in any of the activation area 8, the first safety area 9, or the second safety area 10 (when it detects an object T), the signal control unit 12 outputs a control signal to the door control unit 14 of the door control device 13, according to the content of the opening / closing control corresponding to the activation area 8, the first safety area 9, or the second safety area 10 in which the object T was detected. 【0037】 The door control device 13 controls the movable part 3. More specifically, the door control device 13 includes an actuator 15 (e.g., an electric motor) that moves the movable part 3, and a door control unit 14 that controls the actuator 15. The door control unit 14 controls the actuator 15 according to a control signal from the signal control unit 12. As a result, the movable part 3 is controlled by the door control device 13 in accordance with the control signal output by the signal control unit 12. The door control device 13 is located outside the opening / closing control system 1. 【0038】 For example, when the movable part 3 is in the fully closed position and the sensor 2 detects an object T in the activation area 8, the signal control unit 12 outputs a control signal indicating "open operation". "Open operation" is an example of opening and closing control of the movable part 3, and is the operation of opening the movable part 3 until it is in the fully open position. As a result, the movable part 3 is controlled by the door control device 13 to perform the "open operation". 【0039】 Furthermore, if the sensor 2 does not detect an object T in the activation area 8 when the movable part 3 is in the fully open position, the signal control unit 12 outputs a control signal indicating "closing operation". "Closing operation" is an example of opening and closing control of the movable part 3, and is the operation of closing the movable part 3 until it is in the fully closed position. As a result, the movable part 3 is controlled by the door control device 13 to perform the "closing operation". 【0040】Also, when the sensor 2 detects the detection object T in the activation area 8 while the movable part 3 is in the fully open state, the signal control unit 12 outputs a control signal indicating "open maintenance". "Open maintenance" is an example of the opening and closing control of the movable part 3, and is a state in which the movable part 3 is maintained in the fully open state for a predetermined time. Thereby, the movable part 3 is controlled by the door control device 13 so as to be in the "open maintenance" state. 【0041】 Also, when the sensor 2 detects the detection object T in the activation area 8 or the first safety area 9 while the movable part 3 is performing the "closing operation", the signal control unit 12 outputs a control signal indicating the "opening operation". Thereby, the movable part 3 is controlled by the door control device 13 to stop the "closing operation" and perform the "opening operation". 【0042】 Also, regardless of the open / closed state of the movable part 3, when the sensor 2 detects the detection object T in the second safety area 10, the signal control unit 12 outputs a control signal indicating "open / closed stop". "Open / closed stop" is an example of the opening and closing control of the movable part 3, and is a state in which the operation of the movable part 3 has stopped. Thereby, the movable part 3 is controlled by the door control device 13 so as to be in the "open / closed stop" state. 【0043】 For example, when the detection object T enters the second safety area 10 while the movable part 3 is performing the "opening operation" or the "closing operation", the movable part 3 enters the "open / closed stop" state. Thereby, the movable part 3 stops in a state between the fully open state and the fully closed state. 【0044】 However, the present invention is not limited thereto. When the sensor 2 detects the detection object T in the second safety area 10, it may be configured such that the opening speed (moving speed in the opening direction) of the movable part 3 becomes lower than normal. 【0045】Thus, the activation area 8, the first safety area 9, and the second safety area 10 are all monitored areas 11 associated with the opening and closing control of the movable part 3. That is, the opening and closing control system 1 includes a monitored area setting unit 7 that sets monitored areas 11 associated with opening and closing control within the detectable range 6. The opening and closing control system 1 also includes a signal control unit 12 that outputs a control signal to the outside according to the content of the opening and closing control corresponding to the monitored area 11 when the sensor 2 detects an object T in the monitored area 11. As explained above, in this embodiment, the activation area 8 corresponds to "open operation" and "open maintenance", the first safety area 9 corresponds to "open operation", and the second safety area 10 corresponds to "open / close stop". That is, the activation area 8 corresponds to two types of opening and closing control, and the first safety area 9 and the second safety area 10 each correspond to one type of opening and closing control. The content of the opening and closing control corresponding to each monitored area 11 may be only one type or may be multiple types. 【0046】 Furthermore, as explained above, the content of the corresponding opening and closing controls differs between the activation area 8 and the first safety area 9 (or the second safety area 10) (in other words, they do not completely match). That is, the monitoring target area setting unit 7 can set multiple monitoring target areas 11 with different opening and closing control contents. 【0047】 [Setting the Monitoring Area] As shown in Figures 1 and 2, the monitoring area setting unit 7 sets the area outside the monitoring area 11 with respect to the movable part 3 within the detectable range 6 as the feature calculation area 16. Also, as shown in Figure 3, the opening / closing control system 1 is equipped with a feature calculation unit 17. The feature calculation unit 17 acquires the three-dimensional coordinates obtained by the sensor 2. Based on these three-dimensional coordinates, the feature calculation unit 17 calculates the feature quantities of the detected object T. More specifically, the feature calculation unit 17 calculates the feature quantities using the three-dimensional coordinates of the detected object T in the feature calculation area 16. 【0048】In this way, the opening / closing control system 1 includes a feature quantity calculation unit 17 that calculates the feature quantity of the detected object T using the three-dimensional coordinates acquired by the sensor 2. Note that the feature quantity of the detected object T is a parameter indicating the attribute and state of the detected object T. 【0049】 In the present embodiment, the feature quantity calculation unit 17 can calculate a plurality of feature quantities with different categories. More specifically, the feature quantity calculation unit 17 uses the three-dimensional coordinates acquired by the sensor 2 to calculate, as feature quantities, the height of the detected object T and the number of detected objects T (number of people or number of items). Further, the feature quantity calculation unit 17 uses the three-dimensional coordinates over time acquired by the sensor 2 to calculate, as feature quantities, the moving direction of the detected object T and the speed of the detected object T. 【0050】 In addition, the feature quantity calculation unit 17 calculates, as the speed of the detected object T, particularly the approaching speed of the detected object T with respect to the passage area 5. That is, the feature quantity calculation unit 17 uses the three-dimensional coordinates over time acquired by the sensor 2 to calculate, as a feature quantity, the approaching speed of the detected object T with respect to the passage area 5. 【0051】 As shown in FIG. 3, the opening / closing control system 1 includes an opening / closing state specifying unit 18. The opening / closing state specifying unit 18 specifies the opening / closing state of the movable part 3. That is, the opening / closing control system 1 includes an opening / closing state specifying unit 18 that specifies the opening / closing state of the movable part 3. 【0052】 Although not particularly limited, the opening / closing state specifying unit 18 may, for example, acquire information indicating the content of the opening / closing control of the movable part 3 from the signal control unit 12 or the door control unit 14 and specify the opening / closing state of the movable part 3 based on the information. Alternatively, when the movable part 3 is configured to be located within the detectable range 6 of the sensor 2, the opening / closing state specifying unit 18 may specify the opening / closing state of the movable part 3 using the three-dimensional coordinates of the movable part 3 acquired by the sensor 2. Note that the monitoring target area setting unit 7, the signal control unit 12, the door control unit 14, the feature quantity calculation unit 17, and the opening / closing state specifying unit 18 may be physical devices such as a microcomputer or functional units in software. 【0053】As shown in Figure 3, the monitoring target area setting unit 7 obtains the calculated feature quantities from the feature quantity calculation unit 17. The monitoring target area setting unit 7 also obtains the specified open / closed state from the open / closed state identification unit 18. The monitoring target area setting unit 7 sets the monitoring target area 11 based on these feature quantities. More specifically, the monitoring target area setting unit 7 sets the monitoring target area 11 based on these feature quantities and the open / closed state. The setting of the monitoring target area 11 based on feature quantities and open / closed state will be explained below with specific examples. 【0054】 [Setting the monitoring area based on height] In the example shown in Figure 4, the open / closed state of the movable part 3 is assumed to be either in the "closed operation" or fully closed state. In this example, the detected object T is a child and enters the feature calculation area 16 from outside the detectable range 6. 【0055】 In this example, the height of the detected object T is calculated as a feature. The monitoring area setting unit 7 determines that the detected object T is a child if the calculated height of the detected object T is less than a predetermined threshold. In this case, as shown in Figure 4, the monitoring area setting unit 7 raises the lower end of the activation area 8 compared to the normal state (for example, the state shown in Figures 1 and 2, where the detected object T is not detected in the detectable range 6 or the feature calculation area 16). At this time, it is preferable that the lower end of the activation area 8 is raised to a height equal to or greater than the threshold mentioned above. This makes it difficult for the child (detected object T) to enter the activation area 8. As a result, it is easier to avoid a situation where the child (detected object T) opens the movable part 3 on its own and passes through the passage area 5. 【0056】 In the example shown in Figure 5, the open / closed state of the movable part 3 is assumed to be either in the "closed operation" or fully open state. In this example, the detected object T is a child and enters the feature calculation area 16 from outside the detectable range 6. 【0057】In this example, the height of the detected object T is calculated as a feature, and, similar to the example shown in Figure 4, it is determined that the detected object T is a child. In this case, the monitoring target area setting unit 7 expands the first safety area 9 in a plan view compared to the normal state, as shown in Figure 5. This makes it easier for the child (detected object T) to enter the first safety area 9. As a result, it is easier to avoid the situation in which the child (detected object T) interferes with the closing movable part 3. 【0058】 Note that the second safety area 10 is not shown in Figures 5 and 8. As shown in Figures 5 and 8, when the movable part 3 is in the fully open state, the second safety area 10 may or may not be set. That is, when the movable part 3 is in the fully open state, the second safety area 10 may be inactive or may not exist. 【0059】 In the example shown in Figure 6, the open / closed state of the movable part 3 is assumed to be either in the "open operation" or fully closed state. In this example, the detected object T is a child and enters the feature calculation area 16 from outside the detectable range 6. 【0060】 In this example, the height of the detected object T is calculated as a feature, and, similar to the example shown in Figure 4, it is determined that the detected object T is a child. In this case, the monitoring target area setting unit 7 expands the second safety area 10 in a plan view compared to the normal state, as shown in Figure 6. This makes it easier for the child (detected object T) to enter the second safety area 10. As a result, it is easier to avoid the situation in the door pocket where the child (detected object T) interferes with the opening movable part 3. 【0061】 [Setting the monitoring area based on the direction of movement] In the example shown in Figure 7, the open / closed state of the movable part 3 is assumed to be either in the "closing operation" or in the fully closed state. Also, in this example, the detected object T is an adult and enters the feature calculation area 16 from outside the detectable range 6. Furthermore, in the examples shown in Figures 8 to 12 described later, the detected object T is also an adult. 【0062】In the example shown in Figure 7, the direction of movement of the detected object T is calculated as a feature. The monitoring area setting unit 7 determines whether the detected object T is moving toward the passage area 5 based on the calculated direction of movement of the detected object T. In this example, it is assumed that the detected object T is moving toward the passage area 5. In this case, as shown in Figure 7, the monitoring area setting unit 7 expands the activation area 8 in a plan view compared to the normal state. This makes it easier for the detected object T to enter the activation area 8. As a result, it is easier to avoid situations in which the detected object T interferes with the movable part 3. 【0063】 In the example shown in Figure 8, the movable part 3 is assumed to be in the fully open position. In this example, the detected object T enters the feature calculation area 16 from outside the detectable range 6. 【0064】 In this example, the direction of movement of the detected object T is calculated as a feature, and it is assumed that the detected object T is moving in a direction that does not approach the passage area 5 (a direction that crosses in front of the movable part 3). In this case, the monitoring target area setting unit 7 reduces the activation area 8 in a plan view compared to the normal state, as shown in Figure 8. This makes it more difficult for the detected object T to enter the activation area 8. As a result, the movable part 3 can be closed more quickly. 【0065】 Furthermore, the monitoring area setting unit 7 can similarly reduce the activation area 8 even when the movable part 3 is in a fully closed state. As a result, unnecessary opening and closing of the movable part 3 can be reduced. 【0066】 [Setting the monitoring area based on the number of people] In the example shown in Figure 9, there are many (specifically, 5 people) of detected objects T within the feature calculation area 16. In this example, the number of detected objects T (people or number of objects) is calculated as a feature. If the calculated number of detected objects T is above a predetermined threshold, the monitoring area setting unit 7 expands the activation area 8 in a plan view compared to the normal state, as shown in Figure 9. This makes it easier for detected objects T to enter the activation area 8. As a result, it is easier to avoid situations where detected objects T interfere with the movable part 3. 【0067】However, the present invention is not limited thereto. The monitoring target area setting unit 7 may be configured to reduce the activation area 8 in a plan view compared to the normal state when the number of detected objects T calculated is equal to or greater than a predetermined threshold. 【0068】 [Setting the Monitoring Area Based on Speed] The movable part 3 shown in Figure 10 is a swing-type automatic door, unlike the examples shown in Figures 1 to 9. The following describes the case where the opening and closing control system 1 is applied to the movable part 3 shown in Figure 10. The configuration other than the parts described below is the same as the examples shown in Figures 1 to 9. 【0069】 As shown in Figure 10, the sensor 2 is fixed to the movable part 3. The first safety area 9 is rectangular in plan view. The outlines of the activation area 8 and the feature calculation area 16 are semicircular in plan view. The second safety area 10 is not set. Below, we will explain the setting of the monitored area 11 in this configuration with specific examples. 【0070】 In the example shown in Figure 11, the velocity of the detected object T is calculated as a feature. More specifically, the approach velocity of the detected object T to the passage area 5 is calculated as a feature. The approach velocity of the detected object T to the passage area 5 may be, for example, the velocity component in the direction toward the passage area 5. 【0071】 When the calculated speed (approach speed) is equal to or greater than a predetermined first threshold, the monitoring target area setting unit 7 expands the activation area 8 and the first safety area 9 in a plan view compared to the normal state (for example, the state shown in Figure 10, where the object T is not detected in the detectable range 6 or the feature calculation area 16), as shown in Figure 11. This makes it easier for the object T to enter the activation area 8 at an earlier timing, and also makes it easier for the object T to enter the first safety area 9. As a result, it is easier to avoid situations where the object T interferes with the movable part 3. 【0072】 Furthermore, in the example shown in Figure 11, only one of the activation area 8 and the first safety area 9 may be enlarged in plan view. 【0073】In the example shown in Figure 12, similar to the example shown in Figure 11, the approach speed of the detected object T to the passage area 5 is calculated as a feature quantity. If the calculated speed (approach speed) is less than a predetermined second threshold, the monitoring target area setting unit 7 reduces the size of the activation area 8 and the first safety area 9 in a plan view compared to the normal state, as shown in Figure 12. This reduces unnecessary opening and closing of the movable part 3. As a result, for example, if the passage area 5 is an entrance to a building or room, it becomes possible to improve air conditioning efficiency (specifically, to prevent a decrease in air conditioning efficiency due to the movable part 3 opening unnecessarily quickly). 【0074】 Furthermore, in the example shown in Figure 12, only one of the activation area 8 and the first safety area 9 may be reduced in size in plan view. Also, the second threshold described above may be the same as the first threshold described above, or it may be smaller than the first threshold. 【0075】 As explained above, the monitoring target area setting unit 7 can set multiple monitoring target areas 11 based on feature quantities. 【0076】 [Setting the Content of Opening and Closing Control Based on Feature Quantities] The "opening operation," "closing operation," "open maintenance," and "opening / closing stop" of the movable part 3 described above are specific examples of the content of opening and closing control. However, the present invention is not limited to these. Various parameters related to the opening and closing of the movable part 3 are also specific examples of the content of opening and closing control. These various parameters include, for example, the fully open maintenance time, detection sensitivity, and response speed. 【0077】 Fully open duration refers to the duration of the fully open state after the "opening operation" is completed and before transitioning to the "closing operation". Detection sensitivity refers to the sensitivity of detecting the object T in each monitored area 11. Detection sensitivity may be, for example, a threshold value for determining noise. Response speed refers to the time from when the object T is detected in each monitored area 11 until a control signal is output from the signal control unit 12. 【0078】 The signal control unit 12 shown in Figure 3 acquires the feature quantities calculated by the feature quantity calculation unit 17. The signal control unit 12 is configured to set the content of the opening and closing control based on these feature quantities. The setting of the content of the opening and closing control based on feature quantities will be explained below with specific examples. 【0079】 In the example shown in Figure 8, as described above, the movable part 3 is in the fully open state, and the detected object T enters the feature calculation area 16 from outside the detectable range 6. 【0080】 In this example, the direction of movement of the detected object T is calculated as a feature, and it is assumed that the detected object T is moving in a direction that does not approach the passage area 5 (a direction that crosses in front of the movable part 3). In this case, the signal control unit 12 shortens the fully open maintenance time compared to the normal state. This allows the movable part 3 to be closed more quickly. 【0081】 According to the configuration described above, the monitoring area 11 is set based on the characteristic quantities (attributes and state) of the detected object T calculated using three-dimensional coordinates. Therefore, an opening / closing control system 1 can be realized that can set an appropriate monitoring area 11 based on the attributes and state of the detected object T. 【0082】 [Other Embodiments] (1) The monitoring target area setting unit 7 may set the monitoring target areas 11 based on a plurality of feature quantities. For example, in the examples shown in Figures 4 to 6, each monitoring target area 11 may be set not only based on the height of the detected object T, but also on the direction of movement of the detected object T, the number of detected objects T, and the speed (approach speed) of the detected object T. 【0083】 Furthermore, in the examples shown in Figures 7 and 8, each monitoring area 11 may be set not only based on the direction of movement of the detected object T, but also on the height of the detected object T, the number of detected objects T, and the speed (approach speed) of the detected object T. 【0084】 Furthermore, for example, in the example shown in Figure 9, each monitoring target area 11 may be set not only based on the number of detected objects T, but also on the height of the detected objects T, the direction of movement of the detected objects T, and the speed (approach speed) of the detected objects T. 【0085】 Furthermore, in the examples shown in Figures 11 and 12, each monitoring area 11 may be set not only based on the speed (approach speed) of the detected object T, but also on the height of the detected object T, the direction of movement of the detected object T, and the number of detected objects T. 【0086】 (2) The number of monitoring target areas 11 that can be set by the monitoring target area setting unit 7 may be only one. 【0087】 (3) The monitoring area setting unit 7 may set the monitoring area 11 without regard to the open / closed state of the movable part 3. That is, the monitoring area setting unit 7 may set the monitoring area 11 based only on feature quantities. 【0088】 (4) The monitoring target area setting unit 7 may be configured not to set the feature calculation area 16. 【0089】 (5) The signal control unit 12 may set the content of the opening and closing control without relying on the feature quantity. 【0090】 (6) The door control device 13 may be included in the opening and closing control system 1. 【0091】 Furthermore, the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. In addition, the embodiments disclosed herein are illustrative, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention. 【0092】 This invention can be used in an opening / closing control system that outputs a control signal for controlling the opening and closing of a movable part that opens and closes a passage area. 【0093】 1: Opening / closing control system 2: Sensor 3: Movable part 5: Passage area 6: Detectable range 7: Monitoring target area setting unit 11: Monitoring target area 12: Signal control unit 16: Feature quantity calculation area 17: Feature quantity calculation unit 18: Opening / closing state identification unit T: Detected object
Claims
1. An opening / closing control system that outputs a control signal relating to the opening and closing of a movable part that opens and closes a passage area, comprising: a sensor capable of acquiring the three-dimensional coordinates of a detected object within a detectable range; a monitoring target area setting unit that sets a monitoring target area related to the opening / closing control within the detectable range; a signal control unit that, when the sensor detects the object in the monitoring target area, outputs the control signal to the outside according to the content of the opening / closing control corresponding to the monitoring target area; and a feature quantity calculation unit that calculates the feature quantity of the detected object using the three-dimensional coordinates acquired by the sensor, wherein the monitoring target area setting unit sets the monitoring target area based on the feature quantity.
2. The monitoring target area setting unit is capable of setting a plurality of monitoring target areas with different content of the opening and closing control, and the monitoring target area setting unit is capable of setting the plurality of monitoring target areas based on the feature quantities, as described in claim 1.
3. The opening / closing control system according to claim 1, further comprising an opening / closing state determination unit that determines the opening / closing state of the movable part, wherein the monitoring target area setting unit sets the monitoring target area based on the feature quantity and the opening / closing state.
4. The opening / closing control system according to any one of claims 1 to 3, wherein the monitoring target area setting unit sets the area outside the monitoring target area with respect to the movable part as a feature calculation area, and the feature calculation unit calculates the feature quantities using the three-dimensional coordinates of the detected object in the feature calculation area.
5. The opening / closing control system according to any one of claims 1 to 3, wherein the signal control unit sets the content of the opening / closing control based on the feature quantity.
6. The opening / closing control system according to any one of claims 1 to 3, wherein the feature calculation unit is capable of calculating multiple feature quantities of different categories, and the monitoring target area setting unit sets the monitoring target area based on the multiple feature quantities.
7. The opening / closing control system according to any one of claims 1 to 3, wherein the feature quantity calculation unit calculates the height of the detected object as the feature quantity using the three-dimensional coordinates acquired by the sensor.
8. The opening / closing control system according to any one of claims 1 to 3, wherein the feature quantity calculation unit calculates the direction of movement of the detected object as the feature quantity using the three-dimensional coordinates acquired over time by the sensor.
9. The opening / closing control system according to any one of claims 1 to 3, wherein the feature quantity calculation unit calculates the velocity of the detected object as the feature quantity using the three-dimensional coordinates acquired over time by the sensor.
10. The opening / closing control system according to claim 9, wherein the feature quantity calculation unit calculates the approach speed of the detected object to the passage area as the feature quantity using the three-dimensional coordinates acquired over time by the sensor.