Opening / closing control system

Abstract

An opening / closing control system according to the present invention, which outputs a control signal concerning opening / closing control of a movable part 3 for opening / closing a passage area 5, is provided with: a sensor 2 capable of acquiring three-dimensional coordinates of an object detected in a detectable range 6; a monitoring target area setting unit for setting a monitoring target area 11 associated with the opening / closing control in the detectable range 6; a signal control unit for outputting a control signal to the outside upon the sensor 2 detecting an object in the monitoring target area 11, the control signal depending on the content of the opening / closing control corresponding to the monitoring target area 11; and an opening / closing state identification unit for identifying an opening / closing state of the movable part 3. The monitoring target area setting unit makes it possible to set the monitoring target area 11 in the form of a three-dimensional space in the detectable range 6 and changes the setting status of the monitoring target area 11 according to the opening / closing state.

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. In this opening and closing control system, a light projector that projects infrared rays onto the floor surface and a light receiver that receives the reflected light rays from the floor surface define a monitoring target area (referred to as a "small detection area" in Patent Document 1) associated with the opening and closing control.

[0003] Japanese Patent Laid-Open No. 9-209652

[0004] In Patent Document 1, the degree of freedom in setting the position and size of the monitoring target area is relatively low. Therefore, it is difficult to set an optimal monitoring target area according to the installation environment of the movable part and the like.

[0005] An object of the present invention is to provide an opening and closing control system with a relatively high degree of freedom in setting a monitoring target area and capable of optimizing the set state of the monitoring target area according to the opening and closing state of the movable part.

[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 an opening and closing state specifying unit that specifies the opening and closing state of the movable part. The monitoring target area setting unit can set the monitoring target area as a three-dimensional space within the detectable range and change the set state of the monitoring target area according to the opening and closing state.

[0007] With this configuration, the monitoring area can be freely set as a three-dimensional space within the detectable range, which is the three-dimensional range that the sensor can detect. Furthermore, since the settings of the monitoring area (e.g., position, size, role) are changed according to the opening and closing state of the movable part, the settings of the monitoring area can be optimized according to the opening and closing state of the movable part.

[0008] Therefore, this configuration allows for a relatively high degree of freedom in setting the monitored area, and enables the realization of an opening / closing control system that can optimize the setting state of the monitored area according to the opening / closing state of the movable part.

[0009] Furthermore, in the present invention, it is preferable that the monitoring target area setting unit is capable of setting a plurality of monitoring target areas within the detectable range.

[0010] This configuration offers greater flexibility in configuring the monitored area compared to a system where only one monitored area can be configured. In other words, this configuration allows for even greater flexibility in configuring the monitored area.

[0011] 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 opening / closing control contents within the detectable range.

[0012] With this configuration, the monitoring area setting unit can set multiple monitoring areas with different opening / closing control contents (for example, an area for opening a movable part and an area for stopping a movable part). This improves the functionality of the opening / closing control system compared to a case where the monitoring area setting unit can only set a single type of monitoring area.

[0013] Furthermore, in the present invention, a plurality of sensors with different detectable ranges are provided, and the monitoring target area setting unit preferably changes the setting state of the monitoring target areas of the plurality of sensors according to the opening and closing state, so that the entire monitoring target area necessary for the opening and closing control is constructed by a combination of the monitoring target areas of the plurality of sensors.

[0014] With this configuration, even in situations where a single sensor cannot cover the entire monitoring area necessary for opening and closing control, multiple sensors can be used to create the entire monitoring area required for opening and closing control. This improves the versatility of the opening and closing control system.

[0015] Furthermore, in the present invention, it is preferable that the signal control unit sets the content of the opening / closing control based on the opening / closing state.

[0016] With this configuration, the content of the opening and closing control tends to be more appropriate compared to cases where the content of the opening and closing control is set without considering the opening and closing state. Therefore, it is possible to realize an opening and closing control system that performs more appropriate opening and closing control.

[0017] Furthermore, in the present invention, it is preferable that the opening / closing state identification unit identifies the opening / closing state using three-dimensional coordinates acquired by the sensor.

[0018] This configuration eliminates the need for a dedicated detection device to determine the open / closed state of the movable parts. Therefore, it is easier to avoid increased manufacturing costs.

[0019] This is a perspective 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 plan view showing the area to be monitored, etc. when the movable part is in a fully closed state. This is a plan view showing the area to be monitored, etc. when the movable part is performing an opening operation. This is a plan view showing the area to be monitored, etc. when the movable part is in a fully open state. This is a plan view showing the area to be monitored, etc. when the movable part is performing a closing operation in a first alternative embodiment. This is a plan view showing the area to be monitored, etc. when the movable part is in a fully closed state in a first alternative embodiment. This is a plan view showing the area to be monitored, etc. when the movable part is in a fully open state in a second alternative embodiment. This is a plan view showing the area to be monitored, etc. when the movable part is in a fully closed state in a second alternative embodiment. This is a plan view showing the area to be monitored, etc. when the movable part is performing an opening operation in a second alternative embodiment. This is a plan view showing the area to be monitored, etc. when the movable part is in a fully open state in a second alternative embodiment. This is a plan view showing the area to be monitored, etc. when the movable part is in a fully closed state in a third alternative embodiment. This is a plan view showing the area to be monitored, etc. when the movable part is performing an opening operation in a third alternative embodiment. This is a plan view showing the area to be monitored, etc. when the movable part is in a fully open state in a third alternative embodiment. This is a plan view showing the monitored area, etc., when the movable part is in the fully closed state in the fourth alternative embodiment. This is a plan view showing the monitored area, etc., when the movable part is performing an opening operation in the fourth alternative embodiment. This is a plan view showing the monitored area, etc., when the movable part is in the fully open state in the fourth alternative embodiment. This is a plan view showing the monitored area, etc., when the movable part is in the fully closed state in the fifth alternative embodiment. This is a plan view showing the monitored area, etc., when the movable part is performing an opening operation in the fifth alternative embodiment. This is a plan view showing the monitored area, etc., when the movable part is in the fully open state in the fifth alternative embodiment.

[0020] Embodiments for carrying out the present invention will be described with reference to the drawings.

[0021] As shown in Figures 1 to 3, the opening / closing control system 1 in this embodiment is equipped with two sensors 2. More specifically, the opening / closing control system 1 is equipped with a first sensor 21 and a second sensor 22. Both the first sensor 21 and the second sensor 22 are sensors 2. The first sensor 21 is mounted on the upper part of the closed side (lower side in Figure 3) of the movable part 3. The second sensor 22 is mounted on the upper part of the open side (upper side in Figure 3) of the movable part 3. The movable part 3 may or may not be included in the opening / closing control system 1.

[0022] In this embodiment, the movable part 3 is a swing-type automatic door. However, the present invention is not limited thereto, and the movable part 3 may be a sliding-type automatic door or a retractable electric shutter.

[0023] The movable part 3 can be opened and closed as shown by the arrow in Figure 1. The movable part 3 is controlled to open and close by a control signal output by the opening / closing control system 1. This causes the movable part 3 to open and close 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.

[0024] 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.

[0025] Each sensor 2 is capable of acquiring the three-dimensional coordinates of a detected object T (see Figure 3) within its detectable range 6. That is, the opening / closing control system 1 is equipped with sensors 2 capable of acquiring the three-dimensional coordinates of a detected object T within its detectable range 6. The sensors 2 are 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 sensors 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.

[0026] In this embodiment, the first detectable range 61 of the first sensor 21 is located on the closed side relative to the movable part 3. The second detectable range 62 of the second sensor 22 is located on the open side relative to the movable part 3.

[0027] [Opening and Closing Control] As shown in Figure 2, the opening and closing control system 1 includes a monitoring target area setting unit 7. As shown in Figures 1 and 3, the monitoring target area setting unit 7 sets one or more monitoring target areas 11 within each detectable range 6. Although not particularly limited, in this embodiment, the opening operation area 8 is set as the monitoring target area 11 in the first detectable range 61, and the opening-side safety area 9A is set as the monitoring target area 11 in the second detectable range 62. That is, in this embodiment, one monitoring target area 11 is set within each detectable range 6. Both the opening operation area 8 and the opening-side safety area 9A are set as three-dimensional spaces. Also, although not particularly limited, both the opening operation area 8 and the opening-side safety area 9A in this embodiment are rectangular in plan view. Also, although not particularly limited, in this embodiment the opening operation area 8 is located on the closing side (lower side in Figure 3) relative to the movable part 3, and the opening-side safety area 9A is located on the opening side (upper side in Figure 3) relative to the movable part 3.

[0028] As shown in Figure 2, the opening / closing control system 1 includes a signal control unit 12. The signal control unit 12 acquires the detection results from each sensor 2 and information indicating the opening operation area 8 and the opening-side safety area 9A 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 results and the information. More specifically, when each sensor 2 detects an object T in either the opening operation area 8 or the opening-side safety area 9A, the signal control unit 12 outputs a control signal to the door control unit 14 of the door control device 13 that corresponds to the content of the opening / closing control corresponding to the opening operation area 8 or opening-side safety area 9A where the object T was detected.

[0029] 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.

[0030] For example, when the movable part 3 is in the fully closed state (see Figure 3), if the first sensor 21 detects an object T in the opening operation area 8 (startup area OP), 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 state. As a result, the movable part 3 is controlled by the door control device 13 to perform the "open operation".

[0031] Furthermore, when the movable part 3 is in the fully open state (see Figure 5), if the first sensor 21 does not detect the object T in the opening operation area 8 (reopen area RO), and the second sensor 22 does not detect the object T in the opening-side safety area 9A, 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 an operation to close the movable part 3 until it is in the fully closed state. As a result, the movable part 3 is controlled by the door control device 13 to perform the "closing operation".

[0032] Furthermore, when the movable part 3 is in the fully open state (see Figure 5), if the first sensor 21 detects an object T in the opening operation area 8 (reopen area RO), the signal control unit 12 outputs a control signal indicating "open maintenance". "Open maintenance" is an example of opening and closing control of the movable part 3, in which the movable part 3 is maintained in the fully open state for a predetermined period of time. As a result, the movable part 3 is controlled by the door control device 13 to be in the "open maintenance" state.

[0033] Furthermore, when the movable part 3 is performing a "closing operation" (see Figure 6), if the first sensor 21 detects an object T in the opening operation area 8 (reopening area RO), the signal control unit 12 outputs a control signal indicating an "opening operation". As a result, the movable part 3 is controlled by the door control device 13 to stop the "closing operation" and perform an "opening operation".

[0034] Furthermore, regardless of the open / closed state of the movable part 3, if the second sensor 22 detects an object T in the open-side safety area 9A, the signal control unit 12 outputs a control signal indicating "open / close stop". "Open / close stop" is an example of opening / closing control of the movable part 3, and it is a state in which the operation of the movable part 3 has stopped. As a result, the movable part 3 is controlled by the door control device 13 to enter the "open / close stop" state.

[0035] For example, if the object detected T enters the opening-side safety area 9A while the movable part 3 is performing an "opening operation" or a "closing operation," the movable part 3 will enter an "opening / closing stop" state. As a result, the movable part 3 will stop in a state between the fully open and fully closed states.

[0036] However, the present invention is not limited thereto. When the second sensor 22 detects an object T in the open-side safety area 9A, the opening speed (speed of movement in the opening direction) of the movable part 3 may be configured to be lower than under normal conditions.

[0037] Thus, both the opening operation area 8 and the opening-side safety area 9A are 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 opening operation area 8 corresponds to "open operation" and "open maintenance," and the opening-side safety area 9A corresponds to "open / close stop." That is, the opening operation area 8 corresponds to two types of opening and closing control, and the opening-side safety area 9A corresponds to one type of opening and closing control. The content of the opening and closing control corresponding to each monitored area 11 may be one type or multiple types.

[0038] Furthermore, as explained above, the content of the corresponding opening and closing controls in the opening operation area 8 and the opening-side safety area 9A are different from each other (in other words, they do not completely match).

[0039] As shown in Figures 3 and 4, the opening operation area 8 functions as the activation area OP when the movable part 3 is in the fully closed state and when the "opening operation" is being performed. Also, as shown in Figures 5 and 6, the opening operation area 8 functions as the reopening area RO when the movable part 3 is in the fully open state and when the "closing operation" is being performed.

[0040] [Changing the setting state of the monitored area] As shown in Figure 2, the opening / closing control system 1 is equipped with an opening / closing state identification unit 18. The opening / closing state identification unit 18 identifies the opening / closing state of the movable part 3 over time. That is, the opening / closing control system 1 is equipped with an opening / closing state identification unit 18 that identifies the opening / closing state of the movable part 3.

[0041] 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. Note that the monitoring target area setting unit 7, the signal control unit 12, the door control unit 14, and the opening / closing state specifying unit 18 may be physical devices such as a microcomputer, or may be functional units in software.

[0042] As shown in FIG. 2, the monitoring target area setting unit 7 acquires the specified opening / closing state from the opening / closing state specifying unit 18 over time. The monitoring target area setting unit 7 changes the setting state of the monitoring target area 11 according to the opening / closing state. That is, the monitoring target area setting unit 7 can set the monitoring target area 11 as a three-dimensional space within the detectable range 6, and change the setting state of the monitoring target area 11 according to the opening / closing state.

[0043] Note that the position, size, and role of the monitoring target area 11 are specific examples of the "setting state". Also, being the opening operation area 8, being the opening-side safety area 9A, being the activation area OP or the re-opening area RO are specific examples of the "role". Hereinafter, changes in the setting state of the monitoring target area 11 according to the opening / closing state will be described with specific examples.

[0044] In the state shown in FIG. 3, the movable part 3 is in the fully closed state, and the detected object T (person) has not entered either the opening operation area 8 or the opening-side safety area 9A. When the detected object T enters the opening operation area 8 from this state, as shown in FIG. 4, the movable part 3 will perform an "opening operation". As a result, as shown in FIG. 5, the movable part 3 is in the fully open state.

[0045] As described above, each sensor 2 is attached to the movable part 3. Therefore, as shown in FIGS. 3 to 6, when the movable part 3 performs an "opening operation" (or "closing operation"), each sensor 2 moves (swings) integrally with the movable part 3. Along with this, each detectable range 6 also moves according to the operation of the movable part 3.

[0046] As shown in FIGS. 3 to 6, the monitoring target area setting unit 7 changes the position of the opening-side safety area 9A with respect to the building (specifically, the wall or floor) so as to maintain the positional relationship between the opening-side safety area 9A and the movable part 3 according to the opening / closing state of the movable part 3. At this time, the monitoring target area setting unit 7 maintains the size and shape of the opening-side safety area 9A. Also, at this time, the position of the opening-side safety area 9A does not change with respect to each sensor 2 and the movable part 3.

[0047] As a result, when the movable part 3 performs an "opening operation" (or "closing operation"), the opening-side safety area 9A moves (swings) integrally with the movable part 3 with respect to the building (specifically, the wall or floor).

[0048] As shown in FIGS. 3 to 6, the monitoring target area setting unit 7 changes the size and shape of the opening operation area 8 so that the opening operation area 8 expands when the movable part 3 is in the fully open state according to the opening / closing state of the movable part 3. As a result, as shown in FIG. 5, when the movable part 3 is in the fully open state, the opening operation area 8 becomes a rectangular area that penetrates (passes through) the passage area 5 (the opening opened and closed by the movable part 3) in a plan view.

[0049] In the examples shown in FIGS. 3 to 6, the role of the opening-side safety area 9A is not changed. However, the present invention is not limited to this. The monitoring target area setting unit 7 may change the role of the opening-side safety area 9A (monitoring target area 11) according to the opening / closing state of the movable part 3. For example, the monitoring target area setting unit 7 may change a part or the whole of the opening-side safety area 9A to the opening operation area 8 in response to the movable part 3 being in the fully open state.

[0050] [Setting the content of opening / closing control based on the opening / closing state] The "opening operation", "closing operation", "opening maintenance", and "opening / closing stop" of the movable part 3 described above are specific examples of the content of opening / closing control. However, the present invention is not limited to this. Various parameters related to the opening and closing of the movable part 3 are also specific examples of the content of opening / closing control. The various parameters are, for example, the full-open maintenance time, detection sensitivity, response speed, opening / closing speed, and the like.

[0051] 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. Opening / closing speed refers to the speed at which the movable part 3 moves during the "opening operation" or "closing operation".

[0052] The signal control unit 12 shown in Figure 2 acquires the open / closed state of the movable part 3, which has been identified by the open / closed state identification unit 18. The signal control unit 12 is configured to set the content of the open / closed control based on the open / closed state.

[0053] For example, when the movable part 3 performs a "closing operation," the signal control unit 12 may set the opening and closing speed so that the opening speed slows down as the degree of opening of the movable part 3 decreases, depending on the open and closed state of the movable part 3.

[0054] With the configuration described above, the monitoring area 11 can be freely set as a three-dimensional space within the detectable range 6, which is the three-dimensional range that the sensor 2 can detect. Furthermore, since the setting state of the monitoring area 11 (for example, position, size, and role) is changed according to the opening and closing state of the movable part 3, the setting state of the monitoring area 11 can be optimized according to the opening and closing state of the movable part 3.

[0055] Therefore, with the configuration described above, it is possible to realize an opening / closing control system 1 that offers a relatively high degree of freedom in setting the monitored area 11 and can optimize the setting state of the monitored area 11 according to the opening / closing state of the movable part 3.

[0056] [First Alternative Embodiment] In the above embodiment, the movable part 3 is a swing-type automatic door. However, the present invention is not limited thereto. Below, the first alternative embodiment according to the present invention will be described, focusing on the differences from the above embodiment. The configuration other than the parts described below is the same as in the above embodiment. Also, the same reference numerals are used for the same components as in the above embodiment.

[0057] As shown in Figure 7, in the first alternative embodiment, the movable part 3 is a sliding automatic door. The movable part 3 consists of two doors that slide in the left-right direction in Figure 7. Also, in the first alternative embodiment, there is only one sensor 2. The sensor 2 is located above the movable part 3 and is supported by a support member (not shown). The sensor 2 is fixed directly or indirectly to the wall (or passage area 5) on which the movable part 3 is installed. Therefore, the sensor 2 does not move with the movable part 3.

[0058] As shown in Figure 7, within the detectable range 6, the monitoring target area 11 is set to include an opening operation area 8, a front safety area 9C, and two door pocket safety areas 9B. The opening operation area 8 is set in front of the movable part 3 in the fully closed state (downward direction in Figure 7) (in other words, in front of the sensor 2 in a plan view). The front safety area 9C is in front of the movable part 3 in the fully closed state and is set in the vicinity of the movable part 3 in the fully closed state. The front safety area 9C is sandwiched between the fully closed movable part 3 and the opening operation area 8. Each door pocket safety area 9B is set in the vicinity of the door pocket of each movable part 3.

[0059] However, the present invention is not limited thereto. The front safety area 9C 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). In addition, each door pocket safety area 9B may be set over the entire door pocket of each movable part 3 in a plan view (in other words, only the door pocket portion), or it may be set over the door pocket and its vicinity.

[0060] The control of the movable part 3 when the sensor 2 detects an object T in the opening operation area 8 is the same as in the above embodiment, so the explanation will be omitted.

[0061] When the movable part 3 is performing a "closing operation" and the sensor 2 detects an object T in the front safety area 9C, the signal control unit 12 outputs a control signal indicating an "opening operation". As a result, the movable part 3 is controlled by the door control device 13 to stop the "closing operation" and perform an "opening operation".

[0062] Furthermore, regardless of the open / closed state of the movable part 3, if the sensor 2 detects an object T in the door pocket safety area 9B, the signal control unit 12 outputs a control signal indicating "stop opening / closing". As a result, the movable part 3 is controlled by the door control device 13 to enter the "stop opening / closing" state. However, the present invention is not limited thereto. When the sensor 2 detects an object T in the door pocket safety area 9B, the opening speed (speed of movement in the opening direction) of the movable part 3 may be configured to be lower than under normal conditions.

[0063] The monitoring area setting unit 7 may be configured to change the size and shape of the front safety area 9C and the opening operation area 8, as shown in Figure 8, so that the front safety area 9C expands and the opening operation area 8 shrinks when the movable part 3 is fully open. By expanding the front safety area 9C, the safety of people and others passing through the passage area 5 can be ensured. Furthermore, by shrinking the opening operation area 8, it is possible to avoid the movable part 3 remaining open for an unnecessarily long period of time.

[0064] As explained above, the content of the corresponding opening and closing controls differs between the opening operation area 8 and the front safety area 9C (or pocket door safety area 9B) (in other words, they do not completely match). That is, the monitoring target area setting unit 7 can set multiple monitoring target areas 11 within the detectable range 6. In particular, the monitoring target area setting unit 7 can set multiple monitoring target areas 11 with different opening and closing control contents within the detectable range 6.

[0065] With the configuration described above, the number of sensors 2 can be reduced compared to, for example, a case where a sensor 2 corresponding to the opening operation area 8, a sensor 2 corresponding to the front safety area 9C, and a sensor 2 corresponding to each door pocket safety area 9B are provided. This makes it possible to reduce the cost of introducing the opening and closing control system 1.

[0066] [Second Alternative Embodiment] Below, a second alternative embodiment of the present invention will be described, focusing on the differences from the above embodiment and the first alternative embodiment. The configuration other than the parts described below is the same as in the above embodiment or the first alternative embodiment. Also, the same reference numerals are used for the same components as in the above embodiment or the first alternative embodiment.

[0067] As shown in Figure 9, in the second alternative embodiment, there is one sensor 2. The sensor 2 is attached to the upper part of the closed side (lower side in Figure 9) of the movable part 3.

[0068] In a second embodiment, an opening operation area 8 and a safety area 9 are set as the monitoring target area 11 within the detectable range 6. The opening operation area 8 is set in front of the movable part 3 in the fully closed state (downward direction in Figure 9). The safety area 9 is set in front of and near the movable part 3 in the fully closed state. The safety area 9 is sandwiched between the fully closed movable part 3 and the opening operation area 8.

[0069] The control of the movable part 3 when sensor 2 detects an object T in the safety area 9 may be the same as the control when an object T is detected in the opening-side safety area 9A (or door pocket safety area 9B) described above, or the same as the control when an object T is detected in the front safety area 9C described above. In other words, the role (function) of safety area 9 may be the same as that of the opening-side safety area 9A (or door pocket safety area 9B), or the same as that of the front safety area 9C.

[0070] As shown in Figures 9 to 11, the monitoring target area setting unit 7 changes the size and shape of the opening operation area 8 according to the opening and closing state of the movable part 3, so that the opening operation area 8 expands as the degree of opening of the movable part 3 increases. At this time, the monitoring target area setting unit 7 expands the opening operation area 8 toward the open side of the movable part 3 (the upper side in Figures 9 to 11). As a result, as shown in Figure 11, when the movable part 3 is in the fully open state, the opening operation area 8 becomes a rectangular area that penetrates (passes through) the passage area 5 (the opening opened and closed by the movable part 3) in a plan view.

[0071] In the examples shown in Figures 9 to 11, the role of the monitored area 11 is not changed. However, the present invention is not limited thereto. The monitored area setting unit 7 may change the role of the monitored area 11 depending on the open / closed state of the movable part 3. For example, the monitored area setting unit 7 may change part or all of the safety area 9 to the open operation area 8 when the movable part 3 is fully open.

[0072] [Third Alternative Embodiment] Below, a third alternative embodiment of the present invention will be described, focusing on the differences from the above-described embodiment, the first alternative embodiment, and the second alternative embodiment. The configuration other than the parts described below is the same as that of the above-described embodiment, the first alternative embodiment, or the second alternative embodiment. Also, the same reference numerals are used for the same components as in the above-described embodiment, the first alternative embodiment, or the second alternative embodiment.

[0073] As shown in Figure 12, in the third alternative embodiment, a first sensor 21 and a second sensor 22 are provided. Both the first sensor 21 and the second sensor 22 are sensors 2 provided in the opening / closing control system 1. That is, the opening / closing control system 1 in the third alternative embodiment is equipped with two sensors 2.

[0074] However, the present invention is not limited thereto. The number of sensors 2 may be three or more.

[0075] The first sensor 21 is mounted on the upper part of the closed side (lower side in Figure 12) of the movable part 3. The first detectable range 61 of the first sensor 21 is located on the closed side relative to the movable part 3. The mounting position of the first sensor 21 is the same as the mounting position of the first sensor 21 in the above embodiment.

[0076] The second sensor 22 is mounted on the upper part of the opening side (upper side in Figure 12) of the movable part 3. The second detectable range 62 of the second sensor 22 is located on the opening side relative to the movable part 3. The mounting position of the second sensor 22 is the same as the mounting position of the second sensor 22 in the above embodiment.

[0077] Thus, the opening / closing control system 1 in the third alternative embodiment is equipped with a plurality of sensors 2 with different detectable ranges 6.

[0078] Similar to the second alternative embodiment, each detectable range 6 is set with an opening operation area 8 and a safety area 9. More specifically, the first opening operation area 81 and the first safety area 91 are set within the first detectable range 61, and the second opening operation area 82 and the second safety area 92 are set within the second detectable range 62.

[0079] The first opening operation area 81 and the first safety area 91 are the opening operation area 8 and safety area 9, respectively, that correspond to the first sensor 21. That is, the first opening operation area 81 and the first safety area 91 are the monitored area 11 that corresponds to the first sensor 21.

[0080] The second opening operation area 82 and the second safety area 92 are the opening operation area 8 and safety area 9, respectively, corresponding to the second sensor 22. In other words, the second opening operation area 82 and the second safety area 92 are the monitored area 11 corresponding to the second sensor 22.

[0081] As shown in Figure 12, the first opening operation area 81 and the first safety area 91 are set to the closed side relative to the movable part 3. The second opening operation area 82 and the second safety area 92 are set to the open side relative to the movable part 3. The following describes how the setting state of the monitored area 11 is changed according to the open / closed state in the third alternative embodiment.

[0082] In the state shown in Figure 12, the movable part 3 is in a fully closed state, and the detected object T (person) is not assumed to have entered any of the first opening operation area 81, the first safety area 91, the second opening operation area 82, or the second safety area 92. Note that the detection object T is not shown in Figures 12 to 14.

[0083] From the state shown in Figure 12, when the detected object T enters the first opening operation area 81 or the second opening operation area 82, the movable part 3 performs an "opening operation" as shown in Figure 13. As a result, the movable part 3 becomes fully open as shown in Figure 14.

[0084] As described above, the first sensor 21 and the second sensor 22 are attached to the movable part 3. Therefore, as shown in Figures 12 to 14, when the movable part 3 performs an "opening operation" (or "closing operation"), the first sensor 21 and the second sensor 22 move (oscillate) together with the movable part 3. Accordingly, the first detectable range 61 and the second detectable range 62 also move in accordance with the operation of the movable part 3.

[0085] Here, the changes (modifications) in the setting states of the first opening operation area 81 and the first safety area 91 due to the change in the opening and closing state of the movable part 3 are the same as those of the opening operation area 8 and safety area 9 in the second alternative embodiment, so the explanation is omitted. Below, the changes (modifications) in the setting states of the second opening operation area 82 and the second safety area 92 will be described.

[0086] As shown in Figures 12 to 14, the monitoring area setting unit 7 changes the position of the second safety area 92 in accordance with the open / closed state of the movable part 3, so as to maintain the positional relationship between the second safety area 92 and the movable part 3. At this time, the monitoring area setting unit 7 maintains the size and shape of the second safety area 92.

[0087] As a result, when the movable part 3 performs an "opening operation" (or "closing operation"), the second safety area 92 moves (oscillates) integrally with the movable part 3.

[0088] Furthermore, as shown in Figures 12 to 14, the monitoring target area setting unit 7 changes the size and shape of the second opening operation area 82 according to the opening and closing state of the movable part 3, so that the second opening operation area 82 shrinks as the degree of opening of the movable part 3 increases. As a result, as shown in Figure 14, when the movable part 3 is in the fully open state, the second opening operation area 82 does not exist.

[0089] As described above, the monitoring target area setting unit 7 changes the setting state of each monitoring target area 11, so that, as shown in Figures 12 to 14, the state in which the movable part 3 is sandwiched between the first safety area 91 and the second safety area 92 is maintained from the start to the end of the "opening operation," and the overall size, shape, and position of the fully open operation area 8 (in other words, the area formed by combining the first opening operation area 81 and the second opening operation area 82) remains substantially constant, and in a plan view, it remains a substantially rectangular area that penetrates (passes through) the passage area 5 (the opening opened and closed by the movable part 3). The same applies to the "closing operation."

[0090] In this way, the monitoring target area setting unit 7 changes the setting state of each monitoring target area 11 according to the opening and closing state of the movable part 3, so that the state in which all monitoring target areas 11 necessary for opening and closing control are constructed by the combination of each monitoring target area 11 of the first sensor 21 and the second sensor 22 is maintained from the fully closed state to the fully open state (or from the fully open state to the fully closed state).

[0091] In other words, the monitoring area setting unit 7 changes the setting state of the monitoring areas 11 of the multiple sensors 2 so that all the monitoring areas 11 necessary for opening and closing control are constructed by combining the monitoring areas 11 of the multiple sensors 2, according to the opening and closing state.

[0092] [Fourth Alternative Embodiment] Below, a fourth alternative embodiment according to the present invention will be described, focusing on the differences from the above-described embodiment, the first alternative embodiment, and the second alternative embodiment. The configuration other than the parts described below is the same as that of the above-described embodiment, the first alternative embodiment, or the second alternative embodiment. Also, the same reference numerals are used for the same components as in the above-described embodiment, the first alternative embodiment, or the second alternative embodiment.

[0093] As shown in Figure 15, in the fourth alternative embodiment, a first sensor 21 and a second sensor 22 are provided, similar to the third alternative embodiment, and a first detectable range 61 and a second detectable range 62 exist. Also, similar to the third alternative embodiment, a first opening operation area 81, a first safety area 91, a second opening operation area 82, and a second safety area 92 are set.

[0094] As shown in Figures 15 to 17, the first sensor 21 and the second sensor 22 are directly or indirectly fixed to the wall (or passage area 5) on which the movable part 3 is installed. Therefore, the first sensor 21 and the second sensor 22 do not move together with the movable part 3.

[0095] As shown in Figure 17, the first sensor 21 is positioned on the closed side (right side in Figure 17) relative to the fully open movable part 3. The second sensor 22 is positioned on the open side (left side in Figure 17) relative to the fully open movable part 3.

[0096] As shown in Figure 15, the first detectable range 61 and the second detectable range 62 partially overlap in a plan view. Also, the first opening operation area 81 and the second opening operation area 82 do not overlap in a plan view. Furthermore, the first safety area 91 and the second safety area 92 do not overlap in a plan view.

[0097] However, the present invention is not limited thereto. When the movable part 3 is in the fully closed state, the first opening operation area 81 and the second opening operation area 82 may overlap in a plan view. In that case, the overlapping area will be monitored by two sensors 2, thus doubling the reliability of the area for performing the opening operation.

[0098] Furthermore, when the movable part 3 is fully closed, the first safety area 91 and the second safety area 92 may overlap in a plan view. In that case, the overlapping area will be monitored by two sensors 2, thus doubling the reliability of the area for ensuring safety.

[0099] As shown in Figure 15, the first safety area 91 is set on the open side (upper side in Figure 15) and in the vicinity of the fully closed movable part 3. The first opening operation area 81 is set in a position where the first safety area 91 is sandwiched between the first opening operation area 81 and the fully closed movable part 3.

[0100] When the movable part 3 is in the fully closed state, the first opening operation area 81 and the second opening operation area 82 have the same size and shape and are adjacent to each other. Also, at this time, the first safety area 91 and the second safety area 92 have the same size and shape and are adjacent to each other.

[0101] Here, as shown in Figures 16 and 17, when the movable part 3 performs an "opening operation" (or "closing operation"), the movable part 3 moves within the first detectable range 61 and the second detectable range 62 (in other words, within the detectable range 6). Therefore, each sensor 2 can acquire the three-dimensional coordinates of the movable part 3. In the fourth alternative embodiment, the open / closed state identification unit 18 identifies the open / closed state using the three-dimensional coordinates acquired by each sensor 2. Then, the monitoring target area setting unit 7 changes the setting state of each monitoring target area 11 according to the open / closed state identified by the open / closed state identification unit 18. The following describes how the setting state of each monitoring target area 11 is changed according to the open / closed state in the fourth alternative embodiment.

[0102] In the state shown in Figure 15, the movable part 3 is in a fully closed state, and the detected object T (person) is not assumed to have entered any of the first opening operation area 81, the first safety area 91, the second opening operation area 82, or the second safety area 92. Note that the detection object T is not shown in Figures 15 to 17.

[0103] From the state shown in Figure 15, when the detected object T enters the first opening operation area 81 or the second opening operation area 82, the movable part 3 performs an "opening operation" as shown in Figure 16. As a result, the movable part 3 becomes fully open as shown in Figure 17.

[0104] As shown in Figure 15, when the movable part 3 is in a fully closed state, the monitoring target area setting unit 7 sets the positions of the first safety area 91 and the second safety area 92 so that they are adjacent to each other without the movable part 3 in between.

[0105] As shown in Figures 16 and 17, when the movable part 3 is not in a fully closed state (in other words, when it is in a fully open state, or when it is performing an "opening operation" or "closing operation"), the monitoring target area setting unit 7 changes the positions of the first safety area 91 and the second safety area 92 so that the movable part 3 is sandwiched between the first safety area 91 and the second safety area 92, and so as to maintain the positional relationship between the first safety area 91, the second safety area 92, and the movable part 3. At this time, the monitoring target area setting unit 7 maintains the size and shape of the first safety area 91 and the second safety area 92.

[0106] As a result, for example, when the movable part 3 performs an "opening operation," immediately after the start of the "opening operation," the positional relationship between the first safety area 91, the second safety area 92, and the movable part 3 changes from the state shown in Figure 15 to the state shown in Figure 16, and thereafter, the positional relationship between the first safety area 91, the second safety area 92, and the movable part 3 is maintained.

[0107] Furthermore, as shown in Figure 15, when the movable part 3 is in a fully closed state, the monitoring target area setting unit 7 sets the positions of the first opening operation area 81 and the second opening operation area 82 so that they are adjacent to each other without the movable part 3 in between.

[0108] As shown in Figures 16 and 17, when the movable part 3 is not in a fully closed state (in other words, when it is in a fully open state, or when it is performing an "opening operation" or "closing operation"), the monitoring target area setting unit 7 changes the positions of the first opening operation area 81 and the second opening operation area 82 so that the movable part 3 is sandwiched between them, according to the open / closed state of the movable part 3. At this time, the monitoring target area setting unit 7 changes the size and shape of the first opening operation area 81 and the second opening operation area 82 according to the open / closed state of the movable part 3. At this time, although not particularly limited, for example, the monitoring target area setting unit 7 may change the size and shape of the first opening operation area 81 and the second opening operation area 82 so that the first opening operation area 81 expands and the second opening operation area 82 shrinks as the degree of opening of the movable part 3 increases.

[0109] As a result, for example, when the movable part 3 performs an "opening operation," immediately after the start of the "opening operation," the positional relationship between the first opening operation area 81, the second opening operation area 82, and the movable part 3 changes from the state shown in Figure 15 to the state shown in Figure 16. Thereafter, the size and shape of the first opening operation area 81 and the second opening operation area 82 are changed according to the open / closed state (degree of opening) of the movable part 3.

[0110] [Fifth Alternative Embodiment] Below, a fifth alternative embodiment of the present invention will be described, focusing on the differences from the above-described embodiment, the first alternative embodiment, and the second alternative embodiment. The configuration other than the parts described below is the same as that of the above-described embodiment, the first alternative embodiment, or the second alternative embodiment. Also, the same reference numerals are used for the same components as in the above-described embodiment, the first alternative embodiment, or the second alternative embodiment.

[0111] As shown in Figures 18 to 20, in the fifth alternative embodiment, there is only one sensor 2. Therefore, there is only one detectable range 6.

[0112] Sensor 2 is fixed directly or indirectly to the wall (or passage area 5) on which the movable part 3 is installed. Therefore, sensor 2 does not move together with the movable part 3.

[0113] In the fifth alternative embodiment, a first opening operation area 81, a first safety area 91, a second opening operation area 82, and a second safety area 92 are set, similar to the fourth alternative embodiment. As shown in Figure 18, the positions, sizes, and shapes of the first opening operation area 81, the first safety area 91, the second opening operation area 82, and the second safety area 92 when the movable part 3 is in the fully closed state are the same as in the fourth alternative embodiment.

[0114] However, in the fifth alternative embodiment, unlike the fourth alternative embodiment, a first open operation area 81, a first safety area 91, a second open operation area 82, and a second safety area 92 are set within a single detectable range 6. The first open operation area 81, the first safety area 91, the second open operation area 82, and the second safety area 92 are all monitored areas 11 corresponding to a single sensor 2.

[0115] The change in the setting state of each monitored area 11 according to the open / closed state in the fifth alternative embodiment is the same as in the fourth alternative embodiment, so the explanation is omitted.

[0116] [Other Embodiments] (1) The number of monitoring target areas 11 that can be set within the detectable range 6 by the monitoring target area setting unit 7 may be only one. For example, a safety area 9 may not be set within the detectable range 6, and only the opening operation area 8 may be set.

[0117] (2) The signal control unit 12 may be configured to set the content of the opening and closing control without being based on the opening and closing state of the movable part 3.

[0118] 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.

[0119] 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.

[0120] 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 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 detected 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 an opening / closing state identification unit that identifies the opening / closing state of the movable part, wherein the monitoring target area setting unit can set the monitoring target area as a three-dimensional space within the detectable range, and changes the setting state of the monitoring target area according to the opening / closing state.

2. The opening / closing control system according to claim 1, wherein the monitoring target area setting unit is capable of setting a plurality of monitoring target areas within the detectable range.

3. The switching control system according to claim 2, wherein the monitoring target area setting unit is capable of setting a plurality of monitoring target areas with different content of the switching control within the detectable range.

4. The opening / closing control system according to any one of claims 1 to 3, wherein the system is provided with a plurality of sensors having different detectable ranges, and the monitoring target area setting unit changes the setting state of the monitoring target areas of the plurality of sensors according to the opening / closing state, such that the total monitoring target area necessary for the opening / closing control is constructed by a combination of the monitoring target areas of the plurality of sensors.

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 opening / closing state.

6. The opening / closing state determination unit determines the opening / closing state using three-dimensional coordinates acquired by the sensor, according to any one of claims 1 to 3.

Images