JP4817064B2 - Automatic door opening and closing control device - Google Patents

Description

  The present invention relates to an automatic door opening / closing control device, and more particularly, to an automatic door opening / closing control device that opens and closes a door according to a temperature difference between indoors and outdoors and a person's movement.

  In an automatic opening / closing type door, when a person enters a monitoring range, control is generally performed such that the door is opened unconditionally. When a human detection signal is output from the sensor, a signal for opening the door is output regardless of the number of people and the door is fully opened. After opening the door, close the door after the time specified by the timer. Even if it is not necessary to open the door, the door may be opened. A person opens in front of the door, even if he does not intend to go inside. It is desirable to avoid opening the door to people who are not going to enter because of problems such as air conditioning. In order to always open the doors fully, air conditioning is burdened. At present, measures such as double entrance doors are taken, but it is expensive and not perfect. Regardless of the number of people passing by, walking speed, etc., the door starts to close in a certain time, so a contact accident with the door may occur. In order to avoid these problems, there are a method of detecting the movement of a person by image processing and controlling the opening and closing of the door, and a method of controlling the opening and closing of the door according to the temperature inside and outside the room. Below are some examples of prior art related to this.

  The “automatic door control system” disclosed in Patent Document 1 has various modes of opening a pair of doors, can perform the minimum opening operation, and can improve the heating and cooling efficiency. System. As shown in FIG. 6A, the moving bodies on both sides of the door are detected based on the information from the image sensor. The position and moving direction of the moving body are calculated. When the moving body approaches the door, the passing position of the moving body is predicted based on the calculated position and moving direction of the moving body. Based on the predicted passing position, the target opening degree of the pair of doors is individually calculated. When the moving body moves away, the target opening degree of the door is determined as fully closed. A movement command signal is output so that the pair of doors has the calculated target opening degree. A pair of moving means such as a motor receives the movement command signal and moves the pair of doors individually.

  The “automatic door control device” disclosed in Patent Document 2 automatically adjusts only the door opening / closing speed or both the door opening / closing speed and the door opening / closing stroke to the optimum set values in accordance with the environmental changes inside and outside the automatic door. It is an automatic door control device that can. Reduce air-conditioning effects and prevent outdoor entry into the indoor environment. As shown in FIG. 6B, the environment detector detects two or more different environments such as temperature, humidity, wind speed, and noise around the automatic door. In correspondence with each of two or more different environments, a preset reference value and door opening / closing speed command data or door opening / closing speed and door opening / closing stroke command data are stored in the storage unit. The environment determination unit determines an optimum environment mode based on at least two or more of the data from the environment detector and the reference value of the storage unit. The command unit selects desired command data from the command data in the storage unit based on the optimum environment mode that is the determination result of the environment determination unit, and outputs the selected command data to the door opening / closing control unit.

  The “automatic door opening and closing device” disclosed in Patent Document 3 prevents the door from being left open by a passer who does not intend to enter when the door is in the open position, and allows a person who enters and exits suddenly to close the door. So that it does not collide with the door. As shown in FIG. 6C, the first detection means detects a person in the detection range near the door. A second detection means is provided to detect a person in the detection range outside the detection range. If there is a detection signal from the second detection means when the door is in the open position, the door is closed at a low speed. During this operation, if there is a detection signal from the first detection means, the door is opened at high speed. The door is also in the closed position when a person passes through the detection range of the second detection means. When a person enters the detection range of the first detection means beyond the detection range of the second detection means, the door in the middle of closing opens.

The “automatic door device” disclosed in Patent Document 4 opens a pair of doors according to the position, direction, and speed of a moving body (person) and outputs an output of a two-dimensional image sensor. Even when processing is impossible or when individual recognition of moving objects is impossible due to hustle and bustle, smooth traffic can be ensured. As shown in FIG. 6D, a pair of television cameras (two-dimensional image sensors) are used to detect a moving body on both sides of the pair of doors. A pair of spare infrared sensors are provided. The central control unit calculates the position and moving direction of the moving body by image processing of the output of the television camera. When the moving body approaches, the passing position of the moving body in the vertical plane is predicted. The target opening degree of a pair of doors is calculated individually. When the moving body moves away, the target opening degree of the door is determined to be fully closed. A movement command signal is output to the motor controller so that the pair of doors has a target opening degree.
Japanese Unexamined Patent Publication No. 06-307157 Japanese Unexamined Patent Publication No. 07-018946 JP 2001-032624 JP 2005-090089 A

  However, the conventional method has the following problems. In the method of controlling the opening / closing state of the door based on the movement of the person and the indoor / outdoor temperature, the opening / closing of the door cannot be finely controlled, so that the effect of cooling / heating cannot be sufficiently prevented.

  The object of the present invention is to solve the above-mentioned conventional problems, and in the automatic door opening and closing control, the door opening and closing mode is finely controlled according to the temperature difference between the inside and outside, so that the effect of air conditioning is not diminished. It is.

In order to solve the above problems, the present invention, a first sensor unit provided in the indoor side of the door, a second sensor unit provided in the outdoor side of the door, said instructions from each sensor unit In the automatic door opening and closing control device comprising an automatic door device having a door that is opened and closed according to the above, each sensor unit includes an image sensor that captures an area in front of the door, and a temperature sensor that measures indoor or outdoor temperature. , and a control means for controlling the opening and closing of the door based on the temperature difference between the image and the indoor and outdoor photographed by the image sensor, and a communication interface for communicating with the pair of sensor units control information including temperature information It said control means includes means for obtaining the temperature difference between the indoor and outdoor from the temperature sensor, setting means for setting the size of the monitoring area on the basis of the temperature difference, the image A moving object detection means for detecting the direction of movement of the moving body including a human by analyzing the captured image in capacitors, only when exceeding a predetermined temperature by the temperature difference is determined in advance, detected by said moving object detecting means based on the direction of movement of the moving body, and configured to include a means for controlling the opening and closing of the door.

  In addition, the setting means includes means for setting the monitoring range to be photographed by the image sensor narrow when the temperature difference is large, and setting the monitoring range wide when the temperature difference is small. Furthermore, setting data relating to the wide monitoring range captured by the image sensor, the length of the door opening time, the wide door opening range, and the necessity of detection processing of the moving direction of the moving body is obtained from the temperature difference. Table means are provided. In addition, when there are a plurality of doors, the control means includes means for controlling to open and close only the necessary doors according to the direction of movement of the moving body. Alternatively, the control means includes means for identifying a person and a small animal, and means for controlling the opening and closing of the door according to a predetermined control condition when the small animal is detected.

  By configuring as described above, it is possible to optimally control the opening and closing of the automatic door based on the temperature difference between the inside and outside, so that the air conditioning cost can be suppressed while the automatic door functions sufficiently, and the convenience of the automatic door and the air conditioning It is possible to achieve both efficiency.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to FIGS.

  The embodiment of the present invention automatically adjusts the width of the monitoring range based on the temperature difference between the inside and outside of the room and automatically controls the opening and closing by changing the opening and closing mode of the door according to the movement of the person and the temperature difference within the monitoring range. It is a door opening and closing control device.

  FIG. 1 is a conceptual diagram of an automatic door opening / closing control device according to an embodiment of the present invention. FIG. 1A is a functional block diagram of an automatic door opening / closing control device. FIG. 1B is a three-side view of the automatic door. FIG. 2 is a diagram illustrating a monitoring range of the automatic door opening / closing control device. FIG. 3 is a flowchart showing an operation setting procedure of the automatic door opening and closing control device. FIG. 4 is a flowchart showing a control operation procedure of the automatic door opening and closing control device. FIG. 5 is a setting table describing data for control of the automatic door opening / closing control device.

  1 and 2, a sensor unit 1 is a device that sets a control mode based on a temperature difference, recognizes a person in front of an automatic door, and instructs opening / closing of the door. The automatic door 2 is an automatic door provided in a building or the like. The image sensor 3 is a two-dimensional image sensor such as a television camera. The temperature sensor 4 is a thermometer. The calculation unit 12 is a CPU that performs overall information processing such as setting of a control mode and recognition processing. The memory 13 is a memory that holds programs and data for image processing. The function setting switch 14 is a switch for setting an operation mode, parameters, and the like. The door opening / closing signal output means 15 is a means for outputting a signal for instructing opening / closing of the automatic door based on the result of image recognition. The output device 16 is means for displaying the operation state of the sensor unit and the like. The communication interface 17 is a communication means between the sensor units. The door opening / closing actuator 21 is a motor that opens and closes a door in accordance with an opening / closing instruction signal. The door 22 is a door portion that is driven by a motor or the like.

  The function and operation of the automatic door opening / closing control apparatus in the embodiment of the present invention configured as described above will be described. First, an outline of functions of the automatic door opening / closing control device will be described with reference to FIG. The sensor unit 1 is equipped with a temperature sensor 4 as temperature acquisition means, and acquires a temperature difference between the inside and outside of the door. When the temperature difference is small, the air-conditioning loss is small even when the door is opened, so the monitoring range is expanded and the opening time is set longer. Conversely, when the temperature difference is large, the monitoring range is narrowed and the opening time is set short.

  Specifically, the temperature difference between indoor and outdoor is obtained by the temperature sensor 4. Based on the temperature difference, the door opening / closing mode is set. When the temperature difference is large, the monitoring range in front of the door is set to be narrow and the door is set to be narrow and open only for a short time. When the temperature difference is small, the monitoring range is set wide and the door is set wide and opened for a long time. The image from the image sensor 3 is analyzed to detect the traveling direction of the person. The door is opened when it is detected that a person is walking toward the door. If a person does not approach the door, do not open the door. Therefore, when the temperature difference is large, the opening of the door is reduced, so that cool air and warm air are not lost. Furthermore, when the temperature difference is large, the movement of the person near the door is detected and the door is opened and closed, so that the convenience of the automatic door is hardly impaired.

  Next, a method for adjusting the monitoring range of the image sensor will be described with reference to FIG. The monitoring range of the image sensor 3 is adjusted to be wide or narrow based on the temperature difference between the inside and outside of the door. When the temperature difference is large, narrow the monitoring range. When the temperature difference is small, widen the monitoring range. To narrow the monitoring range, mask the image or zoom in to narrow the field of view. In addition, an optimal method may be selected as appropriate. If the monitoring range is narrowed, only people near the door will be monitored and will not respond to people far away, so the door will not open even if it approaches the door far away.

  Next, a method for setting the door opening / closing mode according to the temperature difference will be described with reference to FIG. In step 1, the temperatures of the outdoor temperature sensor (A) 4 and the indoor temperature sensor (B) 4 are measured. In step 2, the temperature difference between indoor and outdoor is obtained. In step 3, referring to the setting table, the width of the monitoring range is obtained from the temperature difference and set. In step 4, the door opening time is obtained and set from the temperature difference with reference to the setting table. In step 5, the door opening degree is obtained and set from the temperature difference with reference to the setting table. In step 6, referring to the setting table, the necessity of detection processing of the person's traveling direction is determined from the temperature difference and set. The setting table will be described later. This process may be executed at regular intervals, or may be executed when the temperature changes by 1 degree or more.

  Next, the operation procedure of the automatic door opening / closing control apparatus will be described with reference to FIG. In step 11, an image is acquired from the image sensor 3 and image analysis such as person extraction is performed. At this time, only the image of the set monitoring range is cut out and analyzed. In step 12, it is checked whether a person is detected. If not detected, wait until detected. If so, it is checked in step 13 whether it is necessary to detect the direction of travel. If necessary, in step 14, the traveling direction is determined. In step 15, it is checked whether a person is approaching the door or only passes in front of the door. If so, return to step 1. If it is an approach, in step 16, the door is opened according to the set value of the door opening. In step 17, the timer is reset and the timer is started. In step 18, the timer is checked, and when the door opening time has passed, the door is closed. If the door opening time has not passed, image analysis is performed in step 19. In step 20, it is checked whether a person is detected. If detected, the process returns to step 13. If not detected, the process returns to step 18. In the process of closing the door, in step 21, the timer is stopped and reset. In step 22, the door is closed.

  Next, a table for setting the door opening / closing mode will be described with reference to FIG. Each time the temperature difference is 0 degree to 30 degrees, the wide monitoring range, the door opening time, the door opening degree, and the necessity of the traveling direction detection process are written. Using the temperature difference as a key, each set value is read out and set as a parameter of the door opening / closing control program. If the temperature difference is up to 3 degrees, the monitoring range is maximized, the door opening time is 20 seconds, the door is fully opened, and the direction of human movement is not detected. As the temperature difference increases, the monitoring range is narrowed, the door opening time is shortened, and the door opening degree is reduced. If the temperature difference is 15 degrees, the direction of human movement is not detected, and if the temperature difference is 16 degrees or more, the direction of human movement is detected. When the temperature difference is small, detection of the person's traveling direction is not performed, so if there is a person in the monitoring range, the door will be opened, and it will be convenient to enter and exit, and there will be no possibility that the person will collide with the door. When the temperature difference is large, the direction of movement of the person is detected, so that the door is not opened unnecessarily, and the outflow of cool air and warm air is reduced. The value set in the table is appropriately determined according to the door installation conditions.

  In the door opening / closing control, it is desirable that the door opening degree data can be acquired from the same image sensor as that for image analysis. If this is not possible, the opening degree of the door is controlled by time or a dedicated sensor is provided. When there are a plurality of doors, the direction in which the person is heading is detected, and only the door that is necessary for passing is opened and closed. Moreover, you may enable it to detect and distinguish a human and small animals, such as a pet. In that case, when a small animal such as a pet approaches the door, processing can be selected for each image sensor. For example, it is selected whether the door is not opened, the control is performed so as not to enter the building, only the direction of exiting the building is controlled, or the same treatment as a human being is performed. Dogs and cats can enter and exit indoors that are being air-conditioned, and dogs and cats can be prevented from interfering with air-conditioning.

  As described above, in the embodiment of the present invention, the automatic door opening and closing control device adjusts the width of the monitoring range based on the indoor and outdoor temperature difference, and according to the movement of the person in the monitoring range and the temperature difference. Since the door opening / closing mode is changed to control opening / closing, the opening / closing control can be optimally performed according to the temperature difference, and the air conditioning cost can be reduced.

  The automatic door opening and closing control device of the present invention is optimal as equipment for automatic doors in facilities where a large number of people need to enter and exit while applying air conditioning.

It is a functional block diagram of an automatic door opening and closing control device in an embodiment of the present invention, and an external view of an automatic door. It is a figure explaining the monitoring range of the automatic door opening / closing control apparatus in the Example of this invention. It is a flowchart which shows the operation | movement mode setting procedure of the automatic door opening / closing control apparatus in the Example of this invention. It is a flowchart which shows the control operation | movement procedure of the automatic door opening / closing control apparatus in the Example of this invention. It is a setting table for control of the automatic door opening / closing control apparatus in the Example of this invention. It is a conceptual diagram of the conventional automatic door opening / closing control apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Sensor unit, 2 ... Automatic door, 3 ... Image sensor, 4 ... Temperature sensor, 12 ... Calculation part, 13 ... Memory, 14 ... Function setting switch, 15 ... door opening / closing signal output means, 16 ... output device, 17 ... communication interface, 21 ... door opening / closing actuator, 22 ... door.

Claims (5)

A first sensor unit provided on the indoor side of the door; a second sensor unit provided on the outdoor side of the door; and an automatic door device having a door that is opened and closed according to an instruction from each sensor unit. In the automatic door opening and closing control device that
Each sensor unit is configured to open and close the door based on an image sensor that captures an area in front of the door, a temperature sensor that measures indoor or outdoor temperature, and an image captured by the image sensor and a temperature difference between indoor and outdoor. And a communication means for communicating control information including temperature information with a pair of sensor units,
The control means obtains a temperature difference between indoor and outdoor from the temperature sensor;
Setting means for setting the width of the monitoring range based on the temperature difference, moving body detecting means for detecting the direction of movement of a moving body including a person by analyzing an image captured by the image sensor, and the temperature difference There only when exceeding a predetermined temperature predetermined based on the direction of movement of the moving body detected by said moving object detecting means, an automatic door opening and closing control, characterized in that it comprises means for controlling the opening and closing of the door apparatus.   2. The setting means includes means for setting a narrow monitoring range for photographing with the image sensor when the temperature difference is large, and setting the monitoring range wide when the temperature difference is small. The automatic door opening and closing control device described.   The setting means includes setting data relating to a wide range of monitoring to be imaged by the image sensor, a length of time for opening the door, a wide range of the door opening, and necessity of detection processing of the moving direction of the moving body. 2. The automatic door opening / closing control device according to claim 1, further comprising table means obtained from the temperature difference.   2. The automatic door opening and closing according to claim 1, wherein the door includes a plurality of doors, and the control means includes means for controlling to open and close only the necessary doors according to the direction of movement of the moving body. Control device. 2. The automatic door opening and closing according to claim 1, wherein said control means comprises means for identifying a person and a small animal, and means for controlling opening and closing of the door according to a predetermined control condition when a small animal is detected. Control device.

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