JP2003270354A - Switch for automatic door - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a switch for an automatic door capable of outputting a starting signal and detecting a person standing between doors without using a conventional pinch prevention switch and constructible with good workability without causing designing problem. <P>SOLUTION: A typical one of this switch for an automatic door is constructed as a switch for opening an automatic door and provided with a radiation means radiating infrared rays, an infrared image sensor photographing an image by infrared rays, a storage means storing an initial state of the image, and a computing means processing the image and outputting an opening signal for opening the automatic door. The computing means recognizes the image while dividing it into a door area and a floor area, compares the photographed image with the image in the initial state for recognizing existence of an object, and outputs a first opening signal when the object exists in the floor area while outputs a second opening signal when the present image does not match with any of images in the initial state in the door area. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a switch for opening an automatic door, and more particularly to a switch for an automatic door using an infrared image sensor. Here, the automatic door means an automatic door and an automatic shutter, and the door includes both a door panel and a shutter slat.

[0002]

2. Description of the Related Art Automatic doors are frequently used in present-day construction, and various switches for automatically opening the door when a person or luggage passes through have been devised and provided. Such a switch is roughly classified into a start switch and a pinch prevention switch.

FIG. 7 shows an example of a conventional automatic door and switch. In the figure, as an example of the start switch, three types are shown depending on the mounting position.

The blind switch 51 is mounted on a blind 50a which is a frame above the door 50, and is a ceiling mount switch.
52 is attached to the ceiling near the door 50. Light ray switches, heat ray switches, microwave switches, and the like are used for these. The ray switch irradiates near-infrared rays (of which the wavelength is short among infrared rays) and detects the reflection, and is not easily affected by environmental changes such as surrounding light and darkness, wind, and noise, and can also detect stationary objects. Is. The hot-wire switch detects far-infrared rays (of infrared rays with a long wavelength) radiated from the human body using a pyroelectric infrared sensor, etc., and outputs a start signal due to fluctuations in thermal energy. It is preferably used in etc. However, it is not suitable for detecting a stationary object because of the structure for detecting fluctuations. The microwave switch detects the approach of an object from the Doppler effect of its reflection by irradiating the microwave, and has the advantage that it is not affected by strong wind, noise, turbulent rays, stationary objects in the area, etc. .

The wireless touch switch 53 is directly attached to the door 50, and by touching the switch,
Radio waves and infrared rays are transmitted to a light receiving unit (not shown) connected to the drive mechanism. Since it is not easily affected by surrounding obstacles, it is used in places where it is not suitable to install a light switch, such as the entrance of a building facing a sidewalk with many people and the entrance of a store where Noren is installed.

Further, FIG. 7 shows two kinds of pinching prevention switches for preventing the door from being closed carelessly. The beam switch 54 is attached to the vertical frame 50b of the three-sided frame of the door 50, the upright 50c, the wall surface, and the like in pairs, and transmits rays such as infrared rays along the door 50 and detects when the rays are blocked. To do. The door tip switch 55 is provided at the tip of the door 50, and detects a person standing between the doors 50 by a contact type or non-contact type sensor.

Here, as shown in FIG. 8, the light beam switches such as the blind mount type switch 51 and the ceiling mount type switch 52 are
If the door 50 is included in the detection range, the door itself is detected and the door is left open. Therefore, the area slightly apart from the door 50 is set to be detected. Therefore, the beam switch
It is often installed together with a trap prevention switch such as 54 or door tip switch 55.

[0008]

However, among the above-mentioned trapping prevention switches, the beam switch 54 is installed by embedding the beam switch in the vertical frame 50b or the vertical side 50c of the three-sided frame of the door 50, and the blind 50a. Since it had to be wired up to the control board inside, the installation was troublesome.
On the other hand, since the door-end switch 55 is attached to the tip of the moving door 50, it needs to be wired using a flexible cable or the like, which causes problems in workability and durability. Further, the door-end switch 55 has a problem that the switch member is exposed at the door end, which causes a restriction in design.

Therefore, the present invention outputs a signal for activation,
Moreover, with the aim of providing an automatic door switch that can detect people who have stopped between doors without using a conventional pinch prevention switch, has good workability, and does not cause design problems. There is.

[0010]

In order to solve the above problems, a typical structure of an automatic door switch according to the present invention is as follows.
A switch for opening an automatic door, a lighting means for irradiating infrared rays, an infrared image sensor for photographing an image with infrared rays, a storage means for storing the initial state of the image, and an automatic processing for processing the image. And a calculation means for outputting a release signal for opening the door, wherein the calculation means is
The image is divided into a door area and a floor area for recognition, the photographed image is compared with the image in the initial state to recognize the presence of an object, and the first opening is performed when the object is present in the floor area. A signal is output, and a second opening signal is output when the current image does not substantially match any image in the initial state in the door area.

Another typical configuration of the automatic door switch according to the present invention is a switch for opening the automatic door, which is a switch for irradiating infrared rays, and an infrared image sensor for taking an image with infrared rays. And an arithmetic means for processing the image and outputting an opening signal for opening the automatic door. The arithmetic means recognizes the image by dividing it into a door area and a floor area, and successively photographs the images. A motion vector is detected from the image, the motion vector detected in the floor area outputs a first open signal when the motion vector has a directional component approaching the door, and the motion vector detected in the door area is A second opening signal is output when the direction component is not only the moving direction.

Further, the motion vector may be detected in the floor area and the presence of an object may be recognized in the door area. Similarly, the presence of an object may be recognized in the floor area, and the motion vector may be detected in the door area. Furthermore, it may be possible to both detect a motion vector and recognize the presence of an object in any area.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION [First Embodiment] (Apparatus Configuration) A first embodiment of an automatic door switch according to the present invention will be described with reference to the drawings. 1 is an overall configuration diagram of an automatic door with an automatic door switch according to the present embodiment attached, and FIG. 2 is a schematic configuration diagram of an automatic door switch, FIG.
Is a diagram illustrating an example of image recognition, FIG. 4 is a diagram illustrating a procedure for recognizing the presence of an object in a floor area, and FIG. 5 is a diagram illustrating a procedure for ignoring a door in a door area.

As shown in FIG. 1, an automatic door switch 10 according to this embodiment is attached to a seamless door 1a of a door 1. The automatic door switch 10 captures a floor near the door 1 and an area including the door 1 by an infrared image sensor, and detects a moving object and a stationary object by image processing.

As shown in FIG. 2, the automatic door switch 10 has a CCD 11 which is an infrared image sensor for picking up an image by infrared rays, a graphic chip 12 which performs a predetermined image processing, and a CPU 13 which is an arithmetic means. It is connected to the. Infrared LE which is a lighting means connected to the CPU 13.
When D16 emits infrared rays by pulse output, the output infrared rays are irradiated to the vicinity of the door 1 through the diffusion lens 17. Then, the infrared rays reflected on the floor or the object enter the CCD 11 via the infrared transmission filter 15 and the wide-angle lens 14, and an infrared image is taken. Since the infrared image sensor receives the infrared light emitted from the infrared irradiation device, it has an advantage that it is hardly affected by the detection even at night or in the sunlight. The infrared image sensor may be replaced by a CCD sensor, a CMOS sensor, or any other device capable of capturing an infrared image.

The CPU 13 has a ROM 18 (Read Only Memory) for storing a control program and a RAM 19 (Random Acces) as a storage means for storing an initial state of an image.
s memory) is connected. The RAM 19 is also used as a program execution area. The CPU 13 processes the captured infrared image, and when it determines a predetermined condition, outputs a door opening signal to the drive control device 21 of the door 1 via the switches 20a and 20b. The switch 20a outputs a start signal which is a first opening signal, and the switch 20b outputs a pinch prevention signal which is a second opening signal.

(Description of Operation) Next, an operation of the automatic door switch 10 according to this embodiment will be described. With the above configuration, as shown in FIG. 3A, the floor and the door 1 are reflected in the captured image. Also, it is assumed that the person 22 and the flowerpot 23 are shown in the image.

The image picked up by the CCD 11 is first binarized by the graphic chip 12 as shown in FIG. 3 (b). Then, next, edge detection is performed as shown in FIG. Then, the CPU 13 can recognize objects such as the door 1, the person 22, and the flowerpot 23 existing in the image by counting the area of the closed figure. Here, if the object does not have an area to some extent, the presence of the object is not recognized, so that a malfunction can be prevented.

Here, the CPU 13 divides the image into a floor area A separated from the door 1 by a predetermined distance or more and a door area B including the door 1 and a floor within a predetermined distance from the door, and performs the following processing. As a result, a start signal (first opening signal) or a pinch prevention signal (second opening signal) is output.

First, as shown in FIG. 4, the floor area A is compared with the floor area A of the image 24 in the initial state stored in the RAM 19 which is a storage means. At this time, since the flowerpot 23 is recorded in the image 24 in the initial state, the existence of the object is not recognized. On the other hand, since the person 22 is not in the image 24 in the initial state, it is recognized as an object that has newly entered the detection area. As a result, the CPU 13 outputs a start signal to the drive control device 21.

Even if there is an object in the floor area A, a person
You may want to close the door after a certain period of time, such as when 22 is standing by or when you leave your luggage. Therefore, the CPU 13 resets the image 24 in the initial state in the RAM 19 using the current image after a lapse of a predetermined time after detecting the object (so-called stillness detection function). The time until resetting can be switched by setting.
The resetting is also performed when the power of the device is turned on or by the user's will by providing a switch or the like.

Next, in the door area B, as in the case of the floor area A, when the presence of an object is recognized, a pinch prevention signal is output, but the door 1 to be opened / closed need not be detected as an object. Therefore, as shown in FIG. 5, the RAM 19 stores a plurality of images 24a to 24f in the initial state corresponding to the change in the open / closed state of the door in at least the door area B, and the images 24a to 24f are compared with all of the images. When the image substantially matches with the image, the pinch prevention signal is not output.

In the figure, six images in the initial state are shown, but this number may be set as appropriate, and the difference between the images exceeds the area necessary for recognizing the presence of an object as described above. It is necessary to set the interval so that it is not so large. In addition, the plurality of images 24a to f in the initial state can be updated and reset using the current image after a predetermined time has passed according to the specifications, or when the power is turned on or the intention of the user. In that case, a series of images is taken while operating the door 1.

With the above-described structure, a signal for activation is output to an approaching object, and a person standing between doors can be detected without using a conventional pinch prevention switch. Therefore, the automatic door opening control can be performed with one switch. Further, since it is not necessary to embed or wire in a vertical direction or the like, workability is good, and since it is not exposed at the door tip of the door 1, there is an effect that a design problem does not occur.

[Second Embodiment] A second embodiment of the automatic door switch according to the present invention will be described with reference to the drawings.
FIG. 6 is a diagram showing an example of image recognition according to the present embodiment, and the same portions as those of the first embodiment described above are designated by the same reference numerals and the description thereof will be omitted.

In the first embodiment described above, the activation signal (first opening signal) or the pinch prevention signal (second opening signal) is output by recognizing the presence of an object, but in the present embodiment, it is described. The motion vector of the object is detected, and each open signal is output in response to this.

First, similarly to the first embodiment, the image picked up by the CCD 11 is binarized by the graphic chip 12 and the edge is detected. FIG. 6 (a) shows a state in which an edge is detected as in FIG. 3 (c), and shows a state in which the door 1 is closing and the person 22 is approaching.
Images are continuously taken at predetermined time intervals and stored in the RAM 19 as a storage means. A single image may be stored, but it is desirable to hold a plurality of images and perform the following analysis in order to improve detection accuracy. Even in the processing of this embodiment, the RAM 19 is used for object detection.
In addition, it is necessary to store the initial image as in the first embodiment.

Then, by comparing the position of the object recognized by the edge detection between the image stored in the RAM 19 and the current image, the motion vector of the object is detected as shown in FIG. 6 (b). be able to. And CP
U13 outputs an activation signal (first opening signal) or a pinch prevention signal (second opening signal) by dividing the image into a floor area A and a door area B and making the following determinations.

First, in the floor area A, as shown in FIG. 6 (b), when the motion vector has a direction component approaching the door 1 (a component perpendicular to the opening / closing direction of the door 1). ,
Output a start signal. When the motion vector is tilted with respect to the door 1, that is, when the motion vector is approaching from an angle, the tilt angle is a certain degree or more (for example, 15 degrees or more with respect to the opening / closing direction of the door 1). The start signal is output to.

In the door area B, a pinch prevention signal is basically output if a motion vector exists, but the movement of the door 1 to be opened / closed must be ignored. Therefore, as shown in FIG. 6C, the direction component only in the moving direction of the door 1 is ignored, and in such a case, the pinch prevention signal is not output. In addition,
In the present embodiment, it is not necessary to store a plurality of images in the initial state for the image of the door area B in the RAM 19.

With the above arrangement, even if an object exists in the floor area which is the detection range of the automatic door switch 10, ignore the object that simply passes in front of the door 1. Further, the door can be closed early after passing through the door 1. Therefore, the time when the door 1 is open can be optimized.

[Other Embodiments] A third embodiment of the automatic door switch according to the present invention will be described. The same parts as those of the first and second embodiments will be designated by the same reference numerals and the description thereof will be omitted.

By detecting the presence of an object in the first embodiment and by detecting the motion vector of the object in the second embodiment, a start signal (first opening signal) or a pinch prevention signal (first signal). Output signal). However, by appropriately combining these, it is possible to make the switch for the automatic door more convenient.

For example, in the floor area A, a motion vector is detected as in the second embodiment, and when the motion vector has a direction component approaching the door 1, a start signal is output. In the door area B, as in the first embodiment, basically, when the existence of an object is recognized, a pinch prevention signal is output, but a comparison is made with a plurality of images 24a to f in the initial state (see FIG. 5). The image is not output when it substantially matches any image. With this configuration, the time during which the door is open can be optimized, and the door can be more reliably prevented from being pinched.

Further, it is possible to perform both the detection of the motion vector and the recognition of the presence of the object in any area, and the combination may be appropriately made according to the specifications. In the floor area A, the presence of an object may not be recognized, and the activation signal may be output only by looking at the amount of change in the binarized image.

In the above-mentioned embodiment, the automatic door of a draw (two door panels move in both left and right directions) has been described as an example, but a single pull (one door panel moves in a horizontal direction) The automatic door switch according to the present invention can be applied to the automatic door of (1).

Further, the automatic door switch according to the present invention can be applied not only to an automatic door (a door panel moving in a horizontal direction) but also to an automatic shutter (a shutter slat moving in a vertical direction). Is. In that case, the automatic door switch 10 is preferably provided with a switch for switching between the automatic door mode and the shutter mode.

Further, in the above-mentioned embodiment, it has been described that the first and second opening signals are separately input to the drive control device 21 by the switches 20a and 20b shown in FIG. 2, but both switches are selected depending on the control configuration. May be connected to a single input of the drive control device 21, or the automatic door switch 10 may be provided with only one output.

Further, in the above-described embodiment, the image in the initial state is described to be stored and held in the RAM 19 at any time, but since the image of the door is judged by the contour, there is no big difference even if the types are different. A standard door initial state image may be stored in the ROM 18 at the time of manufacturing. In this case, the ROM 18 serves as storage means for storing the initial state of the image. Furthermore, after storing the image of the initial state in the ROM18, if necessary after the installation, the RAM19
It is also possible to store the initial image in and to preferentially use it.

[0040]

With the above construction, the automatic door switch according to the present invention outputs a start signal for an approaching object and does not use a conventional pinch prevention switch. Since a person stopped between the doors can be detected, the automatic door opening control can be performed with a single switch. Especially, since it is not necessary to embed the beam switch in the vertical direction or to wire it, workability is good, and since the door end switch is not exposed at the door end of the door, there is no problem of workability, durability, or design restrictions. . That is, the automatic door switch of the present invention can reduce the number of parts, the production cost, the installation process, and the workability.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an automatic door with an automatic door switch attached.

FIG. 2 is a schematic configuration diagram of an automatic door switch.

FIG. 3 is a diagram illustrating an example of image recognition.

FIG. 4 is a diagram illustrating a procedure for recognizing the presence of an object in a floor area.

FIG. 5 is a diagram illustrating a procedure of ignoring a door in a door area.

FIG. 6 is a diagram showing an example of image recognition according to a second embodiment.

FIG. 7 is a diagram showing an example of a conventional automatic door and switch.

FIG. 8 is a diagram illustrating a detection range of a conventional blind-mounting type switch.

[Explanation of symbols]

A: Floor area B: Door area 1 ... Door 1a ... no eyes 10… Automatic door switch 11… CCD 12… Graphic chip 13 ... CPU 14 ... Wide-angle lens 15… Infrared transmission filter 16… Infrared LED 17… Diffusing lens 18 ... ROM 19 ... RAM 20a… Switch 20b… Switch 21… Drive controller 22 ... person 23… Flowerpot 24 ... initial image 50 ... Door 50a ... blindness 50b ... Vertical frame 50c ... cube 51… Eyeless mount type switch 52… Ceiling mount switch 53… Wireless touch switch 54… Beam switch 55… Door switch

Continued front page    (72) Inventor Hatae Tatsuki             2-1, 1-1 Nishishinjuku, Shinjuku-ku, Tokyo Sanwa             Inside Shatter Industry Co., Ltd. F-term (reference) 2E052 AA01 AA02 AA04 BA04 BA06                       EA09 EA15 EA16 EB01 EC01                       EC03 GA05 GA06 GB01 GB06                       GC06 GD03 GD09 KA13

Claims (5)

[Claims] 1. A switch for opening an automatic door, a lighting means for irradiating infrared rays, an infrared image sensor for photographing an image with infrared rays, a storage means for storing an initial state of the image, and the image. And an arithmetic means for outputting an opening signal for opening the automatic door, wherein the arithmetic means recognizes the image by dividing it into a door area and a floor area, and recognizes the captured image as the image in the initial state. The automatic door switch is characterized in that the presence of an object is recognized by comparing with, and a first opening signal is output when the object is present in the floor area. 2. A switch for opening an automatic door, comprising illumination means for irradiating infrared rays, an infrared image sensor for taking an image with infrared rays, and an opening signal for opening the automatic door by processing the image. And a calculating unit that outputs the moving image, wherein the calculating unit recognizes the image by dividing the image into a door region and a floor region, detects a motion vector from continuously captured images, and detects a motion detected in the floor region. An automatic door switch, which outputs a first opening signal when a vector has a direction component approaching a door. 3. The storage means stores a plurality of images corresponding to changes in the opened / closed state of the door as an initial state, and when the current image in the door area does not substantially match any of the images in the initial state. Outputs a second opening signal, The switch for automatic doors according to claim 1 or 2. 4. The calculation means outputs a second opening signal when the motion vector detected in the door area is not a directional component of only the moving direction of the door. Switch for automatic doors. 5. The calculation means updates the image in the initial state stored in the storage means with a current image after a predetermined time has elapsed since it was determined that an object existed, or arbitrarily. The switch for automatic doors according to claim 1.