JP2011237232A - Object detector - Google Patents

Object detector Download PDF

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JP2011237232A
JP2011237232A JP2010107776A JP2010107776A JP2011237232A JP 2011237232 A JP2011237232 A JP 2011237232A JP 2010107776 A JP2010107776 A JP 2010107776A JP 2010107776 A JP2010107776 A JP 2010107776A JP 2011237232 A JP2011237232 A JP 2011237232A
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light
detection
light receiving
region
floor surface
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JP5668214B2 (en
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Takashi Wada
貴志 和田
Kenji Nishigaki
健司 西垣
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KYOKKO ELECTRIC CO Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide an object detector for reliably detecting an object by switching a plurality of detection areas.SOLUTION: An automatic door sensor 100 forms floor surface detection areas R1-R16 on a prescribed floor surface F100 where the object such as a person passes. The automatic door sensor 100 also forms space detection areas l1-l12 in a space A100 above the floor surface F100. Only cross sectional detection areas r1-r12 on prescribed cross sections of the space detection areas l1-l12 are indicated in Figure 1. When it is determined that the object such as a human body exists in the space detection areas l1-l12 (the cross sectional detection areas r1-r12) in a closed state of door panels 55a, 55b, the automatic door sensor 100 transmits door opening information to perform an operation to open the door panels 55a, 55b to a driving device. In an opened state of the door panels 55a, 55b, the object is detected in the floor surface detection areas R1-R12 and the space detection areas l1-l12.

Description

本発明は、検知光により物体を検出する物体検出装置に関し、特に、複数の検知領域を切り換えて物体を確実に検知するものに関する。   The present invention relates to an object detection apparatus that detects an object using detection light, and more particularly to an apparatus that reliably detects an object by switching a plurality of detection areas.

従来の物体検出装置である自動ドア開閉用起動センサ２００について図９を用いて説明する。自動ドア開閉用起動センサ２００は、基本的な構成として、赤外線発光部２１０と赤外線受光部２２０とを備え、図示しない自動ドアの無目もしくは天井に設置される。通常、赤外線発光部２１０と赤外線受光部２２０は、所定の周波数で同期的に制御される。   An automatic door opening / closing start sensor 200, which is a conventional object detection device, will be described with reference to FIG. The automatic door opening / closing start sensor 200 includes, as a basic configuration, an infrared light emitting unit 210 and an infrared light receiving unit 220, and is installed on an unshown automatic door or ceiling. Usually, the infrared light emitting unit 210 and the infrared light receiving unit 220 are controlled synchronously at a predetermined frequency.

赤外線発光部２１０は、図示しない例えば拡散レンズを介して自動ドア近傍の床面Ｆに赤外線をスポット光として照射する。通常、スポット光はｍ列×ｎ行のマトリクス配列として照射される。作図の都合上、その１列に含まれる例えば８個のスポット光Ｓ１〜Ｓ８のみを示す。   The infrared light emitting unit 210 irradiates the floor surface F near the automatic door as spot light through a diffusion lens (not shown), for example. Usually, the spot light is irradiated as a matrix arrangement of m columns × n rows. For convenience of drawing, for example, only eight spot lights S1 to S8 included in one column are shown.

赤外線受光部２２０は、床面Ｆもしくは監視領域内に存在する人（物体）によって反射された赤外線を図示しない集光レンズを介して受光し、その受光量に比例した信号を図示しないドアコントローラに出力する。ドアコントローラは、常時、その出力信号の変動を監視し、図示しないドアエンジンを制御して自動ドアを開閉する（特許文献１）。   The infrared light receiving unit 220 receives infrared light reflected by a person (object) existing on the floor surface F or the monitoring area through a condensing lens (not shown) and sends a signal proportional to the received light amount to a door controller (not shown). Output. The door controller constantly monitors fluctuations in its output signal and controls a door engine (not shown) to open and close the automatic door (Patent Document 1).

特開２００７−９３５１０号公報JP 2007-93510 A

前述の自動ドア開閉用起動センサ２００には、以下に示すような改善すべき点がある。自動ドア開閉用起動センサ２００は、床面Ｆに赤外線をスポット光として投光し、床面Ｆもしくは監視領域内に存在する人（物体）によって反射された赤外線を赤外線受光部２２０にて受光する。床面Ｆにおける赤外線の反射の状態は、床面Ｆの状態によって左右される。例えば、床面Ｆが乾いた状態と、水等が存在し、濡れている状態とでは、赤外線の反射状態が大きく異なる。あるときには、自動ドアの扉が開かない、あるときには、勝手に開くといった、誤動作を生じやすい、という改善すべき点がある。   The automatic door opening / closing start sensor 200 has the following points to be improved. The automatic door opening / closing start sensor 200 projects infrared rays onto the floor surface F as spot light, and receives infrared rays reflected by a person (object) existing in the floor surface F or a monitoring area by the infrared light receiving unit 220. . The state of infrared reflection on the floor surface F depends on the state of the floor surface F. For example, the reflection state of infrared rays is greatly different between a state where the floor surface F is dry and a state where water or the like is present and is wet. There is a point that should be improved that malfunctions are likely to occur, such as when the door of the automatic door does not open in some cases, and in some cases it opens without permission.

そこで、本発明は、複数の検知領域を切り換えて物体を確実に検知する物体検出装置の提供を目的とする。   SUMMARY OF THE INVENTION An object of the present invention is to provide an object detection device that detects an object reliably by switching a plurality of detection areas.

本発明における課題を解決するための手段及び発明の効果を以下に示す。   Means for solving the problems in the present invention and the effects of the invention will be described below.

本発明に係る物体検出装置は、所定の床面上の空間における物体の存在を検知し、扉の開閉を制御するための物体検知装置であって、前記床面に形成される第１の検知領域に対して検知光を投光する投光手段、前記投光手段が前記第１の検知領域に対して投光した前記検知光について、前記第１の検知領域からの第１の反射光を受光する第１の受光手段、前記投光手段が前記第１の検知領域に対して投光した前記検知光について、前記空間に形成される第２の検知領域からの第２の反射光を受光する第２の受光手段、前記第１の受光手段又は前記第２の受光手段のそれぞれにおける前記第１の反射光又は前記第２の反射光の受光量の変化から、前記第１の検知領域又は前記第２の検知領域に物体が存在すると判断すると、前記扉を開状態とする開状態情報を生成する扉開閉制御手段、前記扉が閉状態であるときに、前記第２の受光手段に前記第２の反射光を受光させ、前記第２の検知領域に物体が存在するとの判断に基づき前記第１の受光手段に前記第１の反射光を受光させる受光制御手段、を有する。   An object detection device according to the present invention is an object detection device for detecting the presence of an object in a space on a predetermined floor surface and controlling the opening and closing of a door, the first detection formed on the floor surface A light projecting means for projecting detection light to the area, and a first reflected light from the first detection area for the detection light projected by the light projecting means to the first detection area; A first light receiving means for receiving light, and a second reflected light from a second detection area formed in the space is received for the detection light projected by the light projecting means to the first detection area. From the change in the amount of received light of the first reflected light or the second reflected light in each of the second light receiving means, the first light receiving means, or the second light receiving means, the first detection region or When it is determined that an object is present in the second detection area, the door is opened. A door opening / closing control means for generating open state information, wherein when the door is in a closed state, the second light receiving means receives the second reflected light, and an object is present in the second detection region; And a light receiving control means for causing the first light receiving means to receive the first reflected light based on the determination.

これにより、扉閉状態においては、床面における第１の検知領域よりも、空間における第２の検知領域での物体の検知を優先して扉を開閉することができる。よって、床面の状態に影響されずに、扉の閉状態から開状態への開動作を行うことができる。また、扉の開状態においては、床面における第１の検知領域での検知を行うので、床面に近い領域での物体の検知に基づき扉の開閉動作を行うことができる。   Thereby, in the door closed state, it is possible to open and close the door in preference to the detection of the object in the second detection area in the space rather than the first detection area in the floor surface. Thus, the door can be opened from the closed state to the open state without being affected by the state of the floor surface. Further, since the detection is performed in the first detection area on the floor surface in the open state of the door, the door can be opened and closed based on the detection of the object in the area close to the floor surface.

本発明に係る物体検出装置では、前記受光制御装置は、前記第２の検知領域に物体が存在するとの判断に基づき、さらに、前記第２の受光手段に前記第２の反射光を受光させること、を特徴とする。   In the object detection device according to the present invention, the light reception control device further causes the second light receiving means to receive the second reflected light based on the determination that an object exists in the second detection region. It is characterized by.

これにより、扉の開状態の後は、床面上の第１の検知領域における検知と、空間の第２の検知領域における検知とを併せて行うことができる。よって、床面の状態に影響されることなく、また、床面近くの物体を見落とすことなく、確実に物体を検出することができる。   Thereby, after the door is opened, detection in the first detection region on the floor and detection in the second detection region of the space can be performed together. Therefore, the object can be reliably detected without being affected by the state of the floor surface and without overlooking the object near the floor surface.

本発明に係る物体検出装置では、前記投光手段及び前記第１の受光手段を複数有し、前記第２の受光手段は、一の前記投光手段に対応する前記第１の受光手段とは異なる前記第１の受光手段であること、を特徴とする。   The object detection apparatus according to the present invention includes a plurality of the light projecting means and the first light receiving means, and the second light receiving means is the first light receiving means corresponding to the one light projecting means. The first light receiving unit is different from the first light receiving unit.

これにより、床面に複数の第１の検知領域を形成すると共に、空間に複数の第２の検知領域を形成することができる。よって、広い範囲での物体の検知を行うことができる。   Thereby, a plurality of first detection areas can be formed on the floor surface, and a plurality of second detection areas can be formed in the space. Therefore, it is possible to detect an object in a wide range.

本発明に係る物体検出装置では、前記投光手段及び前記第１の受光手段は、それぞれマトリックス形状に配置されていること、を特徴とする。   The object detection apparatus according to the present invention is characterized in that the light projecting means and the first light receiving means are each arranged in a matrix shape.

これにより、床面近くの第１の検知領域と空間の第２の検知領域とを有する物体検出装置を簡易な構成で形成することができる。   Thereby, the object detection apparatus having the first detection area near the floor and the second detection area in the space can be formed with a simple configuration.

本発明に係る物体検出装置では、前記マトリックス形状に配置された前記投光手段が前記床面に形成する投光領域と、前記マトリックス形状に配置された前記第１の受光手段が前記床面に形成する受光領域とは、所定の方向にずれて形成されており、前記投光領域と前記受光領域との交差領域によって前記検知領域を形成すること、を特徴とする。   In the object detection apparatus according to the present invention, the light projecting area formed on the floor surface by the light projecting means arranged in the matrix shape, and the first light receiving means arranged in the matrix shape on the floor surface. The light receiving region to be formed is formed by shifting in a predetermined direction, and the detection region is formed by an intersection region between the light projecting region and the light receiving region.

これにより、床面近くの第１の検知領域と空間の第２の検知領域とを有する物体検出装置を簡易な構成で形成することができる。   Thereby, the object detection apparatus having the first detection area near the floor and the second detection area in the space can be formed with a simple configuration.

本発明に係る物体検出装置では、前記投光手段及び前記受光手段の相対的位置関係を調整することができる。これにより、所望の位置に、所望の大きさの第１の検知領域、第２の検知領域を形成することができる。   In the object detection apparatus according to the present invention, the relative positional relationship between the light projecting unit and the light receiving unit can be adjusted. Thereby, the 1st detection area | region and 2nd detection area | region of a desired magnitude | size can be formed in a desired position.

本発明に係る物体検出装置では、前記検知光の投光方向、前記第１の反射光及び前記第２の反射光の受光方向、又はその両方を調整することができる。これにより、所望の位置に、所望の大きさの第１の検知領域、第２の検知領域を形成することができる。
In the object detection apparatus according to the present invention, the light projecting direction of the detection light, the light receiving directions of the first reflected light and the second reflected light, or both can be adjusted. Thereby, the 1st detection area | region and 2nd detection area | region of a desired magnitude | size can be formed in a desired position.

発明に係る物体検出装置の一実施例である自動ドアセンサ１００を用いた自動ドアシステムの概要図である。It is a schematic diagram of an automatic door system using automatic door sensor 100 which is one example of an object detection device concerning the invention. 自動ドアセンサ１００の内部構造を示す図であり、Ａは内部構造の平面図を、ＢはＡにおけるＰ−Ｐ断面を、それぞれ示す。It is a figure which shows the internal structure of the automatic door sensor 100, A shows the top view of an internal structure, B shows the PP cross section in A, respectively. 床面検知領域及び空間検知領域を説明するための図である。It is a figure for demonstrating a floor surface detection area | region and a space detection area | region. 床面検知領域を示す図である。It is a figure which shows a floor surface detection area | region. 空間検知領域の所定の断面である断面検知領域を示す図である。It is a figure which shows the cross-section detection area | region which is a predetermined cross section of a space detection area. 空間検知領域を説明するための図である。It is a figure for demonstrating a space detection area | region. 制御回路１３０の動作を示すフローチャートである。3 is a flowchart showing the operation of a control circuit 130. 空間検知対応テーブルを示す図である。It is a figure which shows a space detection corresponding | compatible table. 従来の予約管理システム１００を示す図である。1 is a diagram showing a conventional reservation management system 100. FIG.

以下、本発明の実施例について、図面を参照しながら詳細に説明していく。   Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

第１ 構成
発明に係る物体検出装置の一実施例である自動ドアセンサ１００を用いた自動ドアシステムの概要について図１を用いて説明する。自動ドアシステム５０は、自動ドアセンサ１００、フレーム５１、固定壁５３ａ、５３ｂ、ドアパネル５５ａ、５５ｂ、及び駆動装置（図示せず）を有している。自動ドアシステム５０は、ドアパネル５５ａ、５５ｂが左右に開閉する、いわゆる両引きの自動ドアシステムである。 1st structure The outline | summary of the automatic door system using the automatic door sensor 100 which is one Example of the object detection apparatus based on invention is demonstrated using FIG. The automatic door system 50 includes an automatic door sensor 100, a frame 51, fixed walls 53a and 53b, door panels 55a and 55b, and a drive device (not shown). The automatic door system 50 is a so-called double door automatic door system in which the door panels 55a and 55b are opened and closed to the left and right.

フレーム５１は、固定壁５３ａ、５３ｂの間に設置される。ドアパネル５５ａ、５５ｂは、固定壁５３ａ、５３ｂ間をフレーム５１の無目に沿って左右に開閉する。フレーム５１の内部には、ドアパネル５５ａ、５５ｂを駆動するための駆動装置が内蔵されている。   The frame 51 is installed between the fixed walls 53a and 53b. The door panels 55a and 55b open and close between the fixed walls 53a and 53b to the left and right along the invisible lines of the frame 51. Inside the frame 51, a driving device for driving the door panels 55a and 55b is incorporated.

自動ドアセンサ１００は、フレーム５１の無目に取り付けられる。   The automatic door sensor 100 is attached to the frame 51 invisible.

自動ドアセンサ１００は、人等の物体が通過する所定の床面Ｆ１００上に床面検知領域Ｒ１〜Ｒ１６を形成する。また、自動ドアセンサ１００は、床面Ｆ１００上の空間Ａ１００に空間検知領域ｌ１〜ｌ１２（図示せず）を形成する。なお、図１においては、空間検知領域ｌ１〜ｌ１２の所定の断面における断面検知領域ｒ１〜ｒ１２のみを示している。床面検知領域Ｒ１〜Ｒ１６、空間検知領域ｌ１〜ｌ１２については後述する。   The automatic door sensor 100 forms floor surface detection areas R1 to R16 on a predetermined floor surface F100 through which an object such as a person passes. Further, the automatic door sensor 100 forms space detection regions 11 to 112 (not shown) in the space A100 on the floor surface F100. In FIG. 1, only the cross-section detection areas r1 to r12 in a predetermined cross section of the space detection areas l1 to l12 are shown. The floor detection areas R1 to R16 and the space detection areas l1 to l12 will be described later.

自動ドアセンサ１００は、ドアパネル５５ａ、５５ｂが閉状態において、空間検知領域ｌ１〜ｌ１２（断面検知領域ｒ１〜ｒ１２）に人体等の物体が存在すると判断すると、ドアパネル５５ａ、５５ｂの開動作を行うための扉開情報を駆動装置に送信する。また、ドアパネル５５ａ、５５ｂが開状態においては、床面検知領域Ｒ１〜Ｒ１６及び空間検知領域ｌ１〜ｌ１２での、物体の検知を行う。   When the automatic door sensor 100 determines that an object such as a human body exists in the space detection areas l1 to l12 (cross-section detection areas r1 to r12) when the door panels 55a and 55b are closed, the automatic door sensor 100 opens the door panels 55a and 55b. The door opening information is transmitted to the driving device. Further, when the door panels 55a and 55b are in the open state, the objects are detected in the floor surface detection areas R1 to R16 and the space detection areas l1 to l12.

なお、以下においては、設置面である無目の前面と平行な方向を矢印ａ３方向、設置面に垂直な法線方向を矢印ａ１方向とする。   In the following, the direction parallel to the invisible front surface, which is the installation surface, is the arrow a3 direction, and the normal direction perpendicular to the installation surface is the arrow a1 direction.

自動ドアセンサ１００の内部構造について図２を用いて説明する。自動ドアセンサ１００の内部構造の平面図を図２Ａに、図２ＡにおけるＰ−Ｐ断面を図２Ｂに、それぞれ示す。自動ドアセンサ１００は、投光ユニット１１０、受光ユニット１２０及び制御回路１３０を有している。   The internal structure of the automatic door sensor 100 will be described with reference to FIG. A plan view of the internal structure of the automatic door sensor 100 is shown in FIG. 2A, and a PP cross section in FIG. 2A is shown in FIG. 2B. The automatic door sensor 100 includes a light projecting unit 110, a light receiving unit 120, and a control circuit 130.

１．投光ユニット１１０
投光ユニット１１０は、投光素子群１１１及びレンズ１１３を有している。投光ユニット１１０は、投光素子群１１１及びレンズ１１３によって投光用光学系を形成する。 1. Projection unit 110
The light projecting unit 110 includes a light projecting element group 111 and a lens 113. The light projecting unit 110 forms a light projecting optical system with the light projecting element group 111 and the lens 113.

投光素子群１１１は、矢印ａ３方向（設置面である無目の前面と平行な方向）に４個、矢印ａ１方向（設置面に垂直な法線方向）に４個、つまり４×４のマトッリクスを形成する１６個の投光素子１１１−１〜１１１−１６を有している。なお、図２においては、投光素子１１１−１〜１１１−１６を各投光素子の内部に記述する数字によって表わしている。   There are four light projecting element groups 111 in the direction of arrow a3 (direction parallel to the invisible front surface that is the installation surface), and four in the direction of arrow a1 (normal direction perpendicular to the installation surface), that is, 4 × 4. It has 16 light projecting elements 111-1 to 111-16 that form a matrix. In FIG. 2, the light projecting elements 111-1 to 111-16 are represented by numbers described inside each light projecting element.

レンズ１１３は、各投光素子１１１−１〜１１１−１６が発光した赤外線を検知光として床面Ｆ１００（図１参照）の所定の投光領域に投光する。レンズ１１３は、検知光が所定の投光領域に投光されるように調整されている。各投光素子１１１−１〜１１１−１６によって形成される投光領域については後述する。   The lens 113 projects infrared rays emitted from the light projecting elements 111-1 to 111-16 as detection light onto a predetermined light projecting area on the floor surface F 100 (see FIG. 1). The lens 113 is adjusted so that the detection light is projected onto a predetermined light projection area. The light projection area formed by each of the light projecting elements 111-1 to 111-16 will be described later.

２．受光ユニット１２０
受光ユニット１２０は、受光素子群１２１及びレンズ１２３を有している。受光ユニット１２０は、受光素子群１２１及びレンズ１２３によって受光用光学系を形成する。 2. Light receiving unit 120
The light receiving unit 120 includes a light receiving element group 121 and a lens 123. The light receiving unit 120 forms a light receiving optical system by the light receiving element group 121 and the lens 123.

受光素子群１２１は、矢印ａ３方向（設置面である無目の前面と平行な方向）に４個、矢印ａ１方向（設置面に垂直な法線方向）に４個、つまり４×４のマトッリクスを形成する１６個の受光素子１２１−１〜１２１−１６を有している。なお、図２においては、受光素子１２１−１〜１２１−１６を各受光素子の内部に記述する数字によって表わしている。   The number of light receiving element groups 121 is four in the direction of arrow a3 (direction parallel to the invisible front surface that is the installation surface), and four in the direction of arrow a1 (normal direction perpendicular to the installation surface), that is, 4 × 4 matrix. 16 light receiving elements 121-1 to 121-16 are formed. In FIG. 2, the light receiving elements 121-1 to 121-16 are represented by numbers described inside each light receiving element.

レンズ１２３は、検知領域内の所定の受光領域から取得する検知光の反射光を、各受光素子１２１−１〜１２１−１６に集光する。レンズ１２３は、各投光領域からの反射光が所定の受光素子１２１−１〜１２１−１６に集光されるように調整されている。受光素子１２１−１〜１２１−１６によって形成される受光領域については後述する。   The lens 123 condenses the reflected light of the detection light acquired from the predetermined light receiving area in the detection area on each of the light receiving elements 121-1 to 121-16. The lens 123 is adjusted so that the reflected light from each light projecting region is condensed on predetermined light receiving elements 121-1 to 121-16. The light receiving area formed by the light receiving elements 121-1 to 121-16 will be described later.

３．制御回路１３０
制御回路１３０は、投光ユニット１１０が有する１６個の投光素子１１１−１〜１１１−１６を、所定の周期で、順次、発光させる。 3. Control circuit 130
The control circuit 130 sequentially causes the 16 light projecting elements 111-1 to 111-16 included in the light projecting unit 110 to emit light at a predetermined cycle.

また、制御回路１３０は、ドアパネル５５ａ、５５ｂが閉状態のときは、空間検知領域ｌ１〜ｌ１２に対応する投光素子を、順次、発光させ、発光させた投光素子に対応する受光素子での反射光の受光量に基づき人等の物体が検知領域に侵入したか否かを判断する空間検知を実行する。   Further, when the door panels 55a and 55b are in the closed state, the control circuit 130 sequentially emits the light projecting elements corresponding to the space detection regions 11 to 112, and the light receiving elements corresponding to the light projecting elements that have emitted light. Spatial detection is performed to determine whether an object such as a person has entered the detection area based on the amount of reflected light received.

制御回路１３０は、ドアパネル５５ａ、５５ｂが開状態のときは、投光ユニット１１０が有する１６個の投光素子１１１−１〜１１１−１６を、順次、発光させ、発光させた投光素子に対応する受光素子での反射光の受光量に基づき人等の物体が検知領域に侵入したか否かを判断する床面検知を実行する。また、制御回路１３０は、ドアパネル５５ａ、５５ｂが開状態のときは、床面検知に併せて、空間検知も実行する。   When the door panels 55a and 55b are in the open state, the control circuit 130 sequentially emits the 16 light projecting elements 111-1 to 111-16 included in the light projecting unit 110, and corresponds to the light projecting elements that have emitted light. Floor surface detection is performed to determine whether or not an object such as a person has entered the detection area based on the amount of light received by the light receiving element. Further, when the door panels 55a and 55b are in the open state, the control circuit 130 also performs space detection in conjunction with floor surface detection.

第２ 検知領域
自動ドアセンサ１００が床面Ｆ１００に形成する床面検知領域Ｒ１〜Ｒ１６及び検知空間Ａ１００に形成する空間検知領域ｌ１〜ｌ１２について、図３〜図６を用いて説明する。図３には、自動ドアセンサ１００の投光ユニット１１０によって投光される検知光、及び、受光ユニット１２０によって集光される反射光、それぞれを三角錐領域として現した状態を示している。図３では、投光ユニット１１０の投光素子１１１−１が投光する検知光は投光領域Ｌ１１１−１を、投光素子１１１−２が投光する検知光は投光領域Ｌ１１１−２を、・・・、投光素子１１１−１６が投光する検知光は投光領域Ｌ１１１−１６を、それぞれ通過することを示している。また、受光ユニット１２０の受光素子１２１−１が受光する反射光は受光領域Ｌ１２１−１を、受光素子１２１−２が受光する反射光は受光領域Ｌ１２１−２を、・・・、受光素子１２１−１６が受光する反射光は受光領域Ｌ１２１−１６を、それぞれ通過することを示している。 Second Detection Area The floor detection areas R1 to R16 formed on the floor F100 by the automatic door sensor 100 and the space detection areas l1 to l12 formed in the detection space A100 will be described with reference to FIGS. FIG. 3 shows a state in which the detection light projected by the light projecting unit 110 of the automatic door sensor 100 and the reflected light collected by the light receiving unit 120 are each represented as a triangular pyramid region. In FIG. 3, the detection light projected by the light projecting element 111-1 of the light projecting unit 110 passes through the light projection area L111-1, and the detection light projected by the light projecting element 111-2 passes through the light projection area L111-2. ,... Indicates that the detection light projected by the light projecting element 111-16 passes through the light projecting region L111-16. The reflected light received by the light receiving element 121-1 of the light receiving unit 120 is received by the light receiving area L121-1, the reflected light received by the light receiving element 121-2 is received by the light receiving area L121-2,... The reflected light received by 16 passes through the light receiving region L121-16.

１．床面検知領域Ｒ１００
床面Ｆ１００には、投光素子１１１−１〜１１１−１６及び受光素子１２１−１〜１２１−１６によって床面検知領域Ｒ１〜Ｒ１６が形成される。床面検知領域Ｒ１〜Ｒ１６について図４を用いて説明する。図４は、図３における床面Ｆ１００の状態を示している。 1. Floor detection area R100
Floor surface detection regions R1 to R16 are formed on the floor surface F100 by the light projecting elements 111-1 to 111-16 and the light receiving elements 121-1 to 121-16. The floor detection areas R1 to R16 will be described with reference to FIG. FIG. 4 shows a state of the floor surface F100 in FIG.

床面Ｆ１００には、１６個の床面投光領域Ｒ１１１−１〜Ｒ１１１−１６、及び、１６個の床面受光領域Ｒ１２１−１〜Ｒ１２１−１６が形成される。   On the floor surface F100, 16 floor surface light projecting regions R111-1 to R111-16 and 16 floor surface light receiving regions R121-1 to R121-16 are formed.

各床面投光領域Ｒ１１１−１〜Ｒ１１１−１６は、レンズ１１３を介して各投光素子１１１−１〜１１１−１６が発光した赤外線を検知光として集光することによって形成される。これによって、各投光素子１１１−１〜１１１−１６が発光した赤外線からなる検知光はスポット光として集光され、各床面投光領域Ｒ１１１−１〜Ｒ１１１−１６は、床面Ｆ１００上において、所定の円形形状となる。   Each floor light projection region R111-1 to R111-16 is formed by condensing infrared rays emitted from the light projecting elements 111-1 to 111-16 as detection light via the lens 113. As a result, the detection light composed of infrared rays emitted from the light projecting elements 111-1 to 111-16 is collected as spot light, and the floor surface light projecting regions R111-1 to R111-16 are located on the floor surface F100. It becomes a predetermined circular shape.

各床面受光領域Ｒ１２１−１〜Ｒ１２１−１６は、各受光素子１２１−１〜１２１−１６によって検知光の反射光を集光するようにレンズ１２３を調整することによって形成される。これによって、各受光素子１２１−１〜１２１−１６は、床面Ｆ１００上において、所定の円形形状となる床面受光領域Ｒ１２１−１〜Ｒ１２１−１６から反射光を受光する。   Each of the floor surface light receiving regions R121-1 to R121-16 is formed by adjusting the lens 123 so that the reflected light of the detection light is collected by each of the light receiving elements 121-1 to 121-16. Accordingly, each of the light receiving elements 121-1 to 121-16 receives reflected light from the floor surface light receiving regions R121-1 to R121-16 having a predetermined circular shape on the floor surface F100.

一の投光素子１１１−１と一の受光素子１２１−１とは、一対一で対応する。また、対応する投光素子１１１−１及び受光素子１２１−１は、同一領域に床面投光領域Ｒ１１１−１、床面受光領域Ｒ１２１−１を形成するのではなく、互いに矢印ａ３方向へずらして床面投光領域Ｒ１１１−１、床面受光領域Ｒ１２１−１を形成する。つまり、床面投光領域Ｒ１１１−１と床面受光領域Ｒ１２１−１との交差領域によって床面検知領域Ｒ１が形成される。他の床面投光領域Ｒ１１１−２〜Ｒ１１１−１６、他の床面受光領域Ｒ１２１−２〜Ｒ１２１−１６についても同様である。   There is a one-to-one correspondence between one light projecting element 111-1 and one light receiving element 121-1. Further, the corresponding light projecting element 111-1 and light receiving element 121-1 do not form the floor light projecting area R111-1 and the floor light receiving area R121-1 in the same area, but are shifted in the direction of the arrow a3. The floor surface light projecting region R111-1 and the floor surface light receiving region R121-1 are formed. That is, the floor surface detection region R1 is formed by the intersection region between the floor surface light projection region R111-1 and the floor surface light reception region R121-1. The same applies to the other floor surface light projecting regions R111-2 to R111-16 and the other floor surface light receiving regions R121-2 to R121-16.

２．空間検知領域ｌ１〜ｌ１２
図３に示すように、例えば、投光領域Ｌ１１１−１３は、床面Ｆ１００において受光領域Ｌ１２１−１３との交差領域である床面検知領域Ｒ１３を形成する以外に、受光領域Ｌ１２１−１４と空間Ａ１００において交差領域ｌ１０を形成する。投光領域Ｌ１１１−１４は受光領域Ｌ１２１−１５と交差領域ｌ１１を、投光領域Ｌ１１１−１５は受光領域Ｌ１２１−１６と交差領域ｌ１２を、それぞれ形成する。投光領域Ｌ１１１−１〜Ｌ１１１−３、投光領域Ｌ１１１−５〜Ｌ１１１−７、投光領域Ｌ１１１−９〜Ｌ１１１−１１についても、同様である。 2. Spatial detection areas l1 to l12
As shown in FIG. 3, for example, the light projecting region L111-13 forms a space with the light receiving region L121-14 in addition to forming a floor surface detection region R13 that is an intersecting region with the light receiving region L121-13 on the floor surface F100. An intersection region l10 is formed at A100. The light projecting region L111-14 forms a light receiving region L121-15 and a crossing region l11, and the light projecting region L111-15 forms a light receiving region L121-16 and a crossing region l12. The same applies to the light projection areas L111-1 to L111-3, the light projection areas L111-5 to L111-7, and the light projection areas L111-9 to L111-11.

図５に、図３における空間Ａ１００における所定の断面ｆ１００の状態を示す。断面ｆ１００には、１２個の断面投光領域ｒ１１１−１〜ｒ１１１−３、ｒ１１１−５〜ｒ１１１−７、ｒ１１１−９〜ｒ１１１−１１、ｒ１１１−１３〜ｒ１１１−１５、及び、１２個の断面受光領域１２ｒ１２１−２〜ｒ１２１−４、ｒ１２１−６〜ｒ１２１−８、ｒ１２１−１０〜ｒ１２１−１２、ｒ１２１−１４〜ｒ１２１−１６が形成される。   FIG. 5 shows a state of a predetermined cross section f100 in the space A100 in FIG. The cross-section f100 includes 12 cross-section light emitting areas r111-1 to r111-3, r111-5 to r111-7, r111-9 to r111-11, r111-13 to r111-15, and 12 cross sections. The light receiving regions 12r121-2 to r121-4, r121-6 to r121-8, r121-10 to r121-12, and r121-14 to r121-16 are formed.

断面投光領域ｒ１１１−１と断面受光領域ｒ１２１−２との交差領域によって断面検知領域ｒ１が形成される。また、断面投光領域ｒ１１１−２と断面受光領域ｒ１２１−３との交差領域によって断面検知領域ｒ２が形成される。その他の断面検知領域ｒ３〜ｒ１２についても同様である。   A cross-section detection region r1 is formed by an intersection region between the cross-section projection region r111-1 and the cross-section light reception region r121-2. In addition, a cross-section detection region r2 is formed by an intersection region between the cross-section projection region r111-2 and the cross-section light reception region r121-3. The same applies to the other cross-section detection regions r3 to r12.

図６に図３における正面図を示す。図６に示すように、投光領域Ｌ１１１−１３と受光領域Ｌ１２１−１４とは、空間Ａに立体的な交差領域である空間検知領域ｌ１０を形成する。また、投光領域Ｌ１１１−１４と受光領域Ｌ１２１−１５とは空間検知領域ｌ１１を、投光領域Ｌ１１１−１５と受光領域Ｌ１２１−１６とは空間検知領域ｌ１２を、それぞれ形成する。ここで、図５に示す断面検知領域ｒ１０、ｒ１１、ｒ１２は、それぞれ図６に示す空間検知領域ｌ１０、ｌ１１、ｌ１２の一断面として現れる。   FIG. 6 shows a front view of FIG. As shown in FIG. 6, the light projecting region L111-13 and the light receiving region L121-14 form a space detection region l10 that is a three-dimensional intersection region in the space A. Further, the light projecting region L111-14 and the light receiving region L121-15 form a space detection region l11, and the light projecting region L111-15 and the light receiving region L121-16 form a space detection region l12. Here, the cross-section detection regions r10, r11, and r12 shown in FIG. 5 appear as one cross-section of the space detection regions l10, l11, and l12 shown in FIG.

さらに、投光領域Ｌ１１１−１と受光領域Ｌ１２１−２とは空間検知領域ｌ１を、投光領域Ｌ１１１−２と受光領域Ｌ１２１−３とは空間検知領域ｌ２を、投光領域Ｌ１１１−３と受光領域Ｌ１２１−４とは空間検知領域ｌ３を、投光領域Ｌ１１１−５と受光領域Ｌ１２１−６とは空間検知領域ｌ４を、投光領域Ｌ１１１−６と受光領域Ｌ１２１−７とは空間検知領域ｌ５を、投光領域Ｌ１１１−７と受光領域Ｌ１２１−８とは空間検知領域ｌ６を、投光領域Ｌ１１１−９と受光領域Ｌ１２１−１０とは空間検知領域ｌ７を、投光領域Ｌ１１１−１０と受光領域Ｌ１２１−１１とは空間検知領域ｌ８を、投光領域Ｌ１１１−１１と受光領域Ｌ１２１−１２とは空間検知領域ｌ９を、それぞれ形成する。なお、図３、図６には、空間検知領域ｌ１〜ｌ９を図示していない。   Further, the light projection area L111-1 and the light reception area L121-2 are the space detection area l1, the light projection area L111-2 and the light reception area L121-3 are the space detection area l2, and the light projection area L111-3 and the light reception area. The area L121-4 is the space detection area l3, the light projection area L111-5 and the light reception area L121-6 is the space detection area l4, and the light projection area L111-6 and the light reception area L121-7 are the space detection area l5. The light projection area L111-7 and the light reception area L121-8 are the space detection area 16, the light projection area L111-9 and the light reception area L121-10 are the space detection area 17 and the light projection area L111-10 and the light reception area L111-10. The region L121-11 forms a space detection region l8, and the light projection region L111-11 and the light reception region L121-12 form a space detection region l9, respectively. 3 and 6 do not show the space detection regions l1 to l9.

なお、図３から分かるように、空間Ａにおいては、投光領域Ｌ１１１−１〜Ｌ１１１−１６と受光領域Ｌ１２１−１〜Ｌ１２１−１６との交差領域は、空間検知領域ｌ１〜ｌ１２以外にも形成されるが、自動ドアセンサ１００では、空間Ａにおいて最も下層に形成される交差領域を空間検知領域ｌ１〜ｌ１２としている。   As can be seen from FIG. 3, in the space A, the intersecting regions of the light projecting regions L111-1 to L111-16 and the light receiving regions L121-1 to L121-16 are formed in addition to the space detecting regions l1 to l12. However, in the automatic door sensor 100, the intersection area formed in the lowermost layer in the space A is set as the space detection areas l1 to l12.

第３ 制御回路１３０の動作
制御回路１３０の動作について図７に示すフローチャートを用いて説明する。制御回路１３０は、ドアパネル５５ａ、５５ｂが閉状態であるか否かを判断する（Ｓ７０１）。制御回路１３０は、ドアパネル５５ａ、５５ｂが閉状態であると判断すると、空間検知対応テーブルから、空間検知領域を形成する投光素子と受光素子の組み合わせを取得する（Ｓ７０３）。 Operation of Third Control Circuit 130 The operation of the control circuit 130 will be described using the flowchart shown in FIG. The control circuit 130 determines whether or not the door panels 55a and 55b are closed (S701). When the control circuit 130 determines that the door panels 55a and 55b are in the closed state, the control circuit 130 acquires a combination of a light projecting element and a light receiving element that form a space detection area from the space detection correspondence table (S703).

ここで、空間検知対応テーブルについて図８を用いて説明する。空間検知対応テーブルは、空間検知領域を形成する投光領域と受光領域との対応関係を示すテーブルである。空間検知対応テーブルは、投光素子列及び受光素子列を有している。投光素子列には、空間検知領域を形成する投光領域を生成する投光素子が記述される。受光素子列には、投光素子列に記述された投光素子ともに空間検知領域を形成する受光領域を形成する受光素子が記述される。   Here, the space detection correspondence table will be described with reference to FIG. The space detection correspondence table is a table showing a correspondence relationship between the light projecting area and the light receiving area forming the space detection area. The space detection correspondence table has a light projecting element array and a light receiving element array. In the light projecting element row, a light projecting element that generates a light projecting area that forms a space detection area is described. The light receiving element row describes a light receiving element that forms a light receiving region that forms a spatial detection region together with the light projecting elements described in the light projecting element row.

制御回路１３０は、スッテプＳ７０３で取得した投光素子を発光させる（Ｓ７０５）。制御回路１３０は、ステップＳ７０３で取得した投光素子に対応する受光素子から受光信号を取得する（Ｓ７０７）。   The control circuit 130 causes the light emitting element acquired in step S703 to emit light (S705). The control circuit 130 acquires a light reception signal from the light receiving element corresponding to the light projecting element acquired in step S703 (S707).

制御回路１３０は、取得した受光信号に基づき物体を検知していないと判断すると（Ｓ７０９）、ステップＳ７０５、Ｓ７０７の処理を繰り返す。これにより、ドアパネル５５ａ、５５ｂが閉状態にある場合には、空間検知領域での物体の検知が行われる。   When the control circuit 130 determines that an object is not detected based on the acquired light reception signal (S709), it repeats the processes of steps S705 and S707. Thereby, when the door panels 55a and 55b are in the closed state, the object is detected in the space detection area.

制御回路１３０は、ステップＳ７０７において、取得した受光信号に基づき物体を検知したと判断すると（Ｓ７０９）、ドアパネル５５ａ、５５ｂを開状態とする扉開情報を生成し、駆動装置へ送信する（７１１）。   If the control circuit 130 determines in step S707 that an object has been detected based on the received light reception signal (S709), it generates door opening information for opening the door panels 55a and 55b, and transmits the door opening information to the driving device (711). .

制御回路１３０は、一の投光素子を発光させる（Ｓ７１３）。制御回路１３０は、発光させた投光素子に対して床面検知領域を形成する受光素子から受光信号を取得する（Ｓ７１５）。制御回路１３０は、取得した受光信号に基づき、床面検知領域において物体を検知したと判断すると（Ｓ７１７）、順次、ステップＳ７１３〜Ｓ７１７の処理を実行する。   The control circuit 130 causes one light projecting element to emit light (S713). The control circuit 130 acquires a light reception signal from the light receiving element that forms the floor surface detection region for the emitted light projecting element (S715). When the control circuit 130 determines that an object has been detected in the floor surface detection area based on the acquired light reception signal (S717), the control circuit 130 sequentially executes the processes of steps S713 to S717.

これにより、物体が閉状態でない場合には、床面検知領域での物体の検知が行われる。   Thereby, when the object is not in the closed state, the object is detected in the floor detection area.

制御回路１３０は、取得した受光信号に基づき、床面検知領域において物体を検知していないと判断すると（Ｓ７１７）、床面検知領域における投光素子、受光素子の全ての組み合わせについて、ステップＳ７１３〜Ｓ７１７の処理を繰り返す（Ｓ７１８）。これにより、物体が閉状態でない場合に、床面検知領域での物体の検知が行われる。   If the control circuit 130 determines that an object is not detected in the floor detection region based on the acquired light reception signal (S717), Steps S713 to S703 are performed for all combinations of light projecting elements and light receiving elements in the floor detection region. The process of S717 is repeated (S718). Thereby, when the object is not in the closed state, the object is detected in the floor detection area.

制御回路１３０は、床面検知が終了したと判断すると、空間検知対応テーブルに記述されている投光素子の一つを発光させる（Ｓ７１９）。制御回路１３０は、空間検知対応テーブルにおいてステップＳ７１９で取得した投光素子に対応する受光素子から受光信号を取得する（Ｓ７２１）。   When the control circuit 130 determines that the floor surface detection is completed, the control circuit 130 causes one of the light projecting elements described in the space detection correspondence table to emit light (S719). The control circuit 130 acquires a light reception signal from the light receiving element corresponding to the light projecting element acquired in step S719 in the space detection correspondence table (S721).

制御回路１３０は、取得した受光信号に基づき物体を検知していないと判断すると（Ｓ７２３）、空間検知対応テーブルに記述されている投光素子、受光素子の全ての組み合わせについて、ステップＳ７１９〜Ｓ７２３の処理を繰り返す（Ｓ７２４）。これにより、物体が閉状態でない場合に、空間検知領域での物体の検知が行われる。   When determining that the object is not detected based on the acquired light reception signal (S723), the control circuit 130 performs steps S719 to S723 for all combinations of light projecting elements and light receiving elements described in the space detection correspondence table. The process is repeated (S724). Thereby, when the object is not in the closed state, the object is detected in the space detection region.

制御回路１３０は、ドアパネル５５ａ、５５ｂが開状態となってから所定の時間が経過したか否かを判断する（７２５）。   The control circuit 130 determines whether or not a predetermined time has elapsed since the door panels 55a and 55b are opened (725).

制御回路１３０は、ドアパネル５５ａ、５５ｂが開状態となってから所定の時間が経過したと判断すると（７２５）、ドアパネル５５ａ、５５ｂを閉状態とする扉閉情報を生成し、駆動装置へ送信する（Ｓ７２７）。   When the control circuit 130 determines that a predetermined time has elapsed since the door panels 55a and 55b are opened (725), the control circuit 130 generates door closing information for closing the door panels 55a and 55b, and transmits the door closing information to the driving device. (S727).

一方、制御回路１３０は、ドアパネル５５ａ、５５ｂが開状態となってから所定の時間が経過していないと判断すると（７２５）、順次、ステップＳ７１３〜Ｓ７２５の処理を実行する。   On the other hand, when the control circuit 130 determines that the predetermined time has not elapsed since the door panels 55a and 55b are opened (725), the control circuit 130 sequentially executes the processes of steps S713 to S725.

これにより、物体が閉状態でない場合には、床面検知領域及び空間検知での物体の検知が行われる。このように、ドアパネル５５ａ、５５ｂの開閉状態によって空間検知領域での検知と床面検知領域での検知とを切り換えることによって、ドアパネル５５ａ、５５ｂが閉状態において床面Ｆ１００の状態によって生ずるドアパネル５５ａ、５５ｂが開かない等の不具合を防止できると共に、ドアパネル５５ａ、５５ｂが開状態において床面Ｆ１００に近い領域での検知を行うことによって、確実に物体を検出することができる。   Thereby, when the object is not in the closed state, the object is detected in the floor detection area and the space detection. Thus, by switching between detection in the space detection region and detection in the floor surface detection region depending on the open / closed state of the door panels 55a and 55b, the door panel 55a and 55b generated by the state of the floor surface F100 when the door panels 55a and 55b are closed. In addition to preventing problems such as the opening of the door 55b, the detection of the object in the region close to the floor surface F100 when the door panels 55a and 55b are in the open state can reliably detect the object.

［その他の実施例］
（１）床面検知領域Ｒ１〜Ｒ１６ ： 前述の実施例１においては、床面検知領域Ｒ１〜Ｒ１６は、床面投光領域Ｒ１１１−１〜Ｒ１１１−１６と床面受光領域Ｒ１２１−１〜Ｒ１２１−１６とを矢印ａ３方向に互いにずらして形成し、両者の交差領域によって形成するとしたが、床面投光領域と床面受光領域との交差領域を形成できるものであれば、例示のものに限定されない。例えば、床面投光領域と床面受光領域とを完全に一致させるように形成してもよい。また、矢印ａ１方向（図１、図２参照）にずらして床面投光領域、床面受光領域を形成するようにしてもよい。また、床面投光領域、床面受光領域を任意の方向にずらして形成するようにしてもよい。 [Other Examples]
(1) Floor surface detection areas R1 to R16: In the above-described first embodiment, the floor surface detection areas R1 to R16 are the floor surface light projection areas R111-1 to R111-16 and the floor surface light reception areas R121-1 to R121. -16 are formed to be shifted from each other in the direction of the arrow a3 and formed by the intersection region between the two. However, if the intersection region between the floor surface light projection region and the floor surface light reception region can be formed, It is not limited. For example, you may form so that a floor surface light projection area | region and a floor surface light-receiving area may correspond completely. Moreover, you may make it form a floor surface light projection area | region and a floor surface light reception area | region, shifting to the arrow a1 direction (refer FIG. 1, FIG. 2). Further, the floor light projecting area and the floor light receiving area may be formed by shifting in an arbitrary direction.

（２）ドアパネル５５ａ、５５ｂの開状態における検知 ： 前述の実施例１では、ドアパネル５５ａ、５５ｂの開状態においては、床面検知と空間検知とを併せて行うとしたが、床面検知のみを行うようにしてもよい。   (2) Detection in the open state of the door panels 55a and 55b: In the first embodiment described above, in the open state of the door panels 55a and 55b, the floor surface detection and the space detection are performed together, but only the floor surface detection is performed. You may make it perform.

（３）投光ユニット１１０、受光ユニット１２０ ： 前述の実施例１では、投光ユニット１１０は投光素子１１１−１〜１１１−１６をマトリックス形状に配列するとしたが、所定の位置に投光領域Ｌ１１１−１〜Ｌ１１１−１６を形成できるものであれば、例示のものに限定されない。受光ユニット１２０においても同様である。   (3) Light projecting unit 110, light receiving unit 120: In the above-described first embodiment, the light projecting unit 110 has the light projecting elements 111-1 to 111-16 arranged in a matrix shape. As long as L111-1 to L111-16 can be formed, it is not limited to the examples. The same applies to the light receiving unit 120.

（４）制御回路１３０の動作 ： 前述の実施例１では、制御回路１３０の動作を図７に示すフローチャートにより実現するとしたが、ドアパネル５５ａ、５５ｂの開閉状態によって、空間検知、床面検知を切り換えることができるものであれば、例示のものに限定されない。   (4) Operation of the control circuit 130: In the first embodiment, the operation of the control circuit 130 is realized by the flowchart shown in FIG. 7, but the space detection and the floor surface detection are switched depending on the open / closed state of the door panels 55a and 55b. As long as it can be used, the present invention is not limited to the examples.

（５）空間検知領域 ： 前述の実施例１においては、投光領域Ｌ１１１−１〜Ｌ１１１−１６と受光領域Ｌ１２１−１〜Ｌ１２１−１６との交差領域のうち、空間Ａにおいて最も下層に形成される交差領域を空間検知領域ｌ１〜ｌ１２としたが、空間Ａにおいて物体を検知できれば例示のものに限定されない。例えば、投光領域Ｌ１１１−１〜Ｌ１１１−１６と受光領域Ｌ１２１−１〜Ｌ１２１−１６とによって形成される交差領域を適当に組み合わせて空間検知領域を配置するようにしてもよい。   (5) Space detection area: In the above-described first embodiment, the space detection area is formed in the lowermost layer in the space A among the intersection areas of the light projection areas L111-1 to L111-16 and the light reception areas L121-1 to L121-16. However, the present invention is not limited to the illustrated example as long as an object can be detected in the space A. For example, the space detection area may be arranged by appropriately combining the intersection areas formed by the light projecting areas L111-1 to L111-16 and the light receiving areas L121-1 to L121-16.

（６）床面検知領域、空間検知領域の位置調整 ： 前述の実施例１では、投光素子１１１−１〜１１１−１６及び受光素子１２１−１〜１２１−１６の位置関係、及び、投光素子１１１−１〜１１１−１６の投光方向、受光素子１２１−１〜１２１−１６の受光方向を固定していたが、これらを調整できるようにしてもよい。例えば、自動ドアセンサ１００の設置作業者やユーザが、床面投光領域Ｒ１１１−１〜Ｒ１１１−１６や床面受光領域Ｒ１２１−１〜Ｒ１２１−１６等の位置を調整可能とするための調整手段を、自動ドアセンサ１００に実装すればよい。その場合、投光素子、受光素子のいずれか、又は両者の投光方向や受光方向の角度の調整機能や、投光素子、受光素子のいずれか又は両者とレンズ１１３、１２３の位置の調整機能を付加すればよい。角度調整、位置調整を行うことで、投光領域と受光領域との交差領域の大きさを調整できる。また、投光領域と受光領域とを完全に一致させることもできる。さらに、調整量を示す目盛りを付加することによって、調整を容易にできる。
(6) Position adjustment of floor surface detection area and space detection area: In the first embodiment described above, the positional relationship between the light projecting elements 111-1 to 111-16 and the light receiving elements 121-1 to 121-16, and the light projection Although the light projecting direction of the elements 111-1 to 111-16 and the light receiving direction of the light receiving elements 121-1 to 121-16 are fixed, these may be adjusted. For example, an adjustment means for enabling an installation worker or a user of the automatic door sensor 100 to adjust the positions of the floor light projecting areas R111-1 to R111-16, the floor light receiving areas R121-1 to R121-16, and the like. What is necessary is just to mount in the automatic door sensor 100. In that case, either the light projecting element or the light receiving element, or the function of adjusting the light projecting direction or the angle of the light receiving direction, or the function of adjusting the position of either the light projecting element or the light receiving element or both, and the lenses 113 and 123 Can be added. By performing the angle adjustment and the position adjustment, the size of the intersection area between the light projecting area and the light receiving area can be adjusted. In addition, the light projecting area and the light receiving area can be completely matched. Furthermore, adjustment can be facilitated by adding a scale indicating the adjustment amount.

本発明に係る物体検出装置は、自動ドアシステムにおいて、人等の接近を検知するセンサとして用いることができる。
The object detection device according to the present invention can be used as a sensor for detecting the approach of a person or the like in an automatic door system.

１００・・・・・自動ドアセンサ
１１０・・・・・投光ユニット
１１１−１〜１１１−１６・・・・・投光素子
Ｌ１１１−１〜Ｌ１１１−１６・・・投光領域
Ｒ１１１−１〜Ｒ１１１−１６・・・床面投光領域
ｒ１１１−１〜ｒ１１１−１６・・・断面投光領域
１２０・・・・・受光ユニット
１２１−１〜１２１−１６・・・・・受光素子
Ｌ１２１−１〜Ｌ１２１−１６・・・受光領域
Ｒ１２１−１〜Ｒ１２１−１６・・・床面受光領域
ｒ１２１−１〜ｒ１２１−１６・・・断面受光領域
Ｒ１〜Ｒ１６・・・・床面検知領域
ｒ１〜ｒ１２・・・・断面検知領域
ｌ１〜ｌ１２・・・・空間検知領域
制御回路・・・・・１３０ DESCRIPTION OF SYMBOLS 100 ... Automatic door sensor 110 ... Projection unit 111-1 to 111-16 ... Projection element L111-1 to L111-16 ... Projection area R111-1 to R111 -16 ... Floor surface projection area r111-1 to r111-16 ... Cross-section projection area 120 ... Light receiving units 121-1 to 121-16 ... Light receiving element L121-1 L121-16 ... Light receiving area R121-1 to R121-16 ... Floor light receiving area r121-1 to r121-16 ... Cross-section light receiving area R1 to R16 ... ... Floor surface detection area r1 to r12 ... Section detection area l1 to l12 ... Space detection area Control circuit ... 130

Claims (7)

所定の床面上の空間における物体の存在を検知し、扉の開閉を制御するための物体検知装置であって、
前記床面に形成される第１の検知領域に対して検知光を投光する投光手段、
前記投光手段が前記第１の検知領域に対して投光した前記検知光について、前記第１の検知領域からの第１の反射光を受光する第１の受光手段、
前記投光手段が前記第１の検知領域に対して投光した前記検知光について、前記空間に形成される第２の検知領域からの第２の反射光を受光する第２の受光手段、
前記第１の受光手段又は前記第２の受光手段のそれぞれにおける前記第１の反射光又は前記第２の反射光の受光量の変化から、前記第１の検知領域又は前記第２の検知領域に物体が存在すると判断すると、前記扉を開状態とする開状態情報を生成する扉開閉制御手段、
前記扉が閉状態であるときに、前記第２の受光手段に前記第２の反射光を受光させ、前記第２の検知領域に物体が存在するとの判断に基づき前記第１の受光手段に前記第１の反射光を受光させる受光制御手段、
を有する物体検出装置。 An object detection device for detecting the presence of an object in a space on a predetermined floor and controlling opening and closing of a door,
Projection means for projecting detection light to the first detection area formed on the floor surface,
A first light receiving unit configured to receive a first reflected light from the first detection region with respect to the detection light projected by the light projecting unit onto the first detection region;
A second light receiving means for receiving the second reflected light from the second detection area formed in the space with respect to the detection light projected by the light projecting means to the first detection area;
From the change in the amount of received light of the first reflected light or the second reflected light in each of the first light receiving means or the second light receiving means, the first detection area or the second detection area. When it is determined that an object exists, door opening / closing control means for generating open state information for opening the door,
When the door is in a closed state, the second light receiving unit receives the second reflected light, and the first light receiving unit receives the second detection light based on the determination that an object is present in the second detection region. A light receiving control means for receiving the first reflected light;
An object detection apparatus having 請求項１に係る物体検出装置において、
前記受光制御装置は、
前記第２の検知領域に物体が存在するとの判断に基づき、さらに、前記第２の受光手段に前記第２の反射光を受光させること、
を特徴とする物体検出装置。 In the object detection apparatus according to claim 1,
The light reception control device includes:
Based on the determination that an object is present in the second detection region, the second light receiving means further receives the second reflected light.
An object detection device characterized by. 請求項１又は請求項２に係る物体検知装置において、
前記投光手段及び前記第１の受光手段を複数有し、
前記第２の受光手段は、
一の前記投光手段に対応する前記第１の受光手段とは異なる前記第１の受光手段であること、
を特徴とする物体検出装置。 In the object detection device according to claim 1 or 2,
A plurality of the light projecting means and the first light receiving means;
The second light receiving means is
The first light receiving means different from the first light receiving means corresponding to the one light projecting means,
An object detection device characterized by. 請求項３に係る物体検出装置において、
前記投光手段及び前記第１の受光手段は、それぞれマトリックス形状に配置されていること、
を特徴とする物体検出装置。 In the object detection apparatus according to claim 3,
The light projecting means and the first light receiving means are each arranged in a matrix shape;
An object detection device characterized by. 請求項４に係る物体検出装置において、
前記マトリックス形状に配置された前記投光手段が前記床面に形成する投光領域と、前記マトリックス形状に配置された前記第１の受光手段が前記床面に形成する受光領域とは、所定の方向にずれて形成されており、前記投光領域と前記受光領域との交差領域によって前記検知領域を形成すること、
を特徴とする物体検出装置。 In the object detection apparatus according to claim 4,
The light projecting area formed on the floor surface by the light projecting means arranged in the matrix shape and the light receiving area formed on the floor surface by the first light receiving means arranged in the matrix shape are predetermined Formed in a direction, the detection region is formed by the intersection region of the light projection region and the light receiving region,
An object detection device characterized by. 請求項１〜請求項５に係る物体検出装置のいずれかにおいて、
前記投光手段及び前記受光手段の相対的位置関係を調整することができること、
を特徴とする物体検出装置。 In any one of the object detection apparatuses according to claims 1 to 5,
The relative positional relationship between the light projecting means and the light receiving means can be adjusted;
An object detection device characterized by. 請求項１〜請求項６に係る物体検出装置のいずれかにおいて、
前記検知光の投光方向、前記第１の反射光及び前記第２の反射光の受光方向、又はその両方を調整することができること、
を特徴とする物体検出装置。
In any one of the object detection apparatus which concerns on Claims 1-6,
The light projecting direction of the detection light, the light receiving direction of the first reflected light and the second reflected light, or both can be adjusted,
An object detection device characterized by.
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