Automatic door device for detecting object using infrared sensor and image sensor, automatic door sensor, automatic door control method, storage medium storing automatic door control program, automatic door sensor control method, and storage medium storing automatic door sensor control program

An automatic door device comprising:

• an infrared sensor including an infrared detection area around a door provided in an opening and that detects a person or an object in the infrared detection area;
• an image sensor including an image detection area around the door and that detects a person or an object in the image detection area;
• an infrared detection determiner that determines whether the infrared sensor detects a person or an object;
• an image detection determiner that determines whether the image sensor detects a person or an object;
• a determiner that determines whether or not to perform an opening operation of the door based on respective determination results of the infrared detection determiner and the image detection determiner;
• a control unit that performs the opening operation of the door based on a determination result indicating that the opening operation is to be performed, and
• a change unit that changes at least one of a determination result of the infrared detection determiner and a determination result of the image detection determiner based on image data obtained from the image sensor for an area in which the infrared detection area and the image detection area overlap, wherein
• the determiner determines whether or not to perform the opening operation of the door based on the changed at least determination result.

An automatic door sensor comprising:

• an infrared sensor including an infrared detection area around a door provided in an opening and that detects a person or an object in the infrared detection area;
• an image sensor including an image detection area around the door and that detects a person or an object in the image detection area;
• an infrared detection determiner that determines whether the infrared sensor detects a person or an object;
• an image detection determiner that determines whether the image sensor detects a person or an object;
• and
• a sending determiner that determines whether or not to transmit an opening operation signal for causing the door to perform an opening operation based on each determination result of the infrared detection determiner and the image detection determiner, wherein
• the image detection determiner classifies a state of the image detection area, based on image data obtained from the image sensor, into any of an ON state in which it is determined that a person or an object is present in the detection area, a temporary ON state for suspending determination as to whether a person or an object is present in the detection area, and an OFF state in which it is determined that a person or an object is not present in the detection area,
• the infrared detection determiner classifies a state of the infrared detection area into any of the ON state, the temporary ON state, and the OFF state based on infrared data obtained from the infrared sensor,
• the image detection area is divided into a plurality of image detection spots,
• the infrared detection area is divided into a plurality of infrared detection spots,
• the infrared detection area and the image detection area at least partially overlap,
• the image detection determiner classifies a state of each of the plurality of image detection spots into any of the ON state, the temporary ON state, and the OFF state,
• the infrared detection determiner classifies a state of each of the plurality of infrared detection spots into any of the ON state, the temporary ON state, and the OFF state,
• in a case where both the infrared detection spot and the image detection spot at positions overlapping with each other are in the temporary ON state, the determiner regards at least one of the infrared detection spot and the image detection spot in the temporary ON state as the ON state, and
• the sending determiner determines to transmit an opening operation signal in at least one of a case where one of the infrared detection spot and the image detection spot is classified into the ON state and a motion vector of the detection spot in the ON state is moving toward the opening, and a case where the other of the infrared detection spot and the image detection spot at a position overlapping with the detection spot in the temporary ON state is classified into the temporary ON state in a case where one of the infrared detection spot and the image detection spot is classified into the temporary ON state and a motion vector of the detection spot in the temporary ON state is moving toward the opening.

An automatic door sensor comprising:

• an infrared sensor including an infrared detection area around a door provided in an opening and that detects a person or an object in the infrared detection area;
• an image sensor including an image detection area around the door and that detects a person or an object in the image detection area;
• an infrared detection determiner that determines whether the infrared sensor detects a person or an object;
• an image detection determiner that determines whether the image sensor detects a person or an object;
• a sending determiner that determines whether or not to transmit an opening operation signal for causing the door to perform an opening operation based on each determination result of the infrared detection determiner and the image detection determiner;
• and
• a change unit that changes at least one of a determination result of the infrared detection determiner and a determination result of the image detection determiner based on image data obtained from the image sensor for an area in which the infrared detection area and the image detection area overlap, wherein
• the sending determiner that determines whether or not to transmit an opening operation signal for causing the door to perform an opening operation based on the changed at least one determination result.

An automatic door control method comprising:

• a step of acquiring infrared data from an infrared sensor including an infrared detection area around a door provided in an opening and that detects a person or an object in the infrared detection area, the infrared detection area is divided into a plurality of infrared detection spots;
• a step of acquiring image data from an image sensor including an image detection area around the door and that detects a person or an object in the image detection area, the image detection area is divided into a plurality of image detection spots, the infrared detection area and the image detection area at least partially overlap;
• a step of classifying a state of each of the plurality of image detection spots, based on the image data, into any of an ON state in which it is determined that a person or an object is present in the detection area, a temporary ON state for suspending determination as to whether a person or an object is present in the detection area, and an OFF state in which it is determined that a person or an object is not present in the detection area;
• a step of classifying a state of each of the plurality of infrared detection spots into any of the ON state, the temporary ON state, and the OFF state based on the infrared data;
• in a case where both the infrared detection spot and the image detection spot at positions overlapping with each other are in the temporary ON state, a step of regarding at least one of the infrared detection spot and the image detection spot in the temporary ON state as the ON state;
• a step of determining to perform the opening operation of the door in at least one of a case where one of the infrared detection spot and the image detection spot is classified into the ON state and a motion vector of the detection spot in the ON state is moving toward the opening, and a case where the other of the infrared detection spot and the image detection spot at a position overlapping with the detection spot in the temporary ON state is classified into the temporary ON state in a case where one of the infrared detection spot and the image detection spot is classified into the temporary ON state and a motion vector of the detection spot in the temporary ON state is moving toward the opening;
• a step of causing the door to perform an opening operation based on a determination result indicating that the opening operation is to be performed.

An automatic door control method comprising:

• a step of acquiring infrared data from an infrared sensor including an infrared detection area around a door provided in an opening and that detects a person or an object in the infrared detection area;
• a step of acquiring image data from an image sensor including an image detection area around the door and that detects a person or an object in the image detection area;
• a step of determining whether the infrared sensor detects a person or an object based on the infrared data;
• a step of determining whether the image sensor detects a person or an object based on the image data;
• a step of determining whether or not to perform an opening operation of the door based on respective determination results as to whether the infrared sensor and the image sensor detect a person or an object;
• a step of causing the door to perform an opening operation based on a determination result indicating that the opening operation is to be performed;
• and
• changing the determination as to whether or not to perform the opening operation of the door based on the infrared data and the image data for an area in which the infrared detection area and the image detection area overlap with each other.