JP2017210854A - Controller for automatic door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller for an automatic door used in a new way to automatically open/close a sliding door without causing a burden to an elder person, while maintaining a function of a hand and an arm of the elder person through opening/closing of the sliding door in a half open and halted state.SOLUTION: A controller for an automatic door includes: a first detector 804a for detecting a movement of a sliding door in an opening direction by a first prescribed distance value, after a halt detection part 802 has detected halting of the sliding door in a half open state; a second detector 804b for detecting a movement of the sliding door in a closing direction by a second prescribed distance value; and a command generating part 806 for generating a command signal to move the sliding door in the opening direction at a time of detection by the first detector 804a and to move the sliding door in the closing direction at a time of detection by the second detector 804b.SELECTED DRAWING: Figure 2

Description

The present invention relates to an automatic door control device.

In the conventional automatic door device, as described in Patent Document 1 below, the inverter controls the rotation speed of the motor by a drive signal whose pulse width is controlled. When the door is braked, the brake is applied with a relatively small torque at first and gradually increasing torque.

As a result, the door can be braked with an appropriate torque that corresponds to the characteristics of each door, such as the opening and closing speed and weight of the door, so that when the door starts to brake, the torque becomes excessive. To prevent. In this way, the sliding doors are fully opened and closed, which is very appreciated for elderly people and wheelchair passengers.

JP 2003-70276 A

However, the inventor has found that an automatic door applied to a facility such as a nursing home is functionally insufficient only by opening and closing the sliding door by the above-described automatic operation. That is, in the above facilities, etc., the opening and closing of the sliding door is used to help maintain or restore the functions of the hands and arms of the elderly, wheelchair passengers, etc. I found it.

The present invention has been made to solve the above-described problems, and by opening and closing a sliding door that is in a semi-open and stopped state through the operation of the hands and arms of the elderly and wheelchair passengers, It is an object of the present invention to provide an automatic door control device capable of enabling a new usage of automatically opening and closing a sliding door without imposing a burden on an elderly person or the like while maintaining functions such as the above.

An automatic door control device according to a first invention is an automatic door control device that opens or closes the sliding door by moving a sliding door having a suspension wheel based on the power of a motor,
Motor driving means for driving the motor;
Motor control means for operating the motor while controlling the motor driving means;
First stop detection means for detecting that the sliding door is stopped in a half-open state;
A first detection means for generating a first detection signal upon detecting that the sliding door has moved a first constant distance value in the opening direction after the first stop detection means has detected a stop;
A second detection means for generating a second detection signal upon detecting that the sliding door has moved a second constant distance value in the closing direction after the first stop detection means has detected a stop;
The motor is rotated via the motor control means and the motor driving means so as to move the sliding door in the opening direction based on the first detection signal, and the sliding door is moved based on the second detection signal. Command generating means for generating a command signal for rotating the motor via the motor control means and the motor driving means so as to move in the closing direction is provided.
According to such an automatic door control device, after the stop detection means detects that the sliding door is stopped in the half-open state, the first detection means opens the sliding door while the motor driving means is off. When it is detected that the first constant distance value has been moved in the direction, the command generation means generates a command signal and rotates the motor so as to move the sliding door in the opening direction via the motor control means and the motor drive means. And stop. That is, based on the fact that an elderly person or the like moves the sliding door by a certain distance value in the opening direction, the sliding door can be automatically opened by moving the motor to the open end.
On the other hand, after detecting the stop as described above, when the second detecting means detects that the second constant distance value is moved in the closing direction of the sliding door while the motor driving means is off, the command generating means A command is generated to rotate the motor so as to move the sliding door in the closing direction via the motor control means and the motor drive means. That is, based on the fact that an elderly person or the like moves the sliding door by a certain distance value in the closing direction, the sliding door can be automatically closed by moving the motor to the closed end.
As a result, the sliding door is automatically opened or closed after the first or second constant distance value is moved by the movement of the hand or arm of the elderly or the like in the half-open state. For this reason, elderly people move their sliding doors by a certain distance using their hands and arms, which is useful for maintaining functions, etc., and after moving a certain distance, automatically opens or closes the sliding doors. The burden of opening and closing the sliding door can also be reduced.
If the first or second detection means does not detect the stop detection means after the stop detection means detects that the sliding door is stopped in the half-open state, even if a certain time has passed, the sliding door is moved to the closed end or the open end. May be.

An automatic door control device according to a second aspect of the present invention comprises speed detection means for detecting a speed value of rotation of the motor, wherein the first detection means has the speed value equal to or less than a predetermined value, Generate a detection signal,
The second detection means generates the second detection signal when the velocity value is equal to or less than a predetermined value.
It is characterized by this.
According to such an automatic door control device, after the stop detection means detects that the sliding door is stopped in the half-open state, the first detection means opens the sliding door while the motor driving means is off. Even if the first constant distance value is moved in the direction, the first detection signal is not generated unless the motor speed value, that is, the sliding door speed, is equal to or lower than a predetermined value. Therefore, the sliding door may operate automatically. Absent. Thereby, the movement to the opening direction of the sliding door by the elderly person's own power can be accelerated | stimulated. Similarly, even if the second detection means moves the second constant distance value in the opening direction of the sliding door, the second detection signal is not generated unless the motor speed is equal to or lower than the predetermined value. It does not work automatically. Thereby, the movement to the closing or opening direction of the sliding door by the self-power of an elderly person or the like can be promoted. Accordingly, it is possible to further promote the maintenance of the functions of the arms of the elderly and the like.

According to a third aspect of the present invention, there is provided an automatic door control device, comprising: a position detection unit that detects a rotational position of the motor and generates a rotational position signal;
Operation determining means for determining that the sliding door is operating based on the rotational position signal;
A pressure detecting means for generating a pressure detection signal when detecting that a pressure equal to or higher than a predetermined value is applied to the sliding door in the operating state of the sliding door;
The motor control means turns the motor drive means off from on based on the pressure detection signal;
It is characterized by this.
According to such an automatic door control device, since the control means turns the motor drive means from on to off based on the detection of the pressure detection means, the motor stops and the sliding door also stops. Thereby, the half-open state of a sliding door can be easily formed automatically, without moving a sliding door by hand.

The first detection means has a first set value and a second set value, and the second set value preferably has a moving distance longer than the first set value. .
The elderly and wheelchair passengers have different movable areas such as hands and arms, and are generally wider than those of wheelchair users. For this reason, for example, passengers who are wheelchaired with the first set value, and the second set value that matches the elderly person, while maintaining the functions of the hands and arms, etc., within the reasonable range, open the sliding doors for the elderly person, etc. Can alleviate the burden.

The automatic door control device according to a fourth aspect of the present invention is a second stop detection means for detecting that the sliding door has moved in the opening direction and stopped in a half-open state,
Third detection means for generating a third detection signal upon detecting that the sliding door has moved in the closing direction after the second stop detection means has detected a stop;
The command generation means generates a command signal for rotating the motor via the motor control means and the motor drive means so as to move the sliding door to the closed end based on the third detection signal. It is a feature.
According to such an automatic door control device, when an elderly person or the like stays in a room at a care facility, the caregiver manually moves the sliding door in the opening direction when asking the state inside the room. Then, the sliding door is in a half-open state, and the motor is stopped via the motor control means and the motor driving means. After the sliding door is stopped in the half-open state, the caregiver moves the sliding door slightly in the closing direction if there is no problem in asking the state in the room with the motor driving means turned off. As a result, the third detection means detects the movement and generates a third detection signal, and the command generation means generates a command signal to move the sliding door to the closed end, and rotates the motor to move the sliding door. Move to the closed end. Thereby, the caregiver can easily close the sliding door automatically if there is no problem by checking the state in the room with the sliding door in a semi-open state.
On the other hand, if it is necessary for the caregiver to enter the room after confirming the situation in the room, the first detection means detects that the sliding door is moved by the first fixed value distance in the opening direction. The generating means generates a command signal, drives the motor, moves the sliding door in the opening direction, and stops. That is, based on the caregiver moving the sliding door by a certain distance value in the opening direction, the motor is driven to automatically move the sliding door to the open end. Thus, if the caregiver needs to enter the room after confirming the state in the room, the sliding door can be easily and automatically moved to the open end.
The semi-open state may be obtained by automatically moving the sliding door in the opening direction, and by applying a hand to the sliding door, the pressure detecting means detects the pressure and stops the sliding door.

According to the present invention, a sliding door in a half-open state is opened by an elderly person, and a wheelchair passenger automatically opens and closes the sliding door without undue burden on the elderly person, etc. while urging recovery of functions such as hands and arms through manual opening and closing. The new usage can be made possible.

1 is an overall front view of an automatic door control device according to an embodiment of the present invention. It is a general view of the electric system of the automatic door control apparatus shown in FIG. It is a flowchart which shows operation | movement of the control apparatus of the automatic door by FIG. It is a whole figure of the electric system of the control apparatus of the automatic door by other embodiment of this invention. It is a flowchart which shows operation | movement of the control apparatus of the automatic door by FIG.

Embodiment 1 FIG.
An embodiment of the present invention will be described with reference to FIGS. In FIG. 1, a rectangular plate-shaped sliding door 3 is provided in the dwelling, which is suspended from a floor, an upper frame 8, and an opening 9 formed by two side frames. The two suspension wheels 5 having the shafts 5a at the upper end of the sliding door 3 move in the rail 7 so that the sliding door 3 moves left and right, that is, in the horizontal direction as shown by arrows in the figure, thereby opening the opening 9 in the sliding door. 3 to open and close.

The automatic door control device 100 includes a base plate 12 that is fixed to the upper portion of the upper frame 8, a drive mechanism for moving the drive member 22 in the opening / closing direction of the sliding door 3, and a drive member And a guide mechanism 30 for smoothly guiding 22 in the opening and closing direction.

The drive mechanism includes a timing belt 18 that transmits the rotation of the motor 14 to the driven pulley 20. A drive member 22 connected and fixed to the lower side of the timing belt 18 composed of the upper side and the lower side is formed so as to move in the opening / closing direction of the sliding door 3.
The drive member 22 is plate-shaped, and one end is fixed to the lower side of the timing belt 18 and the other end is connected and fixed to the sliding door 3.
A motor 14, a main pulley 16, and a driven pulley 20 are connected and fixed to the base plate 12 so as to be rotatable.

The guide mechanism 30 includes a shaft and a bearing, and includes three rotatable rollers 31 formed with ring-shaped grooves. The guide mechanism 30 is fixed to the drive member 22 and rotatably fixes the shaft. A roller fixing member 33 is provided.
The guide member 35 is fixed to the base plate 12 and has a substantially C shape in a side view, and is formed so as to engage with the tip of the C shape while sliding with the groove of the roller 31.

1 and 2, an automatic door control device 100 includes a motor drive unit 500 connected to an AC power source 101, and includes a motor control unit 600 that controls the motor drive unit 500, and generates a command. The operation command signal from the unit 900 is input to the motor control unit 600.

  The motor driving unit 500 includes a converter 503 that converts alternating current into direct current, and a capacitor 509 is connected to the output of the converter 503. Both ends of the capacitor 509 have an inverter 511 that converts direct current into alternating current of variable voltage and variable frequency, and the motor 14 is connected to the output of the inverter 511.

  The motor control unit 600 includes an open / close command unit 602 that generates a door open / close command signal such as acceleration, constant speed, deceleration, and stop to the inverter 511, and the door open / close command signal is obtained via the subtractor 604. The obtained speed deviation signal is input to the speed integral control unit 606 and the speed proportional control unit 608, and the feedback signal 614 obtained from the outputs of the speed integral control unit 606 and the speed proportional control unit 608 via the adder 610 is used. The power conversion command unit 612 is input to drive the inverter 511 to control the rotation of the motor 14. Note that an encoder 52 is provided as position detecting means for generating a pulse signal as a rotational position signal in accordance with the rotational position of the motor 14.

The motor control unit 600 includes a speed detection unit 620 that generates a speed detection signal that is the rotational speed of the motor 14 based on a pulse signal from the encoder 52, and the speed detection signal is output from the open / close command unit 602, the subtractor 604, and the like. Has been entered.
Note that a current detection signal, which is an output of the current detector 613 that detects the value of the current flowing through the motor 14, is input to the open / close command unit 602 to form feedback.

The motor control unit 600 includes a pinching detection unit 640 as pressure detection means for detecting pressure applied to the sliding door 3 when the sliding door 3 is in an opening / closing operation. As described in Japanese Patent Application Laid-Open No. 2006-214148, the clamping pressure detection unit 640 determines that the clamping pressure is detected when the first detection condition based on the current detection signal and the speed deviation signal of the motor 14 is satisfied. A first clamping pressure detection unit, a second clamping pressure detection unit that determines that the clamping pressure is detected when a second detection condition based on the speed deviation signal is satisfied, and a third detection condition based on the feedback signal 614 Is divided into a third clamping pressure detection unit that determines that the clamping pressure is detected, and a time domain in which the clamping pressure is detected during the opening / closing operation of the sliding door 3, and the first, second, A clamping pressure setting unit (not shown) that presets whether to perform clamping pressure detection by any one or combination of the third clamping pressure detection units.
In addition, as a pressure detection means, the touch switch 6 is provided in the door of the sliding door 3, and a person may press this touch switch 6 and may detect a pressure. When the touch switch 6 is pressed, the sliding door 3 may be stopped by the command signal from the opening / closing command unit 602 via the motor control unit 600 and the motor driving unit 500.

For this reason, the sandwiching pressure detection unit 640 receives the current detection signal of the current detector 613, the feedback signal 614 and the speed deviation signal that are the outputs of the adder 610, and further receives the door opening / closing command signal. Has been. When the clamping pressure detection unit 640 determines that the clamping pressure is detected, the stop command signal is input to the opening / closing command unit 602.
The sliding door 3 is provided with an operation determination unit 630 that determines whether or not the pulse signal from the encoder 52 is generated.

The function maintenance command unit 800 includes a first stop detection unit 802 that detects from the pulse signal of the encoder 52 that the sliding door 3 has stopped in the half-open state. The movement detection unit 804 generates a speed detection signal (speed detection value) equal to or less than a first predetermined value while the sliding door 3 moves in the opening direction with a first constant distance value when the motor driving unit 500 is off. When it is detected that the first detector 804a that generates the first detection signal and the motor driving unit 500 are off, the sliding door 3 moves a second constant distance value in the closing direction. And a second detector 804b for generating a second detection signal when it is detected that the speed detection signal (speed detection value) is equal to or lower than a second predetermined value.
Here, the speed detection value below the first predetermined value is zero or a slight speed detection value. This is because it is a speed value at which it is determined that an elderly person has stopped operating the sliding door 3.
Further, the first and second constant values may be the same value, for example, 15 mm for wheelchair passengers and 300 mm for elderly people.

When the first detector 804a generates the first detection signal, the command generator 806 sends an open command signal to the open / close command unit 602 so as to rotate the motor 14 to move the sliding door 3 to the open end and stop. Shaped to input. Further, when the second detector 804b generates the second detection signal, the command generation unit 806 rotates the motor 14 to move the sliding door 3 to the closed end and stops the opening / closing command unit 602. It is configured to input a signal.

The command input unit 900 is provided on the front side with respect to the sliding door 3 and is provided on the back side with respect to the sliding door 3 and the first operation button switch 901 that generates a door opening / closing command by pressing, and the door by pressing. A second operation button switch 902 that generates an open / close command is configured to be input to the open / close command unit 602.

The operation of the automatic door control apparatus configured as described above will be described with reference to FIGS.
When the sliding door 3 is operated by rotating the motor 14 via the motor control unit 600 and the motor driving unit 500 by the operation command signal from the command generation unit 900, the operation determination unit 630 receives the sliding door by the speed detection signal from the speed detection unit 620. 3 is operating (step S101). Here, when the caregiver of the wheelchair stops the sliding door 3, the clamping pressure detection unit 640 detects that the pressure applied to the sliding door 3 is equal to or higher than a predetermined value based on the current detection signal, the speed deviation signal, and the like (step S103). ), A stop command signal for the sliding door 3 is generated from the opening / closing command unit 602, the rotation of the motor 14 is stopped via the motor driving unit 500, and the sliding door 3 is stopped in a half-open state (step S105). Thereby, the stop detection part 802 detects having stopped the sliding door 3 in the half open state.

When the sliding door 3 is stopped and the motor driving unit 500 is turned off, when the wheelchair passenger moves the sliding door 3 in the opening direction by a first constant distance value and becomes equal to or less than the first speed value, the first detector 804a generates the first detection signal (step S107), the command generation unit 806 generates an opening command signal, rotates the motor 14 via the opening / closing command unit 602 and the motor driving unit 500, and the sliding door 3 Is moved in the opening direction and stopped at the opening end (step S109).
On the other hand, when the sliding door 3 is stopped and the motor drive unit 500 is turned off, the wheelchair passenger moves the sliding door 3 in the closing direction by a second constant distance value to become the second speed value or less. When the detector 804b detects the second detection signal (step S107), the command generation unit 800 generates a close command signal and rotates the motor 14 via the open / close command unit 602 and the motor drive unit 500. The sliding door 3 is moved in the closing direction and stopped at the closed end (step S109).

Further, after the sliding door 3 stops (step S105), even if a predetermined time, for example, 10 seconds elapses, the movement detection unit 804 does not detect that the sliding door 3 has moved beyond the first or second predetermined distance value. (Step S111), the command generation unit 806 rotates the motor 14 via the opening / closing command unit 602 and the motor driving unit 500 to move the sliding door 3 in the closing direction and stops at the closed end (Step S113).

  In the above embodiment, the caregiver touches the sliding door 3 that is in operation, and the pinching pressure detection unit 640 detects the pressure and stops the sliding door 3 to make the sliding door 3 in a half-open state. The caregiver may move to a semi-open state. At this time, the command generation unit 806 does not generate a command signal because it is the movement of the sliding door 3 from the closed state.

In the above embodiment, when the first detector 804a detects that the sliding door 3 has moved the first constant distance value in the opening direction and has reached the speed detection value equal to or less than the first predetermined value, Although the first detection signal is generated, the first detection signal may be generated only when the sliding door 3 moves the first constant distance value in the opening direction.
Similarly, when the first detector 804a detects that the sliding door 3 has moved a second constant distance value in the closing direction and has reached a speed detection value equal to or less than a second predetermined value, the second detection is performed. Although the signal is generated, the second detection signal may be generated only by the sliding door 3 moving the second constant distance value in the closing direction.

Embodiment 2. FIG.
Another embodiment of the present invention will be described with reference to FIG. In FIG. 4, the same reference numerals as those in FIG.
In FIG. 4, the automatic door control device 1100 includes a second stop detector 1802 for detecting that the sliding door 3 has moved in the opening direction and stopped in a half-open state, and a second stop detector 1802 includes After detecting the stop, it is provided with a third detector 1804c that generates a third detection signal when it is detected that the sliding door 3 has moved in the closing direction, and the command generation unit 1806 includes, in addition to the first embodiment, A command signal for rotating the motor 14 is generated via the motor control unit 600 and the motor driving unit 500 so as to move the sliding door 3 to the closed end based on the third detection signal.

The operation of the automatic door control apparatus configured as described above will be described with reference to FIGS. 1, 4, and 5. In FIG. 5, the same reference numerals as those in FIG.
When the sliding door 3 is operated by rotating the motor 14 through the motor control unit 600 and the motor driving unit 500 in the opening direction by the door opening command signal from the command generation unit 900, the operation determination unit 630 detects the speed from the speed detection unit 620. Based on the detection signal, it is determined that the sliding door 3 is operating in the opening direction (step S201). Here, when the caregiver stops the sliding door 3, the clamping pressure detection unit 640 detects that the pressure applied to the sliding door 3 is greater than or equal to a predetermined value from the current detection signal, the speed deviation signal, and the like (step S203). A stop command signal for the sliding door 3 is generated from the opening / closing command unit 602, the rotation of the motor 14 is stopped via the motor driving unit 500, and the sliding door 3 is stopped in a half-open state (step S205). Thereby, the 2nd stop detection part 1802 detects having stopped the sliding door 3 in the half open state by the open direction.

When the caregiver detects that the sliding door 3 is stopped and the motor driving unit 500 is off, the third detector 1804c generates a third detection signal (S3). In step S207, the command generation unit 1806 generates an opening command signal, rotates the motor 14 via the opening / closing command unit 602 and the motor driving unit 500, moves the sliding door 3 to the closed end, and stops (step S209). ).
In the above embodiment, the sliding door 3 is automatically opened, and the sliding door 3 is detected by detecting that the pressure of the sliding door 3 is equal to or higher than a predetermined value. The sliding door 3 may be moved manually to obtain a half-open state.

The present invention is not limited to the description of the embodiment of the invention. Various modifications are also included in the present invention as long as those skilled in the art can easily conceive without departing from the scope of the claims.

100 Automatic Door Control Device, 52 Encoder (Position Detection Unit), 500 Motor Drive Unit (Motor Drive Unit), 600 Motor Control Unit (Motor Control Unit), 606 Speed Detection Unit (Speed Detection Unit), 630 Operation Determination Unit ( 640a first detector (first detector), 804b second detector (operation detector), 640 nipping pressure detector (pressure detector), 802 first stop detector (first stop detector), 804a Detector (second detection unit), 806, 1806 Command generation unit (command generation unit), 1802 Second stop detection unit (second stop detection unit), 1804c Third detector (third detection unit) ).

Claims (4)

An automatic door control device for moving a sliding door having a suspension wheel based on the power of a motor to open or close the sliding door,
Motor driving means for driving the motor;
Motor control means for operating the motor while controlling the motor driving means;
First stop detection means for detecting that the sliding door is stopped in a half-open state;
A first detection means for generating a first detection signal upon detecting that the sliding door has moved a first constant distance value in the opening direction after the first stop detection means has detected a stop;
A second detection means for generating a second detection signal upon detecting that the sliding door has moved a second constant distance value in the closing direction after the first stop detection means has detected a stop;
The motor is rotated via the motor control means and the motor driving means so as to move the sliding door in the opening direction based on the first detection signal, and the sliding door is moved based on the second detection signal. Command generating means for generating a command signal for rotating the motor via the motor control means and the motor driving means so as to move in a closing direction;
An automatic door control device characterized by comprising: Comprising a speed detection means for detecting a rotation speed value of the motor;
The first detection means generates the first detection signal when the velocity value is a predetermined value or less,
The second detection means generates the second detection signal when the velocity value is equal to or less than a predetermined value.
The automatic door control device according to claim 1. Position detecting means for detecting a rotational position of the motor and generating a rotational position signal;
Operation determining means for determining that the sliding door is operating based on the rotational position signal;
A pressure detecting means for generating a pressure detection signal when detecting that a pressure equal to or higher than a predetermined value is applied to the sliding door in the operating state of the sliding door;
The motor control means turns off the motor driving means based on the pressure detection signal;
The control device for an automatic door according to claim 1 or 2. Second stop detection means for detecting that the sliding door has moved in the opening direction and stopped in a half-open state;
A third detecting means for generating a third detection signal when detecting that the sliding door has moved in the closing direction with the motor driving means turned off after the second stop detecting means detects the stop; ,
The command generating means generates a command signal for rotating the motor via the motor control means and the motor driving means so as to move the sliding door to the closed end based on the third detection signal.
The automatic door control device according to any one of claims 1 to 3.

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