JP6427792B2 - Automatic door control device - Google Patents

Description

The present invention relates to an automatic door control device.

A conventional automatic door device includes a position detection unit that detects the position of a door, an opening / closing drive unit that opens and closes the door, and a control unit that controls driving of the opening / closing drive unit, as described in Patent Document 1 below. And the control unit controls the opening / closing drive unit so that the door is provided with a preliminary biasing force having a magnitude such that the door is not moved in the opening direction by the opening / closing drive unit when the door is in the fully closed position. When the position detecting means detects that the door has moved from the fully closed position by a predetermined distance or more, the opening / closing drive unit is controlled so that the door moves in the opening direction.

As a result, when the door is opened by a predetermined distance by hand as an initial operation when the door is in the fully closed position, the door is preliminarily biased by the opening / closing drive unit. Can be opened easily.

JP 2012-31600 A

However, in automatic doors applied to facilities such as nursing homes, there is a demand for automatic doors that coexist with caregivers such as nursing staff, elderly people, and wheelchair users. That is, the inventor manually opens the door to check the inside of the living room to check the inside of the living room to which the automatic door is attached, and then further manually opens the door depending on the state of the caregiver in the living room. If you find that there is no problem for the caregiver when you open the door, you will find it cumbersome to manually close the door. They found that there was a problem that could reduce the burden on the nursing staff.
On the other hand, in other words, the door can be opened and closed through the actions of the caregiver's hands and arms, etc., while maintaining the functions of the caregiver's hands, etc., without burdening the caregiver. It can provide a new usage of automatically opening and closing the door.

The present invention has been made to solve the above-described problems. The automatic door control is convenient for care staff and caregivers by opening and closing the door while assisting the assist force. An object is to provide an apparatus.

A control device for an automatic door according to a first invention is a control device for an automatic door that moves a door from an open end to a closed end based on a speed command signal based on the power of a motor,
Motor driving means for driving the motor;
Motor control means for rotating the motor while controlling the motor driving means based on a current command signal generated by the speed command signal;
A movement detection means for detecting a movement of the door from the closed end to the first position in the opening direction and generating a movement detection signal in a state where the motor driving means is off;
It has a second position closer to the open end than the first position, detects that the door is located between the first position and the second position, and moves the door A moving direction detecting means for detecting the direction and generating a moving direction detection signal;
In order to generate an auxiliary torque corresponding to the running resistance of the door from the motor, a first auxiliary current command signal is generated and output based on the movement detection signal, and the first is based on the movement direction detection signal. an auxiliary current command generating means for generating and outputting a second auxiliary current signal,
Switching means for inputting any one of the first or second auxiliary current command signal or the current command signal to the motor driving means;
Based on the generation of the first or second auxiliary current command signal, the switching means is operated to input the first or second auxiliary current command signal to the motor driving means, and the current command signal is input to the motor driving means. and separating to switching changeover control means from the input to the motor driving means,
It is characterized by comprising.
According to such an automatic door control device, when the movement detecting means detects that a care staff or the like has moved the door to the first position in the opening direction with the motor driving means turned off, the first auxiliary An auxiliary torque as a first assist force is generated in the door opening direction based on the current command signal. Thereby, since the movement to the opening direction of a door is assisted, the care staff can confirm the state in a living room easily. Moreover, since the caregiver can open the door easily in such usage, functions such as the caregiver's hand can be maintained.
On the other hand, when the movement direction detection means detects the direction of movement of the door between the first position and the second position, the door movement is detected based on the second auxiliary current command signal generated by the auxiliary current command generation means. If it moves in the direction of movement, that is, in the closing direction, it moves in the closing direction, and if it moves in the opening direction, an auxiliary torque as a second assisting force is applied to the door in the opening direction.
This assists the movement of the door in the direction that the door has moved, so after confirming the room, the care staff feels the need to enter the room, the door is in the open direction, and if not, the door is closed. You will be able to move smoothly to. Similarly, since the caregiver can easily move the door, functions of the caregiver's hand and the like can be maintained.
The state in which the motor driving means is off can be determined by the disappearance of the speed command signal, for example.
Further, the auxiliary current command generating means may detect the door moving speed value and generate the auxiliary current command signal so as to change according to the moving speed value. Preferably, the auxiliary current command signal is generated so that the auxiliary torque decreases as the moving speed value increases. This is because an appropriate door moving speed can be maintained.

A control device for an automatic door according to a second aspect of the invention includes speed detection means for detecting a speed value at which the door moves;
In the state where the auxiliary torque is applied to the door, the speed value when the door is moving to the open end side is less than a predetermined speed value while exceeding the second position. First automatic switching means for generating an automatic switching signal;
And a command signal generating means for generating said speed command signal to move the door in the opening direction based on the occurrence of the automatic switching signal,
The switching control means further operates the switching means based on the automatic switching signal to disconnect the first and second auxiliary current command signals, and generates the current generated based on the speed command signal. Input a command signal to the motor drive means ;
And it is characterized in and this.
According to such an automatic door control device, even if the door moves in the opening direction beyond the second position, an automatic switching signal is generated if the moving speed value of the door does not become a predetermined value or less. It is difficult to switch automatically when the door is pushed or pulled by hand. Thereby, the care staff can continue to open the door as intended. On the other hand, the caregiver continues to give power to the door by hand, which is useful for maintaining the function.

A control device for an automatic door according to a third aspect of the invention automatically switches by detecting that the door has moved in the opening direction beyond the second position in a state where the auxiliary torque is applied to the door. Second automatic switching means for generating a signal for generating a signal;
Command signal generating means for generating the speed command signal for moving the door in the opening direction based on the generation of the automatic switching signal ,
The switching control means further operates the switching means based on the automatic switching signal to disconnect the first and second auxiliary current command signals from the input of the motor driving means, and to convert the speed command signal into the speed command signal. Inputting the current command signal generated based on the motor driving means ;
And it is characterized in and this.
According to such an automatic door control device, when the second automatic switching means generates an automatic switching signal when the door moves in the opening direction beyond the second position, the command signal generating means opens the door. A speed command signal that moves in the direction is generated, and the switching control means operates the switching means to disconnect the auxiliary current command signal, and inputs the current command signal generated based on the speed command signal to the motor driving means. Thereby, a motor is driven and a door is automatically moved to an open end. Therefore, when the care staff confirms the condition of the caregiver in the room and feels the necessity of entering the room, the door is automatically opened by moving the door beyond the second position in the opening direction. Can move to the end. Therefore, the care staff can enter the room promptly.

A control device for an automatic door according to a fourth aspect of the invention generates an end detection signal when the door moves within a predetermined distance from the open end or the closed end to reach the distance. End detecting means for
When the end detection signal is generated while the auxiliary torque is applied to the door, the switching means is operated to disconnect the first and second auxiliary current command signals, and the current command signal is Stop command generation means for generating the speed command signal to be input to the motor drive means and decelerate and stop the motor;
It is characterized by comprising.
Thereby, when the door is approaching the open end while moving in the opening direction in the state where the assisting force is applied to the door, or when the door approaches the closed end while moving in the closing direction, the end detection means Generates an end detection signal and the stop control means decelerates and stops the motor, so that the collision with the open end or the closed end can be mitigated.

According to the present invention, it is possible to obtain an automatic door control device that is highly convenient for care staff and caregivers by opening and closing the door while assisting the assist force.

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 schematic diagram which shows operation | movement of the automatic door shown in FIG. It is a flowchart which shows operation | movement of the control apparatus of the automatic door corresponding to the schematic diagram 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. When the two suspension wheels 5 having the shaft 5a at the upper end of the sliding door 3 as a door move in the rail 7, the sliding door 3 is moved left and right, that is, in the horizontal direction as indicated by arrows in the figure. Thus, the opening 9 is formed to be opened and closed by the sliding door 3.

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. An opening / closing command signal from the unit 900 is input to the motor control unit 600. The motor control unit 600 is configured to generate a speed command signal based on the opening / closing command signal and obtain a current command signal from the speed command signal. Yes.

  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. And it also has the power conversion command part 513 which operates the inverter 511 with a current command signal.

The motor control unit 600 includes an open / close command unit 602 as a command signal generation unit that generates a door open / close command signal such as acceleration, constant speed, deceleration, or stop to the inverter 511. The speed deviation signal obtained through the subtractor 604 is input to the speed control unit 606, and a current command signal output from the speed control unit 606 is connected to the terminal a of the switch 610 as a switching means. A central terminal c of the switch 610 is connected to a power conversion command unit 513 that gives a current command to the inverter 511, and is configured to drive the inverter 511 and control the rotation of the motor 14.
Further, 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 encoder 52 increments if the rotation direction of the motor 14 is clockwise, and decrements the counterclockwise direction so as to detect that the sliding door 3 is moving in the opening direction or the closing direction. Is formed.

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 input to the subtractor 604. . In addition, detecting the rotational speed of the motor 14 can detect the moving speed that is the moving speed of the sliding door 3.

This will be described with reference to FIG. If the sliding door 3 is located at the closed end and stopped, the assist control unit 700 can detect that the motor drive unit 500 is off by not generating a switch switching signal Sc described later. In this state, when the care staff moves the sliding door 3 slightly in the opening direction to the first position, this movement is detected by the position detection signal of the encoder 52, and when the position exceeds the first position, a movement detection signal is generated. A movement detector 702 is provided.
Moreover, it has the 2nd position which becomes an open end direction as a movement position of the sliding door 3 rather than a 1st position. After the first movement detector 702 generates the movement detection signal, it is determined by the switch switching signal Sc that the state is the assist state, and the sliding door 3 is closed or opened between the first position and the second position. A movement direction detector 704 is provided that generates a movement direction detection signal Md when it is detected by the position detection signal of the encoder 52 that movement has occurred in the direction. Here, the moving direction detection signal generates a signal that allows the sliding door 3 to distinguish between the opening direction and the closing direction.

The assist command generation unit 710 as the auxiliary current command signal generation unit is configured to generate a first auxiliary current command signal that generates an assist force Aτ as an auxiliary torque in the opening direction of the sliding door 3 based on the movement detection signal. The second auxiliary current command signal for generating the assist force in the direction in which the sliding door 3 was moved is generated by the moving direction detection signal. The assist force generates an auxiliary current command signal for generating an auxiliary torque that can reduce the running resistance corresponding to the running resistance of the sliding door 3 or move at a low speed.
The assist command generator 710 is configured to generate the assist generation signal Ap while the auxiliary current command signal is generated.

Moreover, it has the edge part detector 706 which produces | generates an edge part detection signal, when it approaches so that the edge part of predetermined distance may be approached from the open end or closed end of the sliding door 3. FIG. The end detector 706 receives the position detection signal of the encoder 52. Thus, the end detector 706 determines whether or not the sliding door 3 has reached the end by subtracting the integrated distance from the movable amount of the sliding door 3 as a distance by integrating the position detection signals. It is determined whether or not the sliding door 3 has moved in a direction approaching the end by the position detection signal, and when the end reaches the end in the direction in which the sliding door 3 approaches, an end detection signal is generated.

In a state where the end detection signal is generated and the auxiliary current command signal is generated, that is, in the assist state, the switch switching unit 800 switches on the switch 610 from the b side to the a side so that the auxiliary current command signal is generated. In addition to disconnecting the signal, the current command signal can be input to the motor drive unit 500, and the open / close command unit 602 as a stop command generation unit is configured to generate a speed command signal for decelerating and stopping the motor 14. Has been.

Furthermore, when the sliding door 3 moves beyond the second position in the opening direction, and the detection speed Vs of the sliding door 3 falls below a predetermined speed value, a first automatic switching detector 720 that generates an automatic switching signal. have. When the automatic switching signal is input to the opening / closing command unit 602, the opening / closing command unit 602 generates a speed command signal as an opening command signal for moving the sliding door 3 to the open end, and uses this speed command signal as the motor control unit 600 and the switch. The switch 610 is input to the switching unit 800, and the switch 610 is turned on from the c side to the a side. By switching the switch 610, the auxiliary current command signal is disconnected and the current command signal is input to the motor driving unit 500. It becomes like this. The motor control unit 600 generates a current command signal based on the speed command signal, and this current command signal is input to the motor driving unit 500 via the switch 610, and the motor 14 is operated to move the sliding door 3 to the open end. It is formed to do.

The switch switching unit 800 as the switching control means is configured to generate the switch switching signal Sc by the input of the assist generation signal Ap or the speed command signal Vr based on the auxiliary current command signal, and by the input of the assist generation signal Ap. The switch 610 is tilted from the a side to the b side, and an auxiliary current command signal that is an output of the assist command generating unit 710 is input to the power conversion command unit 513. The current command signal is input to the power conversion command unit 513. The motor driving unit 500 is turned off by being positioned in a neutral state between the a side and the b side by the disappearance of the assist generation signal and the speed command signal.
That is, the switch 610 is configured to disconnect the auxiliary current command signal and the current command signal from the motor driving unit 500, or to input either the auxiliary current command signal or the current command signal to the motor driving unit 500. Yes.

The command generator 900 is provided on each of the front side and the back side of the sliding door 3, and an open button switch 901 that generates a door open command when pressed, a close button switch 902 that generates a door close command when pressed, Is input to the opening / closing command unit 602.

The operation of the automatic door control apparatus configured as described above will be described with reference to FIGS.
<Normal operation>
Now, when the open button switch 901 is pressed while the sliding door 3 is positioned at the closed end, the open / close command unit 602 generates a speed command signal Vr as a door open command signal and sends it to the switch switching unit 700. A speed command signal is input and the switch 610 is turned on to the a side. At the same time, the speed command signal operates the inverter 511 via the subtractor 604, the speed control unit 606, and the power conversion command unit 513 to rotate the motor 14 to move the sliding door 3 from the closed end to the open end and stop.

When the closing button switch 902 is pressed while the sliding door 3 is positioned at the open end, the opening / closing command unit 602 generates a speed command signal as a door closing command signal, and the speed control unit 606, the power conversion command The inverter 511 is operated via the part 513 to rotate the motor 14 to move the sliding door 3 from the open end to the closed end and stop.

<Assist operation>
Assuming that the sliding door 3 is stopped at the closed end, the motor 14 is stopped, and no speed command signal as an opening / closing command signal is generated from the opening / closing command unit 602. Further, since the assist generation signal is not generated, the switch 610 is in a neutral state in which neither the a side nor the b side is turned on, so the motor driving unit 500 is off.

In this state, in order for the care staff to confirm the state of the caregiver in the room, if the sliding door 3 is slightly moved manually in the opening direction (step S101), the movement detector 702 detects the position detection signal of the encoder 52. By detecting that the sliding door 3 has moved in the opening direction beyond the first position, a movement detection signal is generated and input to the assist command generation unit 710. In the assist command generation unit 710, the assist force generation signal is input to the switch switching unit 800 to cause the switch 610 to fall from the neutral state to the b terminal, and to send the first auxiliary current command signal to the power conversion command unit via the switch 610. Input to 513. Thereby, the inverter 511 is driven and the assist force corresponding to the rotation in the opening direction is applied to the motor 14 to the sliding door 3 (step S103). Thereby, the nursing staff or the caregiver can easily move the sliding door 3 in the opening direction, and can confirm the state in the living room. For caregivers, it will also help maintain functions such as hands.

Subsequently, the automatic switching detector 720 determines whether or not the sliding door 3 is manually moved in the opening direction and exceeds the second position (step S105), and if it is determined that the second position is exceeded, the automatic switching is performed. The detector 720 determines whether the moving speed of the sliding door 3 is less than a predetermined value (step S107). If it is less than the predetermined value, the automatic switching detector 720 generates an automatic switching signal and sends a speed command via the open / close command unit 602. A signal is generated, the switch 610 is moved to the a side by the switch switching unit 800, and the sliding door 3 is automatically moved to the open end via the speed control unit 606 and the power conversion command unit 513 by the speed command signal (step S109). ),finish.

On the other hand, in step S105, whether or not the moving direction detector 704 has generated a moving direction detection signal indicates that the sliding door 3 has moved while applying an assist force between the first position and the second position. If it judges (step S121) and the sliding door 3 moves, a movement direction detection signal will be input into the assist instruction | command production | generation part 710. FIG. In the assist command generation unit 710, the second auxiliary current command signal is input through the switch 610 as the power conversion command unit 513, the motor 14 is rotated, and assist force is applied in the direction in which the sliding door 3 has moved (step S123). . Thereby, care staff etc. can move now in the direction which moved sliding door 3 easily. Eventually, when the sliding door 3 exceeds the second position, the above steps S105 to S109 are executed.

The end detector 706 determines whether or not the sliding door 3 moves to the end with the assist force applied (step S111), and moves in the direction in which the sliding door 3 approaches to reach the end. Then, an end detection signal is generated, the switch switching unit 800 moves the switch 610 from the b side to the a side, and the motor 14 is decelerated and stopped by the speed command signal from the opening / closing command unit 602 (step S113).

Further, in order for the care staff to confirm the state of the caregiver in the room, the sliding door 3 is slightly moved manually in the opening direction and exceeds the first position (step S101), and then a predetermined time, for example, 60 seconds. After the elapse, the motor 14 is rotated via the opening / closing command unit 602 and the motor driving unit 500 to automatically move the sliding door 3 in the closing direction and stop at the closed end.

In the above embodiment, the first automatic switching detector 720 moves the sliding door 3 beyond the second position in the opening direction, and the speed value Vs detected by the sliding door 3 is equal to or lower than a predetermined speed value. In this case, the automatic switching signal is generated. However, instead of the first automatic switching detector 720, when the sliding door 3 moves beyond the second position in the opening direction, the automatic switching signal is generated. Two automatic switching detectors may be provided. This is because the sliding door 3 can be quickly moved to the open end.

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), 620 Speed Detection Unit (Speed Detection Unit), 702 Movement Detector ( (Movement detection means), 704 movement direction detector (movement direction detection means), 720 automatic switching detector (automatic switching means).

Claims (4)

A control device for an automatic door that moves a door from an open end to a closed end based on a power command of a motor based on a speed command signal,
Motor driving means for driving the motor;
Motor control means for rotating the motor while controlling the motor driving means based on a current command signal generated by the speed command signal;
A movement detection means for detecting a movement of the door from the closed end to the first position in the opening direction and generating a movement detection signal in a state where the motor driving means is off;
It has a second position closer to the open end than the first position, detects that the door is located between the first position and the second position, and moves the door A moving direction detecting means for detecting the direction and generating a moving direction detection signal;
In order to generate an auxiliary torque corresponding to the running resistance of the door from the motor, a first auxiliary current command signal is generated and output based on the movement detection signal, and the first is based on the movement direction detection signal. Auxiliary current command generating means for generating and outputting two auxiliary current command signals;
Switching means for inputting any one of the first or second auxiliary current command signal or the current command signal to the motor driving means;
Based on the generation of the first or second auxiliary current command signal, the switching means is operated to input the first or second auxiliary current command signal to the motor driving means, and the current command signal is input to the motor driving means. and separating to switching changeover control means from the input to the motor driving means,
An automatic door control device characterized by comprising: Speed detecting means for detecting a speed value at which the door moves;
In the state where the auxiliary torque is applied to the door, the speed value when the door is moving to the open end side is less than a predetermined speed value while exceeding the second position. First automatic switching means for generating an automatic switching signal;
Command signal generating means for generating the speed command signal for moving the door in the opening direction based on the generation of the automatic switching signal ,
The switching control means further operates the switching means based on the automatic switching signal to disconnect the first and second auxiliary current command signals, and the switching control means is generated based on the speed command signal. A current command signal is input to the motor driving means ;
Control device for an automatic door according to claim 1, wherein the this. Second automatic switching means for generating an automatic switching signal by detecting that the door has moved beyond the second position in the opening direction in a state where the auxiliary torque is applied to the door;
And a command signal generating means for generating said speed command signal to move the door in the opening direction based on the occurrence of the automatic switching signal,
The switching control means further operates the switching means based on the automatic switching signal to disconnect the first and second auxiliary current command signals from the input of the motor driving means, and the speed command signal. to enter the said current command signal generated in the motor driving means based on,
Control device for an automatic door according to claim 1, wherein the this. An end detection means for generating an end detection signal when the door moves within a predetermined distance from the open end or the closed end to reach the distance within the distance;
When the end detection signal is generated in a state where the auxiliary torque is applied to the door, the switching means is operated to disconnect the first and second auxiliary current command signals, and the current command signal Stop command generating means for generating the speed command signal for decelerating and stopping the motor by inputting to the motor driving means;
The automatic door control device according to any one of claims 1 to 3, further comprising:

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