JP6745484B2 - Automatic door controller - Google Patents

Description

The present invention relates to an automatic door control device.

A conventional automatic door control device, as described in Patent Document 1 below, slides a door when an occupant grasps the sliding door by hand or when the sliding door collides with an obstacle. It is determined that an abnormality has occurred in the movement, and the door stops. After the door is stopped, the door is in a free state, and a person who holds the door by hand can slide the door arbitrarily. In this case, the motor for slide movement is in a state where the energization from the external power source is cut off, so that the motor can be slid with a light force as compared with the case where the motor is energized.

According to this automatic door control device, the sliding movement of the door is stopped to prevent the sliding movement of the door from being pressed by a hand, the sliding movement of the door hitting an obstacle, and the like. Since the can be manually slid appropriately, it is possible to flexibly deal with pressing by hand or hitting an obstacle or the like.

JP, 2007-138631, A

However, in automatic doors applied to facilities such as nursing homes, there is a demand for automatic doors that allow care staff to coexist with caregivers such as the elderly and wheelchair users. That is, the inventor may check the state of the caregiver in the living room to which the automatic door is attached, and depending on the degree of care of the caregiver, may keep checking the door in the fully opened state for a long time. I noticed. In such a case, it has been found that there is a problem that the air conditioning in the living room in which the door is opened is inefficient and the caregiver's privacy in the living room is not taken into consideration.

The present invention has been made to solve the above problems, and an object of the present invention is to provide an automatic door control device capable of maintaining a state where a door is automatically stopped in a semi-open state.

An automatic door control device according to a first aspect of the invention moves a door from a closed end to an open end based on a door open command signal, and moves the door from the open end to the closed end based on a door close command signal. A controller for an automatic door having a first mode of moving and a second mode of moving the door from the closed end based on a first half-opening command signal and stopping in a half-open state. ,
Motor driving means for driving the motor,
Motor control means for rotating the motor while controlling the motor drive means, and selection means for selecting either the first or second mode,
With the second mode selected by the selecting means, the motor is driven via the motor control means and the motor driving means based on the first half-open command signal First control means for turning off the motor drive means while stopping by moving a fixed distance from the closed end;
In the off state, the door can be moved to the first position in the opening direction and can be moved to the second position in the closing direction, and free switching means,
Movement detecting means for detecting that the door has moved to the first position and generating a movement detection signal;
Second control means for moving the door to the open end via the motor control means and the motor drive means based on the movement detection signal;
It is characterized by having.
According to such an automatic door control device, when the second mode is selected, the first control means moves the door a predetermined distance from the closed end based on the first half-open command signal. At the same time as stopping, the motor drive means is turned off. When the free switching means puts the door in the free state, the care staff or the like can move the door freely in the opening direction to the first position, and can also move the door to the second position in the closing direction. .. Therefore, after the door is automatically stopped in a semi-open state, the care staff or the like can appropriately adjust the opening amount of the door, so that the air-conditioning temperature in the room having the door can be appropriately controlled and It may protect the caregiver's privacy.
Further, when the care staff or the like moves the door in the opening direction to the first position, the second control means moves the door to the open end based on the movement detection signal. This allows the door to be opened promptly.

A control device for an automatic door according to a second aspect of the present invention, via the motor control means and the motor drive means based on a second half-open command signal in a state where the door is stopped at the open end. And moving the door in the direction of the closed end and stopping at a position of a second constant distance from the open end, and further comprising third control means for turning off the motor driving means. To do.
According to such an automatic door control device, even when the door moves from the open end, the door is automatically placed in the half-open state and stopped, so that it is possible to appropriately manage the air conditioning temperature in the living room having the door. Together, it can protect the privacy of caregivers in the room. Here, the opening amount of the door obtained after moving by the second constant distance may be the same as or different from the opening amount of the door obtained after moving by the first constant distance.

Further, the automatic door control device includes an end detection unit that generates an end detection signal when the door moves within a predetermined distance from the closed end and reaches the predetermined distance, and the motor control unit. When the end detection signal is generated, the means may input the speed command signal to the motor drive means to decelerate and stop the motor.
As a result, when the door approaches the closed end while moving in the closing direction, the end detection means generates an end detection signal and the motor control means decelerates and stops the motor, so that a collision with the closed end of the door is prevented. Can be relaxed.

ADVANTAGE OF THE INVENTION According to this invention, the control apparatus of the automatic door which can maintain the state which stopped the door in the semi-open state automatically can be obtained.

1 is an overall front view of a control device for an automatic door according to an embodiment of the present invention. FIG. 2 is an overall view of an electric system of the automatic door control device shown in FIG. 1. It is a schematic diagram which shows operation|movement of the automatic door shown in FIG. 4 is a flowchart showing an operation of the automatic door control device corresponding to the schematic diagram of FIG. 3.

Embodiment 1.
An embodiment of the present invention will be described with reference to FIGS. In FIG. 1, in the house, a rectangular sliding door 3 having a rectangular shape and a floor, an upper frame 8 and an opening 9 formed by two side frames is provided. 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 to move the sliding door 3 left and right, that is, in the horizontal direction as shown by the arrow in the figure. Thus, the opening 9 is opened and closed by the sliding door 3.

The automatic door control device 100 has a base plate 12 fixed to the upper portion of the upper frame 8, and has a drive mechanism for moving the rotation of the motor 14 in the opening/closing direction of the sliding door 3 and a drive member. A guide mechanism 30 for smoothly guiding the opening/closing direction 22 is provided.

The drive mechanism includes a timing belt 18 that transmits the rotation of the motor 14 to the driven pulley 20. A driving member 22 connected and fixed to the lower side of the timing belt 18 composed of an upper side and a 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 has one end fixed to the lower side of the timing belt 18 and the other end connected and fixed to the sliding door 3.
A motor 14, a main pulley 16, and a driven pulley 20 are rotatably connected and fixed to the base plate 12.

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

1 and 2, the automatic door control device 100 includes a motor drive unit 500 connected to an AC power supply 101, and a motor control unit 600 that controls the motor drive unit 500. An opening/closing command signal from the unit 900 is input to the motor control unit 600, and 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. There is.

The motor drive unit 500 has a converter 503 that converts AC into DC, and a capacitor 509 is connected to the output of the converter 503. At both ends of the capacitor 509, an inverter 511 that converts direct current into alternating current having a variable voltage and variable frequency is provided, and the motor 14 is connected to the output of the inverter 511. Further, it also has a power conversion command unit 513 that operates the inverter 511 by the current command signal.

The motor control unit 600 has an opening/closing command unit 602 as command signal generation means for generating a door opening/closing command signal for the inverter 511 such as acceleration, constant speed, deceleration, and stop, and a speed command signal as the opening/closing command signal. Input the speed deviation signal obtained through the subtractor 604 to the speed control unit 606, and transmit or cut off the current command signal output from the speed control unit 606 to the power conversion command unit 513. It is connected to the a terminal which is one end of 610. The c terminal, which is the other end of the energizing switch 610, is connected to the input of the power conversion commanding unit 513, and the energizing switch 610 is turned on to drive the inverter 511 to control the rotation of the motor 14.
It should be noted that turning the motor drive unit 500 from ON to OFF can be achieved by extinguishing the speed command signal, but the energizing switch 610 can ensure the above-mentioned operation from ON to OFF.
Further, an encoder 52 is provided as position detecting means for generating a pulse signal as a rotational position signal according to the rotational position of the motor 14. It should be noted that the encoder 52 can detect that the sliding door 3 is moving in the opening direction or the closing direction by incrementing it if the rotation direction of the motor 14 is clockwise and decrementing it if it is counterclockwise. Is formed in.

The motor control unit 600 has a speed detection unit 620 that generates a speed detection signal that is the rotation speed of the motor 14 based on the pulse signal from the encoder 52, and the speed detection signal is input to the subtractor 604. .. It should be noted that detecting the rotation speed of the motor 14 can detect the moving speed that is the moving speed of the sliding door 3.

It has a position detection unit 700 that detects the position and direction of the door. When the care staff moves the sliding door 3 to the first position in the opening direction while the energizing switch 610 is off, the position detection unit 700 detects this movement by the position detection signal of the encoder 52 and outputs a movement detection signal. It has a movement detector 702 which is generated.
Here, the movement beyond the first position can be obtained by integrating the position detection signals.

Further, the position detection unit 700 has an end detector 706 that generates an end detection signal when reaching from the closed end of the sliding door 3 so as to approach the predetermined second position. The position detection signal of the encoder 52 is input to the edge detector 706. Accordingly, the edge detector 706 obtains the distance traveled by the sliding door 3 by integrating the position detection signals, and subtracts the distance from the movable amount of the sliding door 3 to the closed end, whereby the sliding door 3 closes. When the sliding door 3 reaches the closed end in the approaching direction, the position detection signal is used to determine whether the sliding door 3 has moved in the direction approaching the closing end. It is configured to generate a signal.

When the end detection signal is generated, the switch switching unit 800 can turn on the energizing switch 610 to input the current command signal to the motor drive unit 500, and the opening/closing command unit 602 as a stop command generation unit. Are configured to generate a speed command signal for decelerating and stopping the motor 14.

Further, when the movement detection signal is input to the automatic switching unit 720, the automatic switching unit 720 inputs the automatic switching signal to the opening/closing command unit 602. In the opening/closing command unit 602, the sliding door 3 is moved from the first position to the open end. A speed command signal is generated as an opening command signal for moving, and the sliding door 3 is automatically moved to the open end and stopped.

The switch operating unit 800 controls the on/off operation of the energizing switch 610 for ensuring the on/off operation of the motor driving unit 500. The switch operating unit 800 turns on the energizing switch 610 when a speed command signal is generated, and The energizing switch 610 is turned off when the speed command signal disappears.
Although the motor drive unit 500 can be controlled to be turned on/off by the generation/disappearance of the speed command signal without the energization switch 610, the reliability of turning on/off the motor drive unit 500 by turning on/off the energization switch 610 can be ensured. It is provided to raise.

When the first position detection signal is input to the automatic switching device 720, the automatic switching signal from the automatic switching device 720 is input to the opening/closing command unit 602, and the opening/closing command unit 602 opens the sliding door 3 from the opening/closing command unit 602. A speed command signal for automatically moving to the end is generated, and the motor 14 is rotated by the speed control signal via the motor control unit 600 and the motor drive unit 500 to move the sliding door 3 to the open end. (Second control means). The speed command signal is input to the switch operation unit 800 to turn on the energizing switch 610. When the energizing switch 610 is turned on, the current command signal can be input to the motor driving unit 500.

The command generation unit 900 has a changeover switch 905 as a selection unit that selects the first or second mode. When the changeover switch 905 is in the off state, the first mode is selected and the changeover switch 905 is in the on state. It is formed so that the second mode is selected.
When the opening button switch 901 is pressed and input to the opening/closing command unit 602 while the first mode is selected, the opening/closing command unit 602 is provided on the front side and the back side of the sliding door 3, respectively. The opening command signal for moving the sliding door 3 to the open end and decelerating and stopping is generated, and when the closing button switch 902 is pressed and input to the opening/closing command unit 602, the opening/closing command unit 602 closes. It is formed to generate a closing command signal for moving the sliding door 3 to the end and decelerating and stopping.

When the open button switch 901 is pressed and input to the open/close command unit 602 in the state where the second mode is selected, the open/close command unit 602 generates a first half-open command signal, In response to the first half-open command signal, the motor 14 is rotated via the motor control unit 600 and the motor drive unit 500 to move the sliding door 3 from the closed end by the first fixed distance to decelerate and stop, and also to drive the motor It is formed so as to turn off the portion 500 (first control means). Here, the first constant distance is preferably about 30 cm in consideration of the air conditioning efficiency in the living room and the caregiver's privacy. As a result, the sliding door 3 moves 30 cm from the closed end and stops. Next, when the close button switch 902 is pressed and input to the opening/closing command unit 602, the opening/closing command unit 602 generates a second half-opening command signal, and the motor control unit is generated by this second half-opening command signal. The motor 14 is formed to rotate through the motor 600 and the motor drive unit 500 to move the sliding door 3 from the open end by a second constant distance to decelerate and stop the motor drive unit 500. (Third control means).
The second constant distance is a distance at which the closed end can be stopped in the state of being opened by 30 cm, similarly to the above.

The operation of the automatic door control device configured as described above will be described with reference to FIGS.
<Normal operation>
Now, in the state where the changeover switch 905 is off, that is, in the first mode state. The sliding door 3 is located at the closed end. When the open button switch 901 is pressed, the opening/closing command unit 602 generates a speed command signal Vr as a door opening command signal, inputs the speed command signal to the switch operation unit 800, and turns on the energizing switch 610 to the a side. To do. 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 it.

On the other hand, 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 and the power The inverter 511 is operated via the conversion command unit 513 to rotate the motor 14 to move the sliding door 3 from the open end to the closed end and stop it.

<Half open movement/stop operation>
When the open button switch 901 is pressed (step S103) while the sliding door 3 is stopped at the closed end and the changeover switch 905 is turned on to select the second mode (step S101), the opening/closing command unit 602 causes 1 generates a speed command signal as a half-open command signal, and rotates the motor 14 via the motor control unit 600 and the motor drive unit 500 to move the sliding door 3 in the opening direction to the first constant distance and stop. At the same time, the energizing switch 610 is turned off via the switch operating unit 800 when the speed command signal disappears. That is, the motor drive unit 500 is turned off (step S105).

In this free state, the care staff can manually move the sliding door 3 in the opening direction or the closing direction to a desired position. Then, when the sliding door 3 moves and exceeds the first position (step S107), when a movement detection signal is input from the movement detector 702 to the automatic switching device 720, the automatic switching signal is output from the automatic switching device 720 to the opening/closing command unit 602. To enter. The opening/closing command unit 602 generates a speed command signal, turns on the energizing switch 610, rotates the motor 14 via the motor control unit 600 and the motor drive unit 500, and automatically moves the sliding door 3 to the open end and stops it. Yes (step S109).

On the other hand, in the step S105, the care staff moves the sliding door 3 in the closing direction from the state where the sliding door 3 is opened as a constant value of 30 cm (step S121), and when the sliding door 3 reaches the closed end (step S123), An edge detection signal is input from the edge detector 706 to the opening/closing command section 602. The motor 14 is decelerated and stopped by the speed command signal from the opening/closing command unit 602 (step S125).

After executing step S109, when the closing button switch 902 is pressed while the sliding door 3 is stopped at the open end (step S111), the opening/closing command unit 602 outputs the speed command signal as the second half-open command signal. Is generated, the motor 14 is rotated through the motor control unit 600 and the motor drive unit 500 to move the sliding door 3 in the closing direction to the second fixed distance and stop, and the speed command signal disappears to perform the switch operation. The energizing switch 610 is turned off via the section 800. That is, the motor drive unit 500 is turned off (step S113) and ends.
Here, although the operation of one cycle is completed, it is determined in step S107 whether the care staff manually moves the sliding door 3 in the opening direction or the closing direction from the state of step S113 to exceed the first position. If it exceeds, S109 to S113 are executed, or if it exceeds the second position in the above step S121, and if it exceeds, S123 and S125 are executed.

100 automatic door control device, 52 encoder (position detection means), 500 motor drive section (motor drive means), 600 motor control section (motor control means), 620 speed detection section (speed detection means), 702 movement detector ( Movement detection means), 720 automatic switching device (automatic switching means).

Claims (2)

A first mode in which the door is moved from the closed end to the open end based on the door open command signal, and the door is moved from the open end to the closed end based on the door close command signal; A control device for an automatic door having a second mode of moving the door from the closed end based on a half-open command signal and stopping in a half-open state,
Motor driving means for driving the motor,
Motor control means for rotating the motor while controlling the motor drive means,
Selecting means for selecting either the first or second mode;
With the second mode selected by the selecting means, the motor is driven via the motor control means and the motor driving means based on the first half-open command signal First control means for turning off the motor drive means while stopping by moving a fixed distance from the closed end;
In the off state, the door can be moved to the first position in the opening direction and can be moved to the second position in the closing direction, and free switching means,
Movement detecting means for detecting that the door has moved to the first position and generating a movement detection signal;
Second control means for moving the door to the open end via the motor control means and the motor drive means based on the movement detection signal;
An automatic door control device characterized by being equipped with. In the state where the door is stopped at the open end,
Based on a second half-open command signal, the door is moved toward the closed end through the motor control means and the motor drive means and stopped at a position of a second fixed distance from the open end, Third control means for turning off the motor drive means,
The control device for the automatic door according to claim 1, further comprising:

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