JP2841287B2 - Automatic door control - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic door control device, which does not use a DC motor using a simple commutator as a power source as in the past, but rather uses a brushless DC which has been used quite a lot. To adopt a motor,
Even if the detection sensor by the mat switch etc. breaks down, even if the door is kept in the closed state, if you open it a little manually, the brushless DC motor will automatically open the rest, In addition, if the door can be closed, or if the door is open due to the presence of obstacles, the door can be closed manually a little at a time, and then the brushless DC motor can automatically close the door. And an improved automatic door control device.

[0002]

2. Description of the Related Art In the case of an automatic door, when a pedestrian frequently comes and goes in a passage, the door is automatically provided to a pedestrian who merely passes through the door, even if the pedestrian does not enter the door. There is a defect that the door is opened and unnecessary opening and closing movement of the door occurs.To prevent this, the door is not opened just by passing a pedestrian, but by opening it a little manually, A motor in which automatic door opening is continued by a motor has already been proposed (Japanese Patent Publication No. Hei 8-19811).

In this case, as shown in FIG. 3, a DC motor A having a magnet stator a and a commutator (not shown) is used as is well known, and the reduction gear b is driven by driving the DC motor A. And a driving device B configured to rotate the driving pulley c through the driving pulley c.
A door opening / closing mechanism D in which a door g is hung so as to be openable and closable via a connecting bracket f is installed on a wrapping transmission member e such as a timing belt or a chain wound around the driven pulley d. In the figure, h and i are the doors g.
And a detection sensor such as a mat switch and a photoelectric switch which are respectively provided in the room and the outside.

[0004] In order to detect the rotation of the DC motor A, a rotation detector j using a tachometer, an encoder or the like, and a position calculator for calculating the current open / close position of the door g based on the detected rotation speed. k, and is connected between the DC motor A and the control unit F, and is controlled by the control unit F based on a detected position signal m from the position detection unit E. A motor drive unit G is provided, and a motor drive signal p is transmitted from the motor drive unit G in response to a door drive signal n from the control unit F, whereby the DC motor A can be driven.

[0005] Here, H of FIG. 3 is a detection signal input section to which the detection signal q from the detection sensors h and i is input as is known, the output of which is input to the control section F.
As is well known, an attachment storage unit connected to the control unit F, in which a predetermined pattern of the door g is stored. Therefore, according to the above configuration, when the passerby wants to pass through the door g, the door g at the closed position is manually opened slightly to obtain the door g.
Is detected by the position detection unit E including the rotation detection unit j and the position calculation unit k as the rotation of the magnet stator a in the DC motor A, and the detected position signal m
The control unit F that has received the control signal determines that the door g has moved from the closed position, and transmits a door drive signal n for opening to the motor drive unit G.

As a result, after the manual door opening operation, the DC motor A is driven by the motor drive signal p from the motor drive unit G to automatically open the door in the fully opened state, and thereafter, the fully opened state. The door g is fully closed by the door drive signal n in the door closing direction from the control unit F that knows
Thus, the above object can be achieved.

Further, the conventional example illustrated in FIG. 4 is different from the conventional DC motor A shown in FIG. 3 in that a brushless DC motor 1 which does not require a commutator is used. In other respects, there is no essential difference, and accordingly, the same members are denoted by the same reference numerals. Here, the brushless DC motor 1 is a magnet rotor 1a, as can be understood from FIG.
And not only the stator 1c around which the drive coil 1b is wound, but also the magnetic poles (N
(A pole and an S pole) are provided with a magnetic pole detection sensor 1d including a Hall element or the like provided in the vicinity of the pole.

Then, as shown in FIG. 3, a magnetic pole detection signal r obtained by the magnetic pole detection sensor 1d detecting a change in the magnetic pole accompanying the rotation of the magnet rotor 1a is input to the motor drive unit G. The direction of the stator winding currents i ₁ and i ₂ flowing through the drive coil 1b of the stator 1c is
Switching can be performed without a commutator, so that brushless driving is performed. However, even in a conventional automatic door control device adopting such a brushless DC motor 1, if the door g in the fully closed state is slightly manually operated, the door is automatically opened, and it is attempted to further bring the door to the fully closed state. In such a case, it is merely proposed to connect a position detecting unit E using an encoder, a tachogenerator or the like between the brushless DC motor 1 and the control unit F as in the above-described drawing. .

[0009]

According to each of the above-mentioned conventional examples, the idea is to automatically obtain a fully-opened state by operating a manual door in any automatic door device. In order to realize this, a rotation detector such as an encoder or a tachogenerator is used, so that the number of parts is increased, the structure is complicated, the failure rate is high, and the cost is high. There are defects.

The present invention has been made in view of the above-mentioned conventional deficiencies.
In the automatic door control device according to the present invention, not only a brushless DC motor is used as a power source as shown in FIG. 4 but also a magnetic pole detection sensor using a hall element or the like built in the brushless DC motor. We are paying attention. The magnetic pole detection signal obtained by the manual operation of the door by the magnetic pole detection sensor is not only input to the motor drive unit as described above, but also transmitted to the control calculation unit having the attachment storage unit, thereby controlling the control. The arithmetic unit counts and counts the magnetic pole detection signal, determines that the door has been manually opened from the closed position based on the obtained door position signal, and transmits the control arithmetic unit to the motor drive unit. Automatic door opening can be performed by a door drive signal in the opening direction, which enables automatic opening with a slight manual opening without using any new members such as encoders and tacho generators. It is an object of the invention to keep the door open and thus to provide an inexpensive and reliable automatic control device.

Further, in the first aspect of the present invention, by realizing the above-mentioned operation, the automatic door cannot be opened due to the failure of the detection sensor of the human body or the like, and the cold and hot outside air can be kept indoors. This can be useful when the door must always be fully closed to prevent intrusion into the vehicle, or when the door must be manually opened each time the door passes. In other words, the pedestrian tends to open the door with an excessive force in such a case, and as a result, the rotating shaft of the brushless DC motor reaches a predetermined number of revolutions or more. By applying the above force, it is possible to completely destroy the gear, or to gain momentum and crash the door to the open side, etc., and to damage the automatic door devices such as doors and fittings. It can be eliminated.

Next, in the automatic door control device according to the second aspect, not only the above-mentioned object is achieved by the configuration according to the first aspect, but also when the door is fully opened. Also, when the magnet rotor is slightly rotated by the manual closing operation of the door, the control operation unit counts and counts the magnetic pole detection signal from the magnetic pole detection sensor, and the door opening direction is determined based on the position detection signal obtained. Accordingly, a door drive signal in the door closing direction is transmitted to the motor drive unit, and as a result, the door is automatically moved to the fully closed state by the operating brushless DC motor. By doing so, in claim 2, the door collides with an obstacle during the closing operation, and based on this, the door is automatically opened to avoid danger, and the state is maintained. If the door is slightly closed manually, it is possible to automatically move the door to the fully closed state as it is. In this case, the gears can be prevented from being broken and the doors and the like can be prevented from being damaged.

[0013]

In order to achieve the above object, according to the present invention, there is provided a stator having a driving coil wound thereon, a magnet rotor, and detecting a change in a magnetic pole of the magnet rotor. A brushless DC motor that also includes a magnetic pole detection sensor that transmits a signal, a motor drive unit that outputs a motor drive signal for brushlessly driving the brushless DC motor by receiving the magnetic pole detection signal, and a brushless DC motor. By operation,
A door opening / closing mechanism by which the door is driven to open and close, and a detection signal from a detection sensor such as a human body attached to the door are received, and the door driving signal is transmitted to the motor driving unit, and is stored in the attachment storage unit. In the automatic door control device including a control operation unit configured to control a door opening / closing stroke and a deceleration position based on the motor drive signal from the motor drive unit according to the performed operation pattern, the control operation unit includes: During the failure of the detection sensor, the magnet rotor is rotated by manually opening the door of the fully-closed body, whereby the magnetic pole detection signal transmitted from the magnetic pole detection sensor is counted. Based on the position detection signal, it is determined that the door has moved from the closed position to the open direction, and a door drive signal in the open direction is transmitted to the door drive unit, and the motor drive signal The door is fully opened by the activation of the brushless DC motor operated by the controller, and from the time of the full opening, the control calculation unit transmits a door driving signal in the closing direction according to the operation pattern to the motor driving unit, and the door is opened. An automatic door control device characterized in that the automatic door control device is moved until the door is fully closed.

According to a second aspect of the present invention, in addition to the automatic door control device according to the first aspect of the present invention, the control operation unit includes a door fully opened according to an operation pattern of the attachment storage unit based on a detection signal from the detection sensor. When the door is closed from the door state, it collides with an obstacle, and when the door is fully open to avoid the danger, the magnet rotor is rotated by manually closing the door, thereby transmitting from the magnetic pole detection sensor. Based on the position detection signal obtained by counting and counting the magnetic pole detection signals of the above, it is determined that the door has moved from the open position to the close direction, and a door drive signal in the close direction is transmitted to the door drive unit. However, the content is that the door is moved to the fully closed state by the activation of the brushless DC motor driven by the motor drive signal.

[0015]

DETAILED DESCRIPTION OF THE INVENTION FIG.
This will be described in more detail below with reference to the principle diagram of FIG. 1.The point that the built-in magnetic pole detection sensor is effectively utilized as an indispensable element in the brushless DC motor without adding the position detection unit E as in the conventional example, Has essential features.
That is, the brushless DC motor 1 includes a stator 1c wound with a driving coil 1b, a magnet rotor 1a, and a magnetic pole detection sensor 1d, as in the conventional example of FIG.
The magnetic pole detection sensor 1d, by previously installed in the vicinity of the outer peripheral surface of the magnet rotor 1a, N pole of the magnet rotor 1a, the variation of the magnetic pole based on the rotation of the magnetic pole is S pole, as the magnetic pole detection signals S ₁ A hall element or the like is used so that transmission is possible.

The above-mentioned magnetic pole detection signal S ₁ is received by the motor drive unit 2, and shows the principle of the brushless DC motor 1 using only a pair of N poles and S poles and a pair of drive coils 1 b. 2, the magnetic pole detection signal S ₁ is applied to the pair of transistors 2 a and 2 b in the motor drive unit 2 to sequentially turn on and off.
In this state, the DC power supply 2c switches the direction of the stator winding currents i ₁ and i ₂ flowing to the drive coils 1b and 1b via the closed switching unit 2d. brushless drive is adapted to be performed by the motor driving signal S ₂ from the motor driving unit 2 without commutator.

The brushless DC motor 1 is provided with a driving pulley 1f which is driven via a speed reducer 1e, similarly to the conventional example, thereby constituting a driving device 3. A door opening / closing mechanism for opening and closing the door 4a by operating the pulley 1f is provided. In the illustrated example, the door opening / closing mechanism is a winding transmission member 4c wound around the driving pulley 1f and the driven pulley 4b. The door 4 is suspended from the door 4 via a connecting member 4d.
a.

Further, the conventional example also, sensor 5a of people husband indoor and outdoor doors 4a, 5b are arranged, the detection signal S ₃ this is obtained by detecting a passerby or the like, Tsukese' storage 1 and FIG. 2, the door drive signal S ₄ for opening and closing the door is transmitted to the motor drive unit 2 from the control calculation unit 7 as clearly shown in FIGS. 1 and 2.
Accordingly, when according to the embodiment of FIG. 2, the above-mentioned opening portion 2d of the motor driving unit 2 that is closed, from the DC power source 2c motor drive signal S ₂ is of the brushless DC motor 1 driving coil 1b, 1b , Whereby
The brushless DC motor 1 is operated.

[0019] Now, in the case in the present invention, in the automatic door control system such as described above, the magnetic pole detection signals S ₁ originating from the magnetic pole sensor 1d in the brushless DC motor 1 described above, the motor drive as former opinion without only be entered in part 2, magnetic pole detection signal line 8 such that the magnetic pole detection signal S ₁ is also transmitted to the control calculation unit 7 described above is Se'.

Further, in the present invention, the magnetic pole detection signal S ₁
Receiving the magnetic pole detection signal S ₁
If the door 4a is determined to have moved from the closed position to the open direction in claim 1 based on the position signal of the door 4a obtained thereby, the motor 4 On the other hand, the door drive signal S _{4 in} the door opening direction
Was to be sent, this as a result motor drive signal S ₂ brushless DC motor 1 is activated, the door 4a will move until the full open door state.

Therefore, according to the first aspect of the present invention, if the pedestrian passes through the automatic door while the detection sensors 5a and 5b are out of order, the door 4a in the fully closed state can be manually opened. brushless and magnet rotor 1a is rotated in the DC motor 1, the control arithmetic unit thereby the built-in magnetic pole detection sensor 1d or magnet rotor 1a as an integral component N pole, the magnetic pole change is S pole as the magnetic pole detection signal S ₁ 7 will be sent.

[0022] Then, the above control calculation unit 7 knows closing position of the door 4a from the magnetic pole detection signal S _1, judge that the door 4a is moved from the fully closing state to opening direction in this, the motor drive unit 2 by the door driving signal S ₄ that as
Is operated, the door can be fully opened with a slight manual opening operation, and the passage of the automatic door can be performed without any trouble. After the door is fully opened, the door is fully closed by a normal door opening / closing operation from the point of the fully opened door. In other words, the control operation unit 7 sends the motor drive unit 2 based on the operation pattern of the Tsukese' storage unit 6 is stored, transmits a door drive signal S ₄ to the closing direction, the door 4a is to move by the total closing state.

According to the second aspect, the first aspect is provided.
Not only door driving signal S ₄ composed of in the opening direction by such control calculation unit 7 of the above is transmitted to the motor drive unit 2, known as sensor 5a, by the detection signal S ₃ by 5b, with According to the operation pattern, when the door 4a is moved from the fully opened state to the closed state, the obstacle is collided with an obstacle and the door 4a is fully opened to avoid the danger. Therefore, even when the door 4a in the fully opened state is to be closed, a slight manual closing operation is performed again, so that the door can be automatically closed as follows.

That is, the above-described control operation unit 7 is provided with the door 4
pivots magnet rotor 1a by manually closing the a, thereby based on the position detection signal obtained by counting counting pole detection signals S ₁ transmission from the magnetic pole detection sensor 1d, the door opening position of the door 4a , The door drive signal S _{4 in} the door closing direction is transmitted to the motor driving unit 2, and the brushless DC motor 1 driven by the motor driving signal S ₂ is transmitted.
, The door 4a can be moved to the fully closed state.

As described above, in claim 2, claim 1
Not only at the time of opening the door as in
The door 4a is no longer opened or closed with an excessively strong force, and the brushless DC motor 1 is manually opened and closed at a predetermined rotation speed or more, so that the gear of the speed reducer 1e is broken at a torque higher than the rated torque. Also, it is possible to prevent the automatic door device from being destroyed by colliding the door 4a to the fully opened side or the fully closed side.

[0026]

As described above, the present invention utilizes a brushless DC motor and utilizes a magnetic pole detection sensor for operating without a commutator, which is an indispensable member thereof. Not only the motor drive unit but also the control operation unit is transmitted, thereby obtaining the door position detection signal,
Based on this, it is detected whether or not the pedestrian has manually moved from the fully closed door to the closed direction in claim 1 and further from the fully opened door to the closed direction in claim 2, and the opening direction of the motor drive unit is respectively determined. Since the door drive signal is transmitted in the direction of closing the door, the door can be easily opened automatically by a slight manual operation of the door. Therefore, it is possible to prevent gear breakage of the reduction gear and damage to doors and fittings in the drive unit, and it is not necessary to attach a dedicated member such as an encoder or a tachogenerator, which has been conventionally indispensable, thereby reducing the number of parts. Accordingly, simplification of the structure and a reduction in the failure rate can be expected, and considerable cost reduction can be realized.

[Brief description of the drawings]

FIG. 1 is an overall configuration explanatory view showing one embodiment of an automatic door control device according to the present invention.

FIG. 2 is a circuit diagram illustrating an example of the principle of the brushless DC motor in FIG. 1 and an example of a motor drive unit and a control operation unit connected thereto.

FIG. 3 is an overall configuration explanatory view showing a conventional automatic door control device using a DC motor.

FIG. 4 is an overall configuration explanatory diagram showing an assumed example of an automatic door control device using a brushless DC motor.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Brushless DC motor 1a Magnet rotor 1b Drive coil 1c Stator 1d Magnetic pole detection sensor 2 Motor drive unit 4 Door opening and closing mechanism 4a Door 5a Detection sensor 5b Detection sensor 6 Attached storage unit 7 Control calculation unit S ₁ Magnetic pole detection signal S ₂ Motor drive signal S ₃ detection signal S ₄ door drive signals

Claims (2)

(57) [Claims] A brushless DC motor including a stator having a driving coil wound thereon, a magnet rotor, and a magnetic pole detection sensor for transmitting a change in the magnetic pole of the magnet rotor as a magnetic pole detection signal, and receiving the magnetic pole detection signal. A motor drive unit that outputs a motor drive signal for brushlessly driving a brushless DC motor, a door opening / closing mechanism that opens and closes a door by operating the brushless DC motor, and detection of a human body, etc., installed on the door By receiving a detection signal from a sensor and transmitting a door drive signal to the motor drive unit, the door is driven based on the motor drive signal from the motor drive unit according to the operation pattern stored in the attachment storage unit. In the automatic door control device, which comprises a control arithmetic unit that controls the opening / closing stroke and deceleration position of the The control calculation unit described above, during the failure of the detection sensor, rotates the magnet rotor by manually opening the fully closed door, thereby counting and counting the magnetic pole detection signal transmitted from the magnetic pole detection sensor. Based on the door position detection signal obtained in this manner, it is determined that the door has moved from the closed position to the opening direction, and a door driving signal in the opening direction is transmitted to the door driving unit. The door is fully opened by the activation of the brushless DC motor operated by the motor drive signal, and from the time of the fully open door, the control calculation unit transmits a door drive signal in the closing direction according to the operation pattern to the motor drive unit. Wherein the door is moved until the door is fully closed. 2. A brushless DC motor including a stator having a driving coil wound thereon, a magnet rotor, and a magnetic pole detection sensor for transmitting a change in magnetic pole of the magnet rotor as a magnetic pole detection signal, and receiving the magnetic pole detection signal. A motor drive unit that outputs a motor drive signal for brushlessly driving a brushless DC motor, a door opening / closing mechanism that opens and closes a door by operating the brushless DC motor, and detection of a human body, etc., installed on the door By receiving a detection signal from a sensor and transmitting a door drive signal to the motor drive unit, the door is driven based on the motor drive signal from the motor drive unit according to the operation pattern stored in the attachment storage unit. In the automatic door control device, which comprises a control arithmetic unit that controls the opening / closing stroke and deceleration position of the The control calculation unit described above, during the failure of the detection sensor, rotates the magnet rotor by manually opening the fully closed door, thereby counting and counting the magnetic pole detection signal transmitted from the magnetic pole detection sensor. Based on the door position detection signal obtained in this manner, it is determined that the door has moved from the closed position to the opening direction, and a door driving signal in the opening direction is transmitted to the door driving unit. The door is fully opened by the activation of the brushless DC motor operated by the motor drive signal, and from the time of the fully open door, the control calculation unit transmits a door drive signal in the closing direction according to the operation pattern to the motor drive unit. , While the door is moved until the door is fully closed,
When the door moves from the fully opened state to the closed state according to the operation pattern of the attachment storage unit based on the detection signal from the detection sensor, the door collides with an obstacle, and when the door is in the fully opened state to avoid the danger, the door is closed. By manually closing the door, the magnet rotor is rotated. Based on the position detection signal obtained by counting and counting the magnetic pole detection signals transmitted from the magnetic pole detection sensor, it is determined that the door has moved from the open position to the closed direction. In this manner, a door drive signal in the closing direction is transmitted to the door drive unit, and the brushless DC motor driven by the motor drive signal thereby starts the door to move to the fully closed state. Automatic door control device characterized by the above-mentioned.