JPH102150A - Device for sensing opening and closing end of automatic door device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To close a door without being hindered by a small obstacle by controlling an applied voltage of a motor to make the speed of a door equal to a target speed and judging the position of the door based on pulse outputs in proportion to the amount of movement of the door. SOLUTION: Encoder pulses in proportion to the moving speed of doors 2a, 2b are outputted from an encoder 6 mounted to a motor 4 for opening and closing the doors. Moving speeds, moving directions, and positions of the doors 2a, 2b are determined based on the pulses. Pulses are counted to judge whether or not present positions of the doors correspond with positions of doors stored beforehand. Applied voltage to a motor 4 is controlled to make the speed of the doors 2a, 2b equal to a target speed, acting at a low speed, whereby the doors can be opened and closed without being stopped by the resistance of the doors or a small obstacle. And when it is judge that applied voltage to the motor 4 exceeds a predetermined value and the position of the doors corresponds with an open or close position, it is sensed that the doors have reached open or close position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects the arrival of a door at its open / close end when the door is opened / closed in various automatic door systems such as a sliding door type and a swing door type. The present invention relates to an open / closed end detection device.

[0002]

2. Description of the Related Art Some automatic door devices open and close a door by a driving force of a motor. In recent years, such an automatic door device is provided with a means for generating a pulse having a frequency (number) proportional to the rotation speed of the motor, that is, the moving speed (movement amount) of the door.
Control of the motor based on this is the mainstream.

For example, the door is automatically opened and closed once at a low speed in advance, so that the entire moving range (stroke) of the door is changed.
, The number of occurrences of the above pulse is counted, whereby the entire stroke of the door is automatically measured. Then, from one end of the full stroke of the door, that is, the open end or the closed end, as a base point, the number of generated pulses is counted therefrom to determine the door position, and where the determined door position is located in the full stroke. Accordingly, the rotation of the motor, that is, the door speed is controlled.

In order to realize such control, it is necessary to detect that the door has reached the open end and the closed end when measuring the full stroke of the door and when setting the base point. Further, in such control, the number of occurrences of the pulse changes due to external influence of noise on the pulse, and in a sliding door type automatic door device, a belt connecting the motor and the door slips. This may cause a difference between both end positions of the entire stroke calculated from the number of pulses and the actual open / close end. Therefore, even in a normal operation other than when measuring the entire stroke or setting the base point, in order to move the door completely to the open end and the closed end, to determine the open / close position of the door by the number of pulses. It is necessary to detect that the door has reached the open / close end by another means.

[0005] Therefore, as a device for detecting the open / close end of a door, there is a device disclosed in, for example, Japanese Patent Publication No. 2-28670. This device detects a measuring pulse proportional to the amount of movement of the door, and the number N of reference pulses oscillated from a reference oscillator during one cycle (cycle) of the measuring pulse.
_1, the reference pulse number N ₂ which is oscillated from the reference oscillator in one cycle in the measurement pulses when considered door substantially stops slower than using the lowest speed, it is compared.
The relationship between the reference pulse numbers N ₁ and N ₂ is N ₁
> When a N _2, and detects that the door has reached the open end (stroke end).

That is, when the door reaches the open end or the closed end and the door stops, the measurement pulse is not output, which is equivalent to a state in which the period of the measurement pulse becomes forever longer. As a result, the number N _{1 of} reference pulses oscillated from the reference oscillator becomes infinite (∞), which is larger than the number N _{2 of} reference pulses when the door is considered to be substantially stopped (N ₁ > N). ₂ ). Therefore, it is possible to detect that the door has reached the open / close end.

[0007]

When measuring the full stroke of the door and setting the base point as described above, the impact when the door reaches the opening / closing end (collision) is minimized. To do so, the door is usually moved at a low speed. However, when the door is moving at a low speed like this, for example, the wind pressure of the wind blowing toward the door,
Wear of guide rollers and rails that guide the door movement,
In addition, the door may be easily affected by door resistance due to dust or the like accumulated on the rail, and the door may stop before the door reaches the open / close end. In this case, according to the above-described related art, since the open / close end of the door is erroneously detected, there is a problem that the entire door stroke cannot be measured accurately or the base point cannot be set accurately. is there. As described above, if the normal operation is performed in a state where the entire stroke of the door cannot be accurately measured or the base point cannot be accurately set, the door may not completely reach the open / close end (the door may not be completely closed). The door does not open or close completely), and the door collides with the opening / closing end at high speed to damage the door, and the door cannot be controlled comfortably and safely. This problem,
This is more noticeable when the door is a hinged door, because it is particularly susceptible to the wind pressure.

Further, according to the above-mentioned conventional technology, the following problem occurs, for example, in the normal operation other than the measurement of the entire stroke and the setting of the base point. That is, the door normally moves at a low speed near the open end at the same speed as that during the measurement of the full stroke and at the time of setting the base point during the opening operation, and at the same time near the closed end during the closing operation. It is known that the robot can be moved at a low speed at the same speed as when measuring the stroke and when setting the base point. Therefore, even during this low-speed movement, the door may stop before the door reaches the open / close end due to the influence of the door resistance as described above. It is erroneously detected that it has reached the end.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an opening / closing end detecting device capable of reliably detecting that the door has reached an open end or a closed end in order to control the door comfortably and safely. .

[0010]

In order to achieve the above-mentioned object, according to the first aspect of the present invention, a motor for opening and closing a door and a pulse proportional to the amount of movement of the door are provided. A pulse output unit for outputting, and a control unit for controlling the motor based on a pulse output from the pulse output unit, an automatic door device including:
Motor voltage control means for controlling the voltage applied to the motor so that the speed of the door matches the target speed during the low-speed operation, and the voltage applied to the motor by the motor voltage control means has a predetermined voltage value. When it is determined that the door has been exceeded, it is detected that the door has reached the open / close end.

That is, when the door reaches the opening / closing end and stops, the load applied to the motor increases, and the voltage applied to the motor by the motor voltage control means increases. And
When it is determined that the voltage applied to the motor has exceeded a predetermined voltage value, it is detected that the door has reached the open / close end. Here, the predetermined voltage value is, for example, the above-mentioned wind pressure, abrasion of the guide rollers and rails for guiding the movement of the door, and dust accumulated on the rail, or the like, or the door resistance increases, or Even if the load on the motor increases due to the presence of relatively small obstacles such as pebbles, etc., the load can be driven sufficiently (that is, the door can be reliably moved to the open / close end). Voltage).

Therefore, according to the first aspect of the present invention, the motor voltage control means supplies the motor with an applied voltage for matching the door speed to the target speed until the voltage exceeds the predetermined voltage value. Therefore, the door can reach the open / close end without being stopped by the door resistance or a small obstacle. Therefore, the open / close end of the door can be detected more accurately than in the above-described related art. This technique is particularly effective, for example, when automatically measuring the entire stroke of the door or when automatically setting the base point.

According to a second aspect of the present invention, there is provided a motor for opening and closing a door, a pulse output unit for outputting a pulse proportional to the amount of movement of the door, and the pulse output unit based on the pulse output from the pulse output unit. A control unit for controlling a motor, wherein the control unit controls a voltage applied to the motor to make the speed of the door coincide with a target speed during low-speed operation, and a motor voltage control unit. Position determination means for determining that the current door position obtained by counting the pulses matches a previously stored door open position or closed position, and the motor voltage control means When it is determined that the applied voltage has exceeded a predetermined voltage value, and when the position determining means determines that the door position matches the open position or the closed position, the door is opened or closed. And detects that it has reached.

That is, similarly to the first aspect of the present invention, the voltage applied to the motor by the motor voltage control means is:
It is determined whether or not a predetermined voltage value has been exceeded. In addition, the position judging means judges whether or not the current door position obtained by counting the pulses coincides with the previously stored door open position or closed position. Then, only when it is determined that the applied voltage of the motor has exceeded the predetermined voltage value, and when it is determined that the door position matches the open position or the closed position, it is determined that the door has reached the open end or the closed end. To detect.

Therefore, according to the present invention, the motor voltage control means supplies the motor with an applied voltage for matching the door speed to the target speed until the voltage exceeds the predetermined voltage value. Therefore, the door can reach the open / close end without being stopped by the door resistance or a small obstacle. Also, for example, even if a relatively large obstacle exists on the movement path of the door, which hinders the movement of the door and stops before the door reaches the open / close end, the position determination means determines the position of the door. The door is not considered to have reached the open or closed end unless it is determined that the door has reached the open or closed position, so that the open and closed ends of the door can be detected more accurately. This technique is particularly effective, for example, when automatically measuring the entire stroke of the door or when automatically setting the base point.

According to a third aspect of the present invention, there is provided a motor for opening and closing a door, a pulse output unit for outputting a pulse proportional to the amount of movement of the door, and the pulse output unit based on the pulse output from the pulse output unit. A control unit for controlling a motor, wherein the control unit determines that the door has stopped when the cycle of the pulse is longer than a predetermined cycle; and Motor voltage control means for controlling the voltage applied to the motor to match the speed of the door with the target speed during the low-speed operation, wherein the stop determination means determines that the door has stopped, and When it is determined that the voltage applied to the motor by the motor voltage control means has exceeded a predetermined voltage value, it is detected that the door has reached the open / close end.

That is, while the door is moving, the pulse is output from the pulse output unit.
When the door reaches the opening / closing end and the door stops, the pulse is no longer output, and this is in a state equivalent to an apparently long cycle of the pulse. The stop determination means is
When the cycle of this pulse becomes longer than the predetermined cycle, it is determined that the door has stopped. In addition, similarly to the first aspect of the present invention, it is determined whether or not the voltage applied to the motor by the motor voltage control means has exceeded a predetermined voltage value. Only when it is determined that the predetermined voltage value has been exceeded and when the stop determination means determines that the door has stopped, it is detected that the door has reached the open end or the closed end. In addition, the above-mentioned predetermined cycle does not mean that the door stops momentarily, for example.
This is a relatively long time that is considered to be completely stopped.

According to the third aspect of the present invention, the motor voltage control means supplies the motor with an applied voltage for matching the door speed to the target speed until the voltage exceeds the predetermined voltage value. Therefore, the door can reach the open / close end without being stopped by the door resistance or a small obstacle. Further, even if the voltage applied to the motor exceeds the predetermined voltage value for some reason, the door is not considered to have reached the open / close end unless the stop determination means determines that the door has completely stopped. The open / closed end of the door can be detected more accurately. This technique is particularly effective, for example, when automatically measuring the entire stroke of the door or when automatically setting the base point.

According to a fourth aspect of the present invention, there is provided a motor for opening and closing a door, a pulse output unit for outputting a pulse proportional to the amount of movement of the door, and the pulse output unit based on the pulse output from the pulse output unit. A control unit for controlling a motor, wherein the control unit determines that the door has stopped when the cycle of the pulse is longer than a predetermined cycle; and Position judging means for judging that the current door position obtained by counting the pulses coincides with a previously stored open position or closed position of the door, wherein the stop judging means judges that the door has stopped When the position determining means determines that the door position matches the open position or the closed position, it detects that the door has reached the open end or the closed end.

That is, while the door is moving, the pulse is output from the pulse output unit.
When the door reaches the opening / closing end and the door stops, the pulse is no longer output, and this is in a state equivalent to an apparently long cycle of the pulse. The stop determination means is
When the cycle of this pulse becomes longer than the predetermined cycle, it is determined that the door has stopped. In addition, the position judging means judges whether or not the current door position obtained by counting the pulses coincides with the previously stored door open position or closed position. Only when it is determined that the door has stopped by the stop determining means and when it is determined that the door position matches the open position or the closed position, it is detected that the door has reached the open end or the closed end.
Therefore, even if, for example, a relatively large obstacle exists on the movement path of the door, which hinders the movement of the door and stops before the door reaches the open / close end, the position determination means determines the position of the door. The door is not considered to have reached the open or closed end unless it is determined that the door has reached the open or closed position, so that the open and closed ends of the door can be detected more accurately. The predetermined cycle is, for example, a relatively long time that the door is not stopped instantaneously but is considered to be completely stopped.

As described above, according to the fourth aspect of the present invention, it is judged (detected) that the door has reached the open end or the closed end by the two judgment means, the stop judgment means and the position judgment means. Therefore, more accurate detection of the open / close end can be realized.

The invention described in claim 5 is the invention according to claim 2 or 4
In the opening and closing end detection device according to the above, the position determination means, the door position obtained by counting the pulse,
When the door is within a predetermined allowable range of the open position or the closed position, it is determined that the door position coincides with the open position or the closed position.

For example, the count number of the pulse increases or decreases due to the influence of noise, or a gap is formed due to dust or pebbles accumulated between the door and the open or closed end.
When the hardness (elasticity) of the packing provided on the door tip of the door changes with time, or the stopper provided at the open end shifts, the open position or the closed position of the door stored in advance is determined. An error may occur between the current open position or the closed position obtained by counting the pulses.
That is, if this error is within the predetermined allowable range, it is determined that the door position matches the open position or the closed position,
It is detected that the door has reached the open or closed end. Therefore, according to the fifth aspect of the present invention, since the error is absorbed, a problem that the open / close end of the door cannot be detected due to the error does not occur.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an open / close end detecting device according to the present invention applied to, for example, a sliding door type automatic door device will be described with reference to FIGS. The present invention is not limited to a sliding door type automatic door device, and can be applied to, for example, an automatic door device other than a sliding door type such as a hinged door type.

First, an outline of a sliding door type automatic door device to which the open / close end detecting device according to the present invention is applied will be described. FIG.
2 shows a schematic configuration diagram of the entire automatic door device. In the figure, reference numerals 2a and 2b denote door bodies, and these doors 2a and 2b
Has a closed end where the door opening is completely closed as shown in the figure,
The doors 2a and 2b open on both sides, and slide between a fully opened open end so as to allow a person to pass through the door opening along a not-shown, for example, linear guide rail. The door 2a is connected to, for example, an upper portion of the belt 3, and the door 2b is connected to a lower portion of the belt 3.
The belt 3 is hung between the driven pulley 5a and the drive pulley in parallel with the guide rail, and the drive pulley 5b is driven to rotate by a motor, for example, a DC motor 4. By this rotational drive, the doors 2a, 2b
Are linearly moved between the closed and open positions in opposite directions.

The control of the motor 4 is performed by the control unit 1. The control unit 1 includes, for example, a central processing unit (hereinafter, referred to as a CPU) 14. This CPU
The sensor 14 is provided outside the control unit 1, for example, from a sensor 12 provided outside the door opening (not shown).
An object detection signal output when the object 2 detects that an object such as a pedestrian approaches the vicinity of the doors 2a and 2b is supplied through an input / output interface unit (hereinafter, referred to as an I / O unit) 13. Have been. Also, the CPU 14
Is an encoder pulse output from the encoder 6 attached to the motor 4 (hereinafter simply referred to as a pulse).
Are also supplied via the I / O unit 7. The pulse output from the encoder 6 is a pulse having a frequency (number) proportional to the rotation speed of the motor 4, that is, the moving speed (movement amount) of the doors 2a and 2b.
Two pulses having phases different from each other by 90 degrees, ie, the A phase and the B phase, are output. The CPU 14 detects the presence of a pedestrian or the like in the vicinity of the doors 2a and 2b based on the object detection signal, and detects the doors 2a and 2b based on the pulse.
The moving speed, the moving direction, the position, and the like are calculated, and the motor drive unit 10 is controlled via the I / O unit 11 based on the information. The motor drive unit 10 rotates the motor 4 under the control of the CPU 14.

In the present embodiment, the motor 4 is controlled, for example, by pulse width modulation (PWM). That is, the motor drive unit 10 receives the I
Via the / O unit 11, for example, P
A WM control signal is supplied. The motor drive unit 10 alternately switches between a state in which the motor 4 is driven and a state in which braking is performed in accordance with the PWM control signal. For example, when the PWM control signal is at H level, the motor 4 is driven, and when the PWM control signal is at L level, the motor 4 is braked. Therefore, one cycle W of the PWM control signal
By adjusting the H level (or L level) period, the period during which the motor 4 is driven and the period during which the braking is performed are adjusted, whereby the rotation speed of the motor 4 and thus the moving speed of the doors 2a, 2b are adjusted. You. In addition, PWM
The ratio of the period of the H level to one cycle W of the control signal is referred to as duty D _U.

The motor drive unit 10 includes:
In addition to the PWM control signal, a direction signal is supplied from the CPU 14 via the I / O unit 11. The direction signal includes a forward signal and a backward signal. When the forward signal is at the H level, the motor drive unit 10 moves, for example, in a direction to open the doors 2a and 2b (opening operation).
The motor 4 is rotated so as to cause the rotation. Further, when the reverse signal is at the H level, the motor drive unit 10 rotates the motor 4 so as to move the doors 2a and 2b in the closing direction (close operation).

By controlling the motor 4, the doors 2a, 2a
b corresponds to the door position (stroke), for example, FIG.
It moves between the closed position CP and the open position OP while changing the speed in the relationship shown in FIG. That is, the door 2a,
When the opening operation is performed from the closed position CP, 2b is first accelerated until it reaches a predetermined speed v _OH , and thereafter moves at a constant speed at this speed v _OH . When the doors 2a and 2b reach a predetermined brake point (OBP), a speed v _OC which is considerably lower than the speed v _OH between this time and a predetermined cushion start point (OCS). And then moves to the open position OP at this speed v _OC . Similarly, at the time of the closing operation, as shown in FIG.
Door 2a, 2b, after being accelerated from the open position OP to reach a predetermined velocity v _CH, moves constant at this speed v _CH. Then, when the doors 2a and 2b reach a predetermined brake point (CBP), the doors 2a and 2b reach a speed v _CC that is considerably lower than the speed v _CH from this point to a predetermined cushion start point (CCS). Slowed down to
Thereafter, it moves to the closed position CP at this speed v _CC .

Here, from the closed position CP to the open position O
Up to P, the area where the doors 2a and 2b are accelerated is the acceleration area (SA), the area where the doors 2a and 2b move at a constant high speed v _OH and v _CH is the high speed area (HA), and the area where the doors are decelerated is the deceleration area ( BA) and a region moving at a constant low speed v _OC , v _CC is a low speed region (S
A). The door speeds v _OH and v _CH in the high speed range are set such that the speed v _CH during the closing operation is lower than the speed v _OH during the opening operation. Similarly, the door speeds v _OC and v _CC in the low speed range are set such that the speed v _CC during the closing operation is lower than the speed v _OC during the opening operation.

The CPU 14 controls the door speed (control of the motor 4) with respect to the door position as described above.
Feedback control is performed based on the pulse output from the encoder 6. That is, the doors 2a and 2b are moved in advance between the closed position CP and the open position OP, and the number of pulses output from the encoder 6 at this time is counted. (Stroke) is measured. The brake point and the cushion start point are set according to the number of pulses N corresponding to the entire stroke (specifically, the distance from the open position OP or the closed position CP to the cushion start point). The number of pulses N corresponding to
And _C, and sets a number of pulses N _B corresponding the cushion start point to the distance to the brake point). Then, one of the open position OP and a closed position CP, for example, as a base point in the closed position CP, from which indexes the door position by counting the occurrence number N _X of the pulse, the indexing door position N _X is the total stroke N
The door speed is controlled according to where it is located.

The measurement of the pulse number N corresponding to the entire stroke is performed when the open / close ends of the doors 2a and 2b are still unknown, for example, when the automatic door device is installed. That is, first, the doors 2a and 2b are manually moved to the open end, for example. Next, a command to measure the pulse number N is given to the CPU 14 of the control unit 1 by a handy terminal (setting device) 16 described later. As a result, the CPU 14 recognizes the current door position, that is, the open end as the open position OP. And the doors 2a, 2b
5 is automatically moved at a low speed, for example, at the same speed as the door speed v _CC in the low speed range during the above-described closing operation to the closing end, and the pulse output from the encoder 6 is changed. Start counting. When the doors 2a and 2b reach the closed ends, the movement of the doors 2a and 2b is stopped, and this position is recognized as the closed position CP. N is stored in a memory unit 18 formed of, for example, an EEPROM.

After measuring the pulse number N, the CPU 1
4 counts the pulses based on the closed position CP as described above, and this base point is reset each time the automatic door device is powered on. This is because, for example, when the power of the automatic door device is in the OFF state, the doors 2a, 2b
This is because the base point moves due to unexpected movement or manual movement. The setting of this base point is performed as follows. That is, for example, FIG.
As shown in Fig. 7, when the power is turned on, it is assumed that the doors 2a and 2b are not located at any of the closed position CP and the open position OP but are located between them, for example. Therefore, immediately after the power is turned on, the doors 2a and 2b are automatically slowed down to one of the closed end and the open end, for example, to the closed end, for example, at the same speed as the door speed v _CC in the low speed range during the above-described closing operation. Be moved. When the doors 2a and 2b reach the closed ends,
The movement of the doors 2a and 2b is stopped, this position is recognized as the closed position CP, and the closed position CP is stored in the memory unit 18 as the base point. Here, the reason why the closed position CP is set as the base point is that the normal operation of the automatic door device can be started immediately after setting the base point.

A series of operations of the CPU 14 are executed according to a program stored in the memory unit 18,
The CPU 14 operates according to the reference pulse output from the reference pulse oscillator 20. The above-mentioned handy terminal 16 is connected to the CPU via the I / O unit 17.
14. The handy terminal 16 determines whether the base point should be the open position OP or the closed position CP in addition to the above-described measurement start command for all strokes, and determines the door speed v _OH , v during normal operation of the automatic door device. _OC, v and _CH and _CC2L, brake point and cushion-start point, etc., door 2a, various parameters required when operating the 2b (the conditions) CP
Set to U14. In addition, the handy terminal 16
It is provided outside the control unit 1 and is removed from the control unit 1 during normal operation other than when the automatic door device is installed or when the above parameters are set.

When measuring the pulse number N corresponding to the entire stroke as described above and setting the closed position CP as the base point, it is necessary to detect that the doors 2a and 2b have reached the open and closed ends. There is. It is known that the pulse of the encoder 6 is generally susceptible to external noise. Therefore, even during the normal operation of the automatic door device, the count number of the pulse increases and decreases due to the influence of the external noise, thereby causing a difference between the door position recognized by the CPU 14 and the actual door position. There is. In the sliding door type automatic door device as in the present embodiment, the belt 3 hung between the pulleys 5a and 5b slips. The number of pulses may also change. Therefore,
Even in the normal operation of the automatic door device, in order to completely move the doors 2a, 2b to the open end and the closed end, the door 2a, 2b, It is necessary to detect that 2b has reached the open / close end. Therefore, a description will be given below of the present embodiment which can reliably detect that the doors 2a and 2b have reached the open / close ends.

First, the concept of the open / closed end detection technique by the open / closed end detector according to the present invention will be described. This open / close end detecting device is constituted by the control unit 1 described above. And door 2
a, 2b reaching the open / close end is detected, for example, by monitoring the drive voltage of the motor 4 (motor voltage limit determination), or
The pulse (stop judgment) output from the encoder 6 and the door position (position judgment) recognized by the CPU 14 are respectively monitored, and the open / close end is detected by combining these. Hereinafter, the concept of each detection technique will be described.

Regarding the motor voltage limit determination, when the doors 2a, 2b reach the open / close end, the doors 2a, 2b
Stops, thereby increasing the load on the motor 4,
The drive voltage of the motor 4 increases. When it is determined that the drive voltage of the motor 4 has exceeded a predetermined voltage value, the door 2
It is this motor voltage value detection that detects that a and 2b have reached the open / close end. Here, the motor 4 is set to P
Since the WM control is performed, the above-described duty D _U is monitored instead of monitoring the drive voltage value.

FIG. 1 shows the relationship between the door speed and the duty D _{U of the} motor 4. As described above, when detecting the open / close end, the doors 2a and 2b move at the same speed as the door speeds v _OC and v _CC in the low speed range during normal operation. That is, as shown in FIG. 1, the door 2a, 2b are the velocity v _OC
Or v when moving in _CC constant, the door 2a, 2b reaches the open end or closed end, the door 2a, 2b stops, the duty D _U of the motor 4 from that point rises. The duty D _U is, when Ku larger than a predetermined upper limit value D _L, detects that the door 2a, 2b reaches the open end or closed end.

[0039] Here, the upper limit value D _L of the duty D _U say, for example, wind pressure and described above, the door 2a, the wear of the guide rollers or rails or the like for guiding the movement of 2b, and the dust collected in the rail Even if the load applied to the motor 4 increases due to an increase in the door resistance or the presence of relatively small obstacles such as pebbles on the rail, these loads can be driven sufficiently (i.e., , Door 2a,
2b and duty D _U of the degree capable of reliably moved to open and close end).

Further, the fact that the duty D _U is greater than the upper limit value D _L is below 16
CPU 14 according to the motor voltage control program shown in FIG.
Judge. The upper limit value D _L is set by the above-described handy terminal 16. Also,
This motor voltage limit determination can be applied to a motor driven by a control method other than the PWM control. Furthermore, as in the present embodiment, instead of detecting the duty D _U, it may detect the drive voltage itself is applied to the motor 4 itself.

The door 2a for the stop determination, and 2b reaches the open end or closed end, door 2
a, 2b stop, and no pulse is output from the encoder 6. As a result, the pulse is apparently in a state equivalent to an elongate cycle. When the cycle of this pulse becomes longer than the predetermined cycle, the door 2
It is the final stop determination that determines that a and b have stopped. In the present embodiment, the time between the edges (rising and falling) of the pulse is measured, and when the measured time is longer than a predetermined time, the door 2 is stopped.
It is determined that a and b have stopped. Note that the predetermined time period is a relatively long time period in which the doors 2a and 2b do not stop instantaneously but are considered to have completely stopped.

That is, as described above, the encoder 6 outputs two pulses, the A phase and the B phase, which are shifted by 90 ° from each other. Therefore, the time between the edges (periods) of the pulses of the A-phase and the B-phase is not measured, but the time between the edges adjacent to each other is measured as shown in FIG. The timing of the edge interval is performed by counting the number of reference pulses output from the reference pulse oscillator 20 between the edges. Therefore, when the reference pulse number n counted during the edge interval becomes larger than a predetermined reference pulse number n _t (n> _nt ), it is determined that the doors 2a and 2b have stopped.

Note that the CPU 14 determines this stop according to a stop determination program shown in FIG. In addition, the reference pulse number n _{t serving} as a reference for determining that the doors 2a and 2b have stopped is set by the handy terminal 16 described above. It is to be noted that the final stop determination can be realized by separately measuring the edge intervals of the A-phase and B-phase pulses output from the encoder 6, but as described above, both the A-phase and B-phase By measuring the time between edges adjacent to each other,
The stop determination can be realized faster than timing between the edges of each of the A phase and the B phase.

[0044] As described above for position determination, CPU 14 by counting the number of pulses output from the encoder 6, recognizes the door position. Therefore, from the door position obtained from this pulse number, it can be confirmed that the doors 2a and 2b are located at the open end or the closed end, or that they are located near the open end and the closed end. Note that the vicinity of the open end and the closed end means that the number of pulses changes due to the fact that the encoder 6 is easily affected by external noise and the belt 3 slips, as described above. There is a case that a difference may occur between the actual door position and the actual door position. Therefore, in order to absorb this difference (to avoid being affected), the door 2
It is necessary to set an allowable range in which a and 2b are considered to be located at the open end or the closed end.

That is, as shown in FIG. 8, a predetermined allowable range ± α is set for the open position OP recognized by the CPU 14. When the doors 2a and 2b open,
Door 2a, a counted number of pulses N _X until 2b reaches the open end, between the number of pulses N corresponding to full stroke measured in advance, even if differences actually counted the pulse If the number N _X is within the above-mentioned allowable range ± α with respect to the number N of pulses corresponding to the entire stroke ([N
−α] ≦ N _X ≦ [N + α]), and the doors 2a and 2b are considered to be located at the open ends. Similarly, as shown in FIG. 9, the allowable range ± α is set for the closed position CP recognized by the CPU 14. And the door 2a,
If 2b is operated closed, the door 2a, the counted number of pulses N _X until 2b reaches the closed end, between the number of pulses N corresponding to the full stroke, even if differences
If the actually counted number of pulses N _X is within the allowable range ± α with respect to the number of pulses N corresponding to the entire stroke ([N−α] ≦ N _X ≦ [N + α]), the doors 2a, 2x
b is considered to be at the closed end.

It should be noted that the allowable range ± α is a value (several pulses) corresponding to, for example, several millimeters, which is equivalent to the degree to which the pulse of the encoder 6 is slightly affected by external noise or to the degree that the belt 3 slightly slips. ), For example, α = about 8 pulses. Further, in this embodiment, counting of the pulse number N _X, the door 2a, 2
b is added during the opening operation and b is subtracted during the closing operation. In this embodiment, even if there is a difference between the pulse number N _X actually counted and the pulse number N corresponding to the entire stroke as described above, the doors 2a and 2b reach the closed ends. Each time, the pulse number N _X is reset (for example, N _X = 0). This prevents the difference from being accumulated.

The following can be considered as a cause of the difference between the pulse number N _X and the pulse N as described above.

For example, when the doors 2a and 2b are in the open state, pebbles 50 are present on the guide rails 40 as shown in FIG.
For example, this is a case where the light does not reach the stopper 30. In this case, actually the number of pulses N _X counted, when a value smaller than the number of pulses N corresponding to full stroke (the number of pulses N _X has not increased or decreased by slippage effects and the belt 3 of the external noise .). However, the above pulse number N _X
Is within the allowable range -α of the pulse number N, the door 2
a, 2b are considered to have reached the open end.

When the actual number of pulses N _X increases due to the influence of external noise, slippage of the belt 3 or the like,
For example, as shown in FIG. That is, the doors 2a, 2b
However, the number of pulses N _X at the time when the stopper 30 is reached is
This is a value larger than the pulse number N corresponding to the entire stroke. However, if the pulse number N _X is a value within the allowable range of the pulse number N + α, the doors 2a and 2b are considered to have reached the open ends.

Further, for example, as shown in FIG.
a, by collision 2b, when the stopper 30 is shifted, the actual number of pulses N _X is a value greater than the number of pulses N corresponding to full stroke (the number of pulses N _X is the influence of external noise and the belt 3 If the value does not increase or decrease due to slippage of the item.) However, also in this case, the number of pulses N _X is, if the value within the allowable range + alpha pulse number N, the door 2a, 2b
Is considered to have reached the open end.

When the actual number of pulses N _X decreases due to some influence, for example, it becomes as shown in FIG. That is, the door 2a, 2b are, the number of pulses N _X at the time it reaches the stopper 30 is made smaller than the number of pulses N corresponding to the full stroke. However, also in this case, the number of pulses N _X is, if the value of the allowable range -α pulse number N, the door 2a, 2b is considered to have reached the open end.

On the other hand, when the doors 2a and 2b are in the closing operation, it is the same as in the opening operation. For example, when the actual number of pulses N _X increases due to the influence of external noise, slip of the belt 3, or the like, the result is as shown in FIG.
That is, the door 2a, 2b are closed, for example, the number of pulses N _X at the time of reaching the Tatsuwaku 60 becomes larger than the number of pulses N corresponding to the full stroke. However, if the pulse number N _X is a value within the allowable range of the pulse number N + α, the doors 2a and 2b are considered to have reached the closed ends.

When the actual number of pulses N _X decreases due to some influence, for example, it becomes as shown in FIG. That is, the door 2a, 2b are, the number of pulses N _X at the time of reaching the Tatsuwaku 60 becomes smaller than the number of pulses N corresponding to the full stroke. However, also in this case, the number of pulses N _X is, if the value of the allowable range -α pulse number N, the door 2a, 2b is considered to have reached the closed end.

[0054] For program Next, in order to realize the opening and closing end detection will be described programs CPU14 executes. Note that the CPU 1
4 is, for example, a motor voltage control program shown in FIG.
And the doors 2a and 2b have reached the open or closed ends by one of the door open / close end detection programs (1), (2), and (3) shown in FIGS. 17, 17, 19, and 20, respectively. Detect that. In the door open end detection program shown in FIGS. 19 and 20, the stop determination program shown in FIG. 18 is used as a subroutine. Further, the CPU 14 executes these programs simultaneously with other programs for controlling the automatic door device.
Hereinafter, each program will be described individually with reference to the drawings.

Motor Voltage Control Program This program is for controlling the drive voltage applied to the motor 4, and the CPU 14 operates according to the flowchart shown in FIG.

That is, the CPU 14 first sets the doors 2a, 2a
It is determined whether or not b is operating at a low speed (step S2).
Here, when the low-speed operation is not performed (No), the open / close end detecting device (automatic door device) is not in the state of detecting the open / close end, for example, the doors 2a and 2b are in the stop state, or the acceleration range described above. It is determined that the motor is in one of the high speed range and the deceleration range, and the process exits the motor voltage control program and executes the processing of another program.

If it is determined in step S2 that the vehicle is operating at a low speed (Yes), then the current door speed is calculated from the pulse of the encoder 6 (step S2).
4), the calculated door speed and target speed (ie,
v _OC or v _CC ) (step S6). If it is determined in step S6 that the current door speed is substantially equal to the target speed (ie, v _OC or v _CC ), the CPU 14 moves the doors 2a and 2b normally at the target speed. Then, the process exits the motor voltage control program and executes the processing of another program.
If it is determined in step S6 that the current door speed is higher than the target speed, the CPU 14
, Such that the door speed is slower than the current speed, after lowering the duty D _U of the PWM control signals for controlling the motor 4 (step S8), and exits the motor voltage control program. Further, if it is determined in step S6 that the current door speed is lower than the target speed,
U14 controls the PWM so that the door speed approaches the target speed.
After raising the duty D _U of the control signal (step S1
0), and proceed to step S12.

[0058] In step S12, the duty D _U determines whether greater than the upper limit value D _L described above. Here, when the current duty D _U is less than the upper limit D _L (No), the process exits the motor voltage control program. On the other hand, the duty D _U is, if the upper limit value D _L (Yes), the drive voltage applied to the motor 4, it is determined that exceeds the limit value capable of sufficiently moving the door 2a, 2b (the step S14), and this Detects that the doors 2a and 2b have reached the open / close end.

As described above, according to this program, the CP
U14 continues to supply the applied voltage to match the door speed at the target speed to exceed the upper limit value D _L of the duty D _U to the motor 4. Therefore, the doors 2a and 2b can reach the open / close end without being stopped by the above-described door resistance due to wind pressure, dust, or a small obstacle. Therefore,
The open / close ends of the doors 2a and 2b can be detected more accurately than in the above-described related art. Note that the detection of the open / close end by the present program is particularly effective, for example, when automatically measuring all the strokes of the doors 2a and 2b and when automatically setting the above-described base point (closed position CP).

Regarding the open / close end detection program (1) This program checks the door position obtained from the pulse of the encoder 6 in addition to the motor voltage control program, so that the doors 2a and 2b reach the open end or the closed end. This is to detect that it has been done.

That is, the CPU 14 calculates the current door position N _X by the pulse of the encoder 6 (step S).
22). Then, the current door position N obtained by this calculation is obtained.
It is determined whether _X matches any of the open position OP and the closed position CP recognized by the CPU 14 (steps S24 and S26). Here, when the door position N _X does not coincide with any of the open position OP and the closed position CP (No), the CPU 14 determines that the doors 2a and 2b have not reached either the open end or the closed end. , And exits the open / close end detection program to execute the processing of another program.

On the other hand, if it is determined in step S24 that the current door position N _X coincides with the open position OP (Yes), it is next checked whether or not the above-described motor voltage limit determination has been made. (Step S28). If it is determined in step S28 that there is no motor voltage limit determination (No), it is determined that the doors 2a and 2b have not stopped, that is, have not reached the open end. Exit the program. Conversely, if it is determined that the motor voltage limit has been determined (Yes), the CPU 14
It is determined that a and 2b have reached the open end, that is, the open end is detected (step S30).

Even if it is not determined in step S24 that the current door position N _X coincides with the open position OP, it is determined in the next step S26 that the door position N _X coincides with the open position OP. If yes (Yes),
Proceed to step S32. Then, this step S32
In the above, it is confirmed whether or not the above-mentioned motor voltage limit judgment is made, and if it is judged that there is no motor voltage limit judgment (No), the doors 2a and 2b are not stopped, that is, have not reached the closed end. , So CP
U14 exits this open / close end detection program. Conversely, when it is determined that the motor voltage limit has been determined (Yes), the CPU 14 determines that the doors 2a and 2b have reached the closed ends, that is, detects the closed ends (step S34).

As described above, according to this program, the motor voltage limit is determined and the door position is set to the open position O.
Only when it is determined that they coincide with P or the closed position CP, it is detected that the doors 2a, 2b have reached the open end or the closed end. Therefore, similarly to the case where the above-described motor voltage control program is executed, the doors 2a and 2b can reach the open / close end without being stopped by the above-described door resistance due to wind pressure or dust, a small obstacle, or the like. Further, for example, even if there is a relatively large obstacle on the movement path of the doors 2a, 2b, and the doors 2a, 2b stop before reaching the open / close end, the door position is set to the open position OP or the closed position. C
Since the door is not considered to have reached the open end or the closed end unless it is determined to match P, the door 2a,
The open end and the closed end of 2b can be detected.

The detection of the open / close end by this program is as follows.
For example, it is particularly effective when automatically measuring all the strokes of the doors 2a and 2b and when automatically setting the above-described base point (closed position CP). In steps S24 and S26, the open position OP and the closed position CP may each have a predetermined allowable range ± α. That is, step S2
4, the S26, "the current door position N _X is, the open position OP,
Rather than either matches the closed position CP "," tolerance within ± α of the current door position N _X is the open position OP, may or "positioned within the permissible range within ± α in the closed position CP.

Regarding the open / close end detection program (2) In addition to the above-mentioned motor voltage control program, this program simultaneously executes a stop determination program as shown in FIG.
The opening / closing end is detected by confirming that 2b has stopped almost completely.

First, regarding the above-mentioned stop determination program,
This will be described with reference to FIG. For example, now, doors 2a, 2
It is assumed that b is moving in a certain area. When this stop determination program is executed in this state, first, the CPU 14
Determines whether the pulse edge from the encoder 6 has been input irrespective of the A phase and the B phase, and regardless of the rise and fall of the pulse, by determining whether the A phase or the B phase has risen or fallen. It is determined whether or not it is (step S42). Here, when the edge of the pulse is input (Yes), the number n of the reference pulses currently counted is reset (step S44), and then the counting of the reference pulse n is started again, and the stop determination program is executed. Through.

On the other hand, if it is determined in step S42 that the edge of the pulse from the encoder 6 has not been input (No), the process proceeds to step S48, where the number n of reference pulses currently counted is calculated. , Is determined to be greater than the predetermined value n _t . In this step S48, the reference pulse number n is set to a predetermined value n
If it is smaller than _t (No), the process exits the stop determination program and proceeds to the next process. On the other hand, if the reference pulse number n is larger than the predetermined value n _t, (Y
es), the CPU 14 determines that the doors 2a and 2b have almost stopped, and makes a stop determination (step S50).

Using the stop determination program configured as described above as a subroutine, the present open / close end detection program
It is configured as shown in FIG.

That is, the CPU 14 first sets the doors 2a, 2a
It is determined whether or not b is operating at a low speed (step S6).
2). Here, when the low-speed operation is not performed (No), the open / close end detecting device (automatic door device) is not in the state of detecting the open / close end, for example, the doors 2a and 2b are in the stop state, or the acceleration range described above. It is determined that the vehicle is located in one of the high speed region and the deceleration region, and the process exits the open / close end detection program and executes the processing of another program.

If it is determined in step S62 that the vehicle is operating at a low speed (Yes), the current moving direction of the doors 2a and 2b is stored (step S6).
4). The movement direction of the doors 2a and 2b is determined by the CPU 14 described above.
The determination is made based on the direction signal supplied to 0. Then, the current door speed is calculated from the pulse of the encoder 6 (step S664), and the calculated door speed is compared with a target speed (ie, v _OC or v _CC ) (step S68).

If it is determined in step S68 that the current door speed is substantially equal to the target speed (ie, v _OC or v _CC ), the CPU 14 determines that the doors 2a and 2b have moved normally at the target speed. As a result, the process exits the motor voltage control program and executes the processing of another program. If it is determined in step S68 that the current door speed is higher than the target speed, the CPU 14 sets the duty of the PWM control signal for controlling the motor 4 so that the door speed becomes lower than the current speed. after lowering the D _U (step S70), the process exits the motor voltage control program. Further, in step S68, when the current door speed is determined to be smaller than the rate at which the target, CPU 14, as the door speed approaches the target speed, after raising the duty D _U of the PWM control signal (step S72 ), And proceed to step S74.

[0073] In step S74, the above duty D _U determines whether greater than the upper limit value D _L described above. Here, when the current duty D _U is less than the upper limit D _L (No), the process exits the motor voltage control program. On the other hand, the duty D _U is, if the upper limit value D _L (Yes), the drive voltage applied to the motor 4, it is determined that exceeds the limit value capable of sufficiently moving the door 2a, 2b (the step S76), the following To step S78.

In step S78, it is determined whether or not a stop has been determined by the above-described stop determination program. Here, if it is determined that the stop determination has not been made (No), the CPU 14 determines that the doors 2a and 2b are not completely stopped, and exits this open / close end detection program. On the other hand, if it is determined that the stop determination has been made (Yes), the CPU 14 determines that the doors 2a, 2b
Is completely stopped, and the moving directions of the doors 2a and 2b stored in the above step S64 are confirmed (step S64).
80). Here, when it is determined that the doors 2a and 2b are performing the opening operation, it is detected that the doors 2a and 2b have reached the open ends, and when it is determined that the doors 2a and 2b are performing the closing operation, the doors 2a and 2b are determined. It detects that 2b has reached the closed end.

As described above, according to this program, when the motor voltage limit judgment is made and the stop judgment is made, it is detected that the doors 2a, 2b have reached the open end or the closed end for the first time. Therefore, the doors 2a and 2b can reliably reach the open / close end without being stopped by the above-described door resistance due to wind pressure or dust, a small obstacle, or the like, that is, it is possible to more reliably detect the open / close end.

Regarding the open / close end detecting program (3) In addition to the above-mentioned stop determining program, this program checks the door position obtained from the pulse of the encoder 6 so that the doors 2a and 2b can be opened or closed. This is to detect the arrival.

That is, the CPU 14 calculates the current door position N _X by the pulse of the encoder 6 (step S).
92). Then, the current door position N obtained by this calculation is obtained.
It is determined whether _X is within the allowable range (N ± α) of the open position OP and the closed position CP recognized by the CPU 14 (steps S94, S96). Here, when the door position N _X is not located within any of the allowable ranges of the open position OP and the closed position CP (No), the CPU 14 determines that the doors 2a and 2b have reached both the open end and the closed end. Assuming that there is no
Execute the processing of another program.

On the other hand, if it is determined in step S24 that the current door position N _X is within the allowable range of the opening position OP, it is determined whether or not the above-described stop determination has been made (step S98). If it is determined in step S98 that there is no stop determination (No), it is considered that the doors 2a and 2b have not stopped, that is, the doors 2 have not reached the open end. Exit. Conversely, if it is determined that the stop has been determined (Yes), the CPU 14
It is determined that a and 2b have reached the open end, that is, the open end is detected (step S100).

In step S94, even if it is not determined that the current door position N _X is within the allowable range of the open position OP, in the next step S96, the door position N _X is changed to the allowable position of the open position OP. If it is within the range,
Proceed to step S102. Then, this step S1
In 02, it is determined whether or not the above-described stop determination has been made. If it is determined that there is no stop determination (No), it is considered that the doors 2a and 2b have not stopped, that is, have not reached the closed ends. Therefore, the CPU 14 exits the open / close end detection program. Conversely, if it is determined that the stop has been determined (Yes), the CPU 14
It is determined that a and 2b have reached the closed ends, that is, the closed ends are detected (step S104).

As described above, according to this program, the stop is determined and the door position is set to the open position OP or the closed position C.
For the first time when it is determined that they match P, the doors 2a, 2a
It detects that b has reached the open end or the closed end. Therefore,
For example, even if there is a relatively large obstacle on the movement path of the doors 2a and 2b, and the doors 2a and 2b stop before reaching the open / close end, the door position is not changed to the open position OP or the closed position CP. Unless it is determined that they match, the door is not considered to have reached the open or closed end, so that the open and closed ends of the doors 2a and 2b can be detected more accurately.

In steps S94 and S96,
If the open position OP and the closed position CP do not have the predetermined allowable range ± α, respectively, steps S94 and S96
Is not, for example, “Is the current door position N _X within the allowable range ± α of the open position OP and within the allowable range ± α of the closed position CP?”
"Does the current door position N _X match the open position OP and the closed position CP?"

[0082]

As described above, according to the present invention, there is an effect that the arrival of the door at the open / close end can be detected more reliably than in the above-mentioned prior art. Therefore, it is possible to accurately measure the entire stroke of the door, and to accurately set the base point for counting pulses, and to make sure that the door reaches the open / close end (the door is completely opened and completely closed). it can. Therefore, it is possible to prevent the door from colliding with the opening / closing end at a high speed, thereby preventing the door from being damaged. That is, the door can be controlled comfortably and safely by applying the open / close end detecting device of the present invention to the automatic door device.

[Brief description of the drawings]

FIG. 1 is a view showing an embodiment of an open / close end detecting device according to the present invention, and is a view for explaining a concept of detecting an open / close end of a door by a motor voltage.

FIG. 2 is a diagram showing an overall schematic configuration of an automatic door device to which the open / close end detecting device of the embodiment is applied.

FIG. 3 is a timing chart of a PWM control signal for controlling a motor in the embodiment.

FIG. 4 is a stroke diagram illustrating a relationship between a door speed and a door speed in an automatic door device to which the open / close end detection device according to the embodiment is applied, and a diagram illustrating a relationship between a stroke and an encoder pulse count number;
(A) is a figure at the time of opening operation, (b) is a figure at the time of closing operation.

FIG. 5 is a stroke diagram when the stroke is automatically measured immediately after the construction of the automatic door device in the automatic door device to which the open / close end detecting device of the embodiment is applied.

FIG. 6 is a stroke diagram showing the operation of the door immediately after power is supplied to the automatic door device in the automatic door device to which the open / close end detecting device of the embodiment is applied.

FIG. 7 is a timing chart of a reference pulse and an encoder pulse for describing an outline of a stop determination in the embodiment.

FIG. 8 is a diagram showing an allowable range of an open position with respect to a full stroke of the door in the embodiment.

FIG. 9 is a diagram showing an allowable range of a closed position with respect to a full stroke of the door in the embodiment.

FIG. 10 shows an actual door position in the embodiment;
It is a figure showing the state where the open position which a control part recognizes does not correspond.

FIG. 11 is a diagram showing a state similar to FIG. 10;

FIG. 12 is a diagram showing a state similar to FIGS. 10 and 11;

FIG. 13 is a diagram showing a state similar to FIGS. 10 to 12;

FIG. 14 shows an actual door position in the embodiment;
It is a figure showing the state where the closing position recognized by the control part does not correspond.

FIG. 15 is a diagram showing a state similar to FIG.

FIG. 16 is a flowchart of a motor voltage control program according to the embodiment.

FIG. 17 is a flowchart of a program for detecting an open / close end of a door based on a door position and a motor voltage in the embodiment.

FIG. 18 is a flowchart of a stop determination program according to the embodiment.

FIG. 19 is a flowchart of a program for detecting an open / close end of a door based on a motor voltage and a stoppage determination of the door in the embodiment.

FIG. 20 is a flowchart of a program for detecting the open / close end of the door based on the door position and the determination of the stop of the door in the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Control part 2a, 2b Door 4 DC motor 6 Encoder (pulse output means) 10 Motor drive unit 12 Sensor 14 Central processing unit (CPU) 16 Handy terminal 20 Reference pulse generator

Claims (5)

[Claims] A motor for driving the door to open and close; a pulse output unit for outputting a pulse proportional to the amount of movement of the door;
A control unit for controlling the motor based on a pulse output from the pulse output unit, wherein the control unit controls a voltage applied to the motor to reduce the speed of the door. A motor voltage control unit that matches the target speed during operation; and when it is determined that the voltage applied to the motor by the motor voltage control unit exceeds a predetermined voltage value, the door reaches the open / close end. The open / close end detection device of the automatic door device that detects that. 2. A motor that opens and closes a door, a pulse output unit that outputs a pulse proportional to the amount of movement of the door,
A control unit for controlling the motor based on a pulse output from the pulse output unit, wherein the control unit controls a voltage applied to the motor to reduce the speed of the door. Motor voltage control means for matching the target speed during operation, and position determining means for determining that the current door position obtained by counting the pulses matches the previously stored door open or closed position. When the voltage applied to the motor by the motor voltage control means is determined to exceed a predetermined voltage value, and when the position determination means determines that the door position matches the open position or the closed position. An opening / closing end detecting device for an automatic door device for detecting that the door has reached an open end or a closed end. 3. A motor for opening and closing the door, a pulse output unit for outputting a pulse proportional to the amount of movement of the door,
A control unit for controlling the motor based on a pulse output from the pulse output unit, wherein the control unit is configured to control the motor when the cycle of the pulse is longer than a predetermined cycle. Stop determination means for determining that the door has stopped; motor voltage control means for controlling the voltage applied to the motor to match the speed of the door with a target speed during low-speed operation; When it is determined that the door has stopped, and when it is determined that the voltage applied to the motor by the motor voltage control means has exceeded a predetermined voltage value, it is detected that the door has reached the open / close end. Open / close end detection device for automatic door devices. A motor for driving the door to open and close; a pulse output unit for outputting a pulse proportional to the amount of movement of the door;
A control unit for controlling the motor based on a pulse output from the pulse output unit, wherein the control unit is configured to control the motor when the cycle of the pulse is longer than a predetermined cycle. Stop judgment means for judging that the door has stopped, and position judgment means for judging that the current door position obtained by counting the pulses corresponds to a previously stored open position or closed position of the door. When the stop judging means judges that the door has stopped, and when the position judging means judges that the door position matches the open position or the closed position, the door reaches the open end or the closed end. Open / close end detection device of automatic door device that detects that 5. The position determining means, when the door position obtained by counting the pulse is within a predetermined allowable range of the open position or the closed position of the door, the door position is determined by the open position or the open position. The open / close end detecting device for an automatic door device according to claim 2, wherein it is determined that the position coincides with the closed position.