JP2001254567A - Controller for automatic door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a serious accident by automatically detecting position tolerance in an automatic door opening and closing controller, detecting original full-opening and closing positions to accurately execute door opening and closing operation and detecting an abnormality in a door driving system to inform the outside of it. SOLUTION: The automatic door opening and closing controller is constituted of an opening and closing operation controlling circuit for controlling the door opening and closing operation, a motor driving circuit for driving a motor by a command from the opening and closing operation controlling circuit, a position detecting circuit for detecting a door position, a circuit informing the outside by detecting the abnormality in the door driving system as well as the detection of the door position tolerance and the motor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically detecting a position error of a door and an automatic door opening / closing control device using the method.

[0002]

2. Description of the Related Art FIG. 2 is a configuration diagram of a conventional automatic door opening / closing control device, wherein 1 is a door opening / closing operation control circuit, 2 is a motor drive circuit, 3 is a position detection circuit, 4 is a motor, 5 is a position sensor, 6 is a speed reducer, 7 is a door drive belt, 8 is a left stopper, 9 is a right stopper, 10 is a door, 11 is a _PRf memory circuit, and 15 is a _PLf memory circuit. FIG. 3 is an explanatory diagram of the relationship between the position error and the main position data in the automatic door opening and closing control device, where 21 is P _L : left end position, 22 is P _Lf : apparent left end position, 23 is E _L : left error value, 24 is P _R : right end position, 25 is P _Rf : apparent right end position, 23 is E
_R: Right error value, 27 L: full stroke, 28 _{L f:} a full stroke apparent.

In the automatic door opening / closing control device, a signal of a position sensor 5 such as a pulse generator attached to the motor 4 is counted with a sign by the position detection circuit 3 and detected as a current door position. The door opening / closing operation control circuit 1 receives the current position information of the door, and outputs a forward / reverse / stop command to the motor drive circuit 2 based on the difference from the target position to drive and stop the motor 4 to control the opening / closing of the door. I do. A speed reducer 6 is connected to the motor 4, and a door drive belt 7 on which a door 10 is suspended extends between the output shaft pulley and the driven pulley, and a full stop set by a left stopper 8 and a right stopper 9. The mechanism performs opening and closing operations of the door 10 within a stroke.

In such an automatic door opening / closing control device, generally, when the power is turned on, the door 10 is opened / closed at a low speed, the operation of pressing the door to the left and right ends is performed, and the left and right end positions are detected.
_The data is stored in the _Rf storage circuit 11 and the _PLf storage circuit 15. If one of these two values is defined as the origin, the other will be the full stroke value of the door,
Since the fully closed position is detected, the opening and closing operation of the door is performed based on the detected positions.

In the above-described full-open and full-closed position detecting operations, generally, the door is stopped at an intermediate position due to dust or wind pressure clogged on the door rail, and erroneous detection of the fully open or fully closed position is generally performed. Since the motor 4 is driven with the maximum torque to bring the door 10 into contact with the left and right stoppers 8 and 9, the left and right ends are left error values: E _L23 and right errors, respectively, due to the extension of the door drive belt 7 and the elasticity of the rubber dampers. Value: E _R 26 A position error of 26 is generated, and the actual left end position: P _L 21 and the right end position: P
Apparent left end position beyond _R24 : P
_Lf22 , apparent right end position: misidentified as _PRf25 ,
As a result, the full stroke: L27 is recognized as an apparent full stroke: L _f 28 longer than the actual one.

However, in a general automatic door, since this position error is insignificant and a tolerance is provided in door positioning control, an apparent right and left end position: P _Lf ignoring the position error. Practical hindrance does not occur even if 22, _PRf 25 is used as a reference for the subsequent opening / closing operation.

[0007]

However, when the door drive belt 7 is wide and the door drive belt 7 is long, or in an automatic door having a large opening / closing drive force, the door drive belt 7 and the rubber dampers of each part expand and contract, resulting in a large positional error. And can no longer be ignored.

If the position error is larger than the above-mentioned positioning tolerance, the automatic door opening / closing control device mistakenly recognizes the other side than the original full-open and full-closed positions as the full-open and full-closed positions and does not correctly output the full-open and full-close signals. Not only does it stop at the original fully open and fully closed positions, but also performs the operation of hitting the door to the fully open and fully closed positions each time it opens and closes, causing the temperature of the motor and motor drive circuit to rise. This also causes a burden on the door drive belt, which may cause a break. Also, in systems where doors are fully opened or closed by an external force from a fully closed end, or when they are opened, it is recognized that there is a gap, and in systems where the opening or closing operation is forcibly started, there is a gap due to positional errors. Erroneously recognizes that the forced opening or closing operation is repeatedly executed endlessly. On the other hand, if the position error is further increased, the door may collide with the open / close end at a high speed, which is dangerous.

As a simplest countermeasure, a method is conceivable in which the above-mentioned position error is defined as a fixed value, and is added to the conventionally defined door positioning tolerance to make a correction. However, this position error varies not only with the location of the automatic door installation, but also at the same installation location depending on the tension of the door drive belt, and the value differs at the left and right ends, so it is treated as a fixed value as described above. The correction method cannot be used.

A limit switch is provided at each of the left and right ends,
If the left and right end positions are detected, the above-described position error does not occur. However, the adjustment of the switch position and the wiring work become complicated, and it is disadvantageous in terms of cost.

[0011]

The position when the door is pressed against the left and right ends is the apparent left and right end position including a positional error, and the position when the pressing is stopped is the original left and right end position. If the latter is stored and the original left and right end positions are regarded as the fully open and fully closed positions, the opening and closing operation can be performed correctly. Hereinafter, a specific description will be given using the right end as an example, but the same applies to the left end.

Door position when the door is pressed to the right end:
_PRf is set as the apparent right end position from the position detection circuit.
Output to the _Rf storage circuit for storage. Next, the motor is turned off to detect the original right end position. However, if the motor is suddenly turned off at this time, the door bounces from the right end due to the elastic reaction of the door drive belt and the like, and the original right end position cannot be detected. Is gradually reduced, and a command is sent from the door opening / closing operation control circuit to the motor drive circuit so that the motor is finally turned off. Such procedures door position when OFF the motor through: P _R a store from the position detection circuit and outputs the P _R memory circuit as the original right end position.

[0013] Thereafter, the door position is stored in the P _R memory circuit: if handle P _R as the original right end position, properly closing operation can be performed.

[0014] On the other hand, the original right end position stored in the P _R memory circuit: and P _R, the right end position of the apparent stored in P _Rf storage circuit: the difference between P _Rf is the elasticity of the door drive system the resulting right error value: a E _R, output E _R storage circuit which calculates at E _R calculation circuit, and stores.

[0015] The right error value: If E _R is extremely large, or tension is too weak of door drive belt, is a rich suspect that the abnormality is such as play in the door drive system is too large, the door is door rail The door opening / closing operation control circuit detects an abnormality and issues an alarm to an error display to draw the user's attention because there is a possibility that a serious accident such as falling off from the vehicle may occur.

[0016]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an explanatory view of the configuration of an automatic door opening / closing control device according to the present invention. As shown in FIG. 1, a signal from a position sensor 5 such as a pulse generator attached to the motor 4 is counted with a sign by the position detection circuit 3 and detected as a current position of the door. The door opening / closing operation control circuit 1 receives the current position information of the door, and outputs a forward / reverse / stop command to the motor drive circuit 2 based on the difference from the target position to drive and stop the motor 4 to control the opening / closing of the door. I do. A speed reducer 6 is connected to the motor 4, and a door drive belt 7 on which a door 10 is suspended extends between the output shaft pulley and the driven pulley, and a full stop set by a left stopper 8 and a right stopper 9. The mechanism performs opening and closing operations of the door 10 within a stroke.

When the power is turned on, the current position of the door is not stored in the position detecting circuit 3, and the door opening / closing operation control circuit 1 first gives a command to the motor driving circuit 2 to detect the reference position, and the door 10 is opened. The door 10 is operated at one of the left and right sides at a low speed, and the position where the door 10 abuts on the left or right stopper 8 or 9 and stops is output from the position detection circuit 3 to the _PRf storage circuit or the _PLf storage circuit and stored. Since this position includes a position error due to the elasticity of the door drive system,
The door opening / closing operation control circuit 1 controls the door 10 with stoppers 8 and 9
Turn off the motor 4 pressed against
When the door 10 is suddenly turned off, the door 10 rebounds from the right end or the left end due to the elasticity of the door drive belt 7 and the rubber dampers of the respective parts, so that the correct position cannot be detected. give. After such a procedure, the motor 4 is turned off.
And, it outputs the position at that time from the position detection circuit 3 P _R memory circuit or P _L memory circuit, and stores. Since the original right or left end position has been detected as described above, the same is repeated for the other end. Thereafter, if these original left and right end positions are treated as the fully open and fully closed positions, the opening and closing operation can be performed correctly.

On the other hand, the positions stored above: P _R , P _Rf
Differences, and _{P L,} the difference in _{P Lf} is the position error value generated by the elasticity of the door drive _system, E R, _{E L} calculation circuit 1
Calculated in 3, _17, and stores E R, the _{E L} storage circuit 14, 18. If these position error values are extremely large, there is a strong possibility that the door drive belt is too weak or the door drive system is too loose and the door drive belt is too loose. Since a serious accident may occur, the door opening / closing operation control circuit 1 detects the abnormality and issues an alarm to the error display 19 to draw the user's attention.

[0020]

According to the present invention, it is possible to automatically detect a position error due to the elasticity of the door drive system that changes depending on the installation location and the installation state of the automatic door, and to automatically remove the position error to achieve the original full opening and full opening. Close position can be detected. Also, with the conventional automatic door, the other side of the fully open and fully closed position is fully open,
It was mistaken for the fully closed position and each time the door was opened and closed, the door was fully opened and abutted against the fully closed end, causing the temperature of the motor and motor drive circuit to rise. Since it puts a burden on the door, the door drive belt was cut off, which was a problem. According to the present invention, the above-mentioned problem can be solved because the door can be stopped before the door is abutted against the open / close end after the original fully open / fully closed position is detected. If the position error of the door drive system is extremely large, there is a strong possibility that the door drive belt is too weak or the door drive system is too loose. To alert the user and prevent a serious accident such as a door falling out.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a configuration of an automatic door opening / closing control device according to the present invention.

FIG. 2 is a configuration explanatory view of a conventional automatic door opening / closing control device.

FIG. 3 is an explanatory diagram showing a relationship between a position error and main position data in the automatic door opening / closing control device.

[Explanation of symbols]

1 door operation control circuit 2 the motor driving circuit 3 position detection circuit 4 motor 5 position sensor 6 reducer 7 door driving belt 8 left stopper 9 right stopper 10 doors 11 P _Rf storage circuit 12 P _R storage circuit 13 E _R calculation circuit 14 E _R memory circuit 15 P _Lf storage circuit 16 P _L storage circuit 17 E _L calculation circuit 18 E _L storage circuit 19 error indicator 21 P _L: left end position 22 P _Lf: left end position 23 E apparent _L: left error value 24 P _R: right end position 25 P _Rf: apparent right end position 26 E _R: right error value 27 L: full stroke 28 L _f: full stroke of the apparent

Claims (1)

[Claims] A motor is used as a drive source, and a drive circuit and a control circuit for the motor, a door position control circuit, and a drive force are transmitted to the door by a belt, and the fully open and fully closed positions are set by a mechanical stopper. It consists of a mechanism that opens and closes in orbit.
A means for automatically detecting a door position error caused by an extension of a door drive belt or an elasticity of a rubber damper of each part; a means for removing a position error to detect an original full-open / fully-closed position; An automatic door opening / closing control device, characterized in that it is provided with a means for notifying outside when the size is large.