JP2001317270A - Safety auxiliary circuit for automatic door device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safety auxiliary circuit for an automatic door device, capable of accurately detecting the fully closed condition of a door in spite of disuse of a timer. SOLUTION: The safety auxiliary circuit 19 is provided with an opening/ closing discriminating part 20 and a control part 21. The discriminating part 20 recognizes the opening/closing motion of the doors 1, 2. The control device 21 controls a door driving circuit 18 on the basis of the results of discrimination obtained by the discriminating part 20 and detection signals a, d from sensors 13, 14 for controlling the opening/closing of the door 1, 2. The discriminating part 20 detects a positive voltage applied to a motor 4 for imparting the opening motion to the door 1, 2 and a counter electromotive voltage applied to the motor 4 by the closing motion of the door 1, 2 in order to recognize the opening/closing motion of the door 1, 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety auxiliary circuit mainly used for an automatic door installed in a one-way passage to prevent the door from hitting a moving object such as a human body behind the door.

[0002]

2. Description of the Related Art Conventionally, an automatic swing door 1 as shown in a plan view of FIG. 6 or an automatic bi-hold door 2 as shown in a plan view of FIG. The automatic swing door 1 shown in FIG. 6 is rotatably supported toward the rear R side of the door 1 by a rotation support shaft 3 at one end, and the rotational force generated by driving the DC motor 4 is transmitted through reduction gears 7 and 8. Transmitted to the rotating support shaft 3
It rotates to the fully open position indicated by the dashed line and allows a moving object such as a human body H to pass in one direction A. When the door 1 is opened, the spiral spring 9 is tightened with the rotation of the rotary support shaft 3, and when the door 1 is fully opened and the positive voltage is not applied to the DC motor 4, the door 1 is closed. Perform the closing operation by the restoring force of the spiral spring 9.

On the other hand, the automatic bi-hold door 2 shown in FIG.
It has a structure that can be folded in two via a hinge portion 10, is supported rotatably toward the rear R side of the door 1 by a rotation support shaft 3 at one end, and a guide portion 11 at the other end is a guide. It moves along the rail 12. The bi-hold door 2 is fully opened while protruding to the rear R in a two-folded state shown by a two-dot chain line by transmitting the rotational force generated by the driving of the DC motor 4 to the rotary support shaft 3 via the reduction gears 7 and 8. Move to the position. When the door 1 is opened, the spiral spring 9 is tightened with the rotation of the rotary support shaft 3 as in the case of the swing door 1, and the door 2 is fully opened, so that a positive voltage is applied to the DC motor 4. When the voltage is not applied, the door 2 performs the closing operation by the restoring force of the spiral spring 9.

[0004] Both doors 1 and 2 are similarly controlled to open and close. That is, as shown in FIGS. 6 and 7, both doors 1 and 2 have a front sensor 13 composed of a passive infrared sensor arranged to set a predetermined detection area E1 on the front F side, and a rear sensor 13 on the rear R side. Predetermined detection area E
The door control circuit (not shown) controls the door drive circuit (not shown) based on the detection signal of each of the rear sensors 14 including the passive infrared sensors arranged so as to set 2 to open and close. Perform the operation.

The above-mentioned door driving circuit applies a positive voltage to the DC motor 4 in response to the input of a door opening signal based on a detection signal from the front sensor 13 to open the doors 1 and 2. Here, apart from the door control circuit, a safety auxiliary circuit generally called a lockout relay is provided.
When a detection signal is output from the rear sensor 14 on the rear side in the fully closed state and the fully open state, a state holding signal is output to the door drive circuit to inhibit the operation of the doors 1 and 2, and
The doors 1 and 2 are prevented from hitting the human body H at the rear side of the vehicle to enhance safety. On the other hand, when the doors 1 and 2 are opened and closed, the safety assist circuit is provided with the rear sensor 1 on the rear side.
Even if the door 4 detects the operating doors 1 and 2 and outputs a detection signal, the door driving circuit prohibits the output of the state holding signal and continues the opening operation or the closing operation. Control.

This control will be described with reference to a timing chart shown in FIG. First, when a detection signal (door open signal) is output from the front sensor 13, the door drive circuit applies a pulsed positive voltage to the DC motor 4 as shown in FIG. Starts the opening operation as shown in FIG. At this time, the rear sensor 14, which is a passive infrared sensor, detects the doors 1 and 2 in operation and outputs a detection signal, but the safety assist circuit prohibits the output of the state holding signal based on the detection signal, The door driving circuit is controlled to continue the opening operation until the doors 1 and 2 are fully opened.

When the doors 1 and 2 are fully opened and the output of the door open signal is stopped, the safety assist circuit outputs a state holding signal to hold the doors 1 and 2 in the fully open state, It is determined whether or not a detection signal has been output from the rear sensors 13 and 14. If no detection signal has been output from any of the sensors, the output of the state holding signal is prohibited.
Thereby, the doors 1 and 2 start the closing operation by the restoring force of the spiral spring 9. Simultaneously with the start of the closing operation of the doors 1 and 2, as shown in (a), the timer starts measuring a predetermined timer time T, and the safety assist circuit keeps moving backward until the timer times out. Even if the detection signal is received from the sensor 14, the detection signal is ignored, the output of the state holding signal based on the detection signal is prohibited, and the door drive circuit is controlled so that the doors 1 and 2 continue the closing operation.

[0008]

Incidentally, the timer time T of the above timer is set to a closing operation time required from the start of the closing operation of the doors 1 and 2 to the fully closed state. The operation time is not constant due to a difference in door width, a variation in spring force of the spiral spring 9, and the like. Therefore, in the conventional automatic door device, every time the doors 1 and 2 are constructed,
After installing the doors 1 and 2 at the construction site, it is necessary to perform a complicated operation of measuring the closing operation time while actually closing the doors 1 and 2 and setting the timer time T based on the measurement result. I do.

Moreover, if the timer time is accurately set in accordance with the closing operation time based on the measurement result, if the closing operation time becomes longer than at the time of construction due to deterioration of the spiral spring 9 or the like, the timer time is set. At the time of up, the process of ignoring the detection signal from the rear sensor 14 by the safety auxiliary circuit is stopped. Therefore, the safety assist circuit receives the detection signals of the doors 1 and 2 from the rear sensor 14 before the doors 1 and 2 are fully closed, and outputs a state holding signal to the door driving circuit, and the door 1 , 2 are stopped before they are fully closed. Therefore, as shown in FIG. 8A, the timer time T is longer than the actual closing operation time of the doors 1 and 2 by the time t.
It is set longer by a.

However, if the timer time T is set longer than the actual closing operation time of the doors 1 and 2 by the time ta as described above, the timer time T ends after the doors 1 and 2 are fully closed. In the meantime, the safety assist circuit prohibits the output of the state holding signal. Therefore, even if the human body H approaches the rear R side of the fully closed doors 1 and 2 during this period, the detection signal is output from the rear sensor 14. , Doors 1 and 2 are ready for opening operation. When the front sensor 13 outputs a detection signal (door open signal) in this state, the door drive circuit applies a positive voltage shown in (b) to the DC motor 4 and the rear of the doors 1 and 2 in the fully closed state. Despite the presence of a human body on the R side,
The inconvenience that the doors 1 and 2 start the opening operation as shown in FIG.

The present invention has been made in view of the above-mentioned conventional problems, and provides a safety auxiliary circuit for an automatic door device capable of accurately detecting a fully opened state of a door while simplifying the construction of the automatic door device. The purpose is to do.

[0012]

In order to achieve the above object, a safety auxiliary circuit for an automatic door device according to the present invention comprises an opening / closing discriminator for recognizing an opening / closing operation of a door and a discrimination by the opening / closing discriminator. A control unit that receives a result and a detection signal from a sensor for controlling opening and closing of the door, and controls a door driving circuit that drives the door, wherein the open / close determination unit is applied to a motor that opens the door. A positive voltage and a counter electromotive voltage generated in the motor by the closing operation of the door are detected to recognize the opening operation and the closing operation of the door.

In the safety assist circuit for an automatic door device having the above-described configuration, the control unit controls the door drive circuit in response to the result of the determination by the open / close determination unit and the detection signal from the sensor. The unit recognizes the fully-closed state of the door based on the detection of the back electromotive voltage generated in the DC motor that is reversely rotated in conjunction with the closing operation of the door. This eliminates the need for a timer for setting and a complicated operation for setting a predetermined timer time for this timer. In addition, since the time when the door is fully closed is recognized very accurately, the door control can be performed accurately. Is made. Also,
In this automatic door device, an existing wiring provided for detecting a positive voltage applied to a DC motor for the purpose of determining that the door is in an open operation in a conventional circuit is used to close the door with an elastic body. Since a back electromotive voltage generated in a DC motor reversely rotated by the operating door is detected to detect the closing operation of the door, cost increase due to complicated structure is not caused.

In a preferred embodiment of the present invention, the door is opened by rotating or advancing rearward to allow an intruding object from the front to pass therethrough.
The control unit includes a detection sensor that has a detection area behind the door and detects an intruding object or an object existing behind the door to inhibit opening and closing operation by the door drive circuit. When the door opening / closing operation is recognized, the detection signal from the rear sensor is released from inhibiting the door opening / closing operation by the door drive circuit. According to this embodiment, since the opening / closing of the door is prohibited by the detection signal of the rear sensor, when a moving object such as a human body is present behind, the door is prevented from opening and closing and hitting the moving object. . Further, at the time of the door opening / closing operation, the prohibition of the door opening / closing operation by the rear sensor is released, so that even if the rear sensor detects the door opening / closing operation and outputs a detection signal, the door opening / closing operation stops. Without any problems. Further, the door closing operation can be stopped at the time when the door opening command is issued by detecting the approaching object from the front, and the door can be fully opened again.

In a preferred embodiment of the present invention, the automatic door device includes a front sensor having a detection area in front of the door, detecting an intruding object, operating the door drive circuit, and opening the door. ing. Thereby, a moving object that enters can be detected without contact.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the automatic door device according to the first embodiment of the present invention. Since the door 1 and the opening / closing device in the automatic door device to which the present invention is applied are the same as those of the swing door in FIG. 6, the same reference numerals in FIG. 1 denote the same components in FIG. . The following embodiment can be applied to the by-hold door shown in FIG. 7 as it is. The opening / closing device 16 for the door 1 in FIG. 1 includes the DC motor 4 in FIG.
Transmission mechanism 17 including rotating shaft 3 and reduction gears 7 and 8
And an elastic body 9 such as a spiral spring. This automatic door device does not include a timer provided in a conventional circuit for setting the closing operation time of the door 1.

When the front sensor 13 disposed on the front side of the door detects a moving object such as a human body H, the detection signal is input to the start input terminal D of the door drive circuit 18 as a door open signal a1. Door drive circuit 18 receiving this input
Opens the door 1 by applying a positive voltage to a motor 4 such as a DC motor to drive the motor. Further, when the first state holding signal (command for opening) b1 is input from the output unit 22, the door driving circuit 18 maintains the opening operation of the door 1 and holds the door 1 in the open state, and the safety input is provided. A second state holding signal (command for "do not open") b at terminal S
When 2 is input, the door 1 is kept closed.
That is, when the first state holding signal b1 is input during the opening operation or the fully open state, the door drive circuit 18 continues to apply a positive voltage for holding the door 1 to the fully open state to the motor 4, In the closed state, the second state holding signal b
When 2 is input, the door 1 is kept in a fully closed state without applying a positive voltage to the motor 4.

The open / close determination unit 20 of the safety assist circuit 19 determines that the door 1 is in an open operation by detecting a positive voltage applied to the motor 4 from the door drive circuit 18, and transmits a transmission mechanism when the door 1 is closed. 17, the door 1 is determined to be in the closing operation by detecting the back electromotive voltage generated in the motor 4 reversely rotated through 17, and the door 1 is fully closed by detecting neither the positive voltage nor the back electromotive voltage. It is determined that there is. Here, the fully opened state of the door 1 is not particularly determined. The wiring between the motor 4 and the open / close determination unit 20 is provided in a conventional circuit to detect a positive voltage applied to the motor 4 and determine that the door 1 is in the open operation. is there. In this automatic door device, in addition to determining that the door 1 is in the opening operation by detecting the positive voltage applied to the motor 4 by utilizing the existing wiring, the back electromotive force generated in the motor 4 Is detected to determine that the door 1 is in the closing operation.

The control unit 21 of the open / close state control circuit 19 includes a determination signal of the open / close determination unit 20 and a detection signal d of the rear sensor 14.
Accordingly, the output unit 22 is controlled as follows, and the door drive circuit 18 is controlled by output signals b1 and b2 from the output unit 22. That is, the control unit 21 determines whether the open / close determination unit 20 is based on the fact that neither the positive voltage nor the reverse voltage is detected.
When the detection signal d is input from the rear sensor 14 in a state where the full-close determination signal is input from the output unit 22, the output unit 22 is caused to output the second state holding signal b2. At this time, when the second state holding signal b2 is input to the safety input terminal S, even if the door opening signal a1 is input to the starting input terminal D from the front sensor 13, the motor drive circuit 18 outputs this signal. a1 is ignored (disabled) and no positive voltage is applied to the motor 4. In addition, the control unit 21 outputs from the open / close determination unit 20
When the open operation determination signal based on the detection of the positive voltage or the close operation determination signal based on the detection of the back electromotive voltage is input, even if the detection signal d is input from the rear sensor 14, the output unit 2
2 does not output the first or second state holding signals b1 and b2.

Next, the operation of the safety assist circuit 19 will be described based on FIG. 1 with reference to the flowchart of FIG. First, if there is a moving intruding object such as a human body or another moving object such as a human body passing through the door 1 behind the door 1, or if the door 1, which is an object, is performing an opening and closing operation, the door that detects this is detected. A detection signal d is input to the control unit 21 from the rear sensor 14 on the rear side (step S
1). The open / close determination unit 20 recognizes whether the door 1 is performing the open / close operation by detecting a positive voltage or a reverse voltage (step S2).

When the open / close determination unit 20 recognizes that the door 1 is performing the open / close operation by detecting the positive voltage or the reverse voltage of the motor 4, it determines whether or not the door 1 is performing the open operation (positive voltage detection). Is performed (step S3). When the door 1 is being opened, the control unit 21 causes the output unit 22 to output the first state holding signal b1, which is the same signal as the door open signal from the front sensor 13, (step S4). The prohibition of the opening / closing operation by the second state holding signal b2 is released, and the opening operation of the door 1 is continued. As long as the detection signal d is output from the rear sensor 14, the first state holding signal b1 is continuously output, and the door 1 is held in the fully opened state. Thus, when the human body H that has passed through the door 1 exists in the detection area E2 on the rear R side in the fully opened state of the door 1, the door 1 is opened and the door 1 closes to hit the human body H. To prevent When it is determined in step S3 that the door 1 is not in the opening operation, that is, in the closing operation, the second state holding signal b2 is output (step S5), and the closing operation is continued while the opening operation is prohibited. , And make it fully closed.

If it is determined in step S2 that the door 1 is not being opened or closed, that is, if the door 1 is in the fully closed state or the fully closed state, the second state holding signal b2 is output from the output unit 22.
Is output (step S6), and the door 1 is kept in the fully open state or the fully closed state. Accordingly, when a human body is present behind the door 1, the opening and closing operation of the door 1 is prohibited, and the door is prevented from hitting the human body.

The operation of the safety assist circuit 19 is repeated while the detection signal d of the rear sensor 14 is being input to the safety assist circuit 19.

Next, the operation of the entire automatic door device including the safety assist circuit 19 shown in FIG. 2 will be described based on FIG. 1 with reference to the timing chart of FIG. The front sensor 13 detects an intruding object such as the human body H, and
Is output. Now, another human body is present behind the door 1, and at the time t1 in FIG.
4, the detection signal d is output from the front sensor 13 at time t2 immediately after the detection signal d is output from the front sensor 13 as shown in FIG. At time t2, the control unit 21 outputs the second state holding signal b2 from the output unit 22 as shown in FIG. 3D, and the second state holding signal b2 is input to the start input terminal D of the door drive circuit 18. By ignoring the door open signal a1, the application of the positive voltage for opening the door from the door drive circuit 18 is prohibited. Accordingly, when a human body exists on the rear R side of the door 1, the opening operation of the door 1 moving to the rear R side is prohibited, and the door is prevented from hitting the human body.

Subsequently, at time t3 in FIG. 3B when the detection signal d is no longer input from the rear sensor 14, the control unit 21 outputs the second signal from the output unit 22 as shown in FIG. Of the state holding signal b2 is stopped (step S5).
At the same time, regardless of the presence or absence of the input of the detection signal d from the rear sensor 14, the output of the second state holding signal b2 is inhibited, that is, the inhibition of the opening operation of the door 1 is released.

Thus, the door drive circuit 18 receives the input of the door open signal a1 based on the detection signal a of the front sensor 13 and, at time t3, outputs a pulse-like positive signal as shown in FIG. The voltage is applied, the motor 4 is driven, and the door 1 starts the opening operation as shown in FIG. At this time, as shown in FIG. 3B, the rear sensor 14 detects the door 1 during the opening operation and continuously outputs the detection signal d.
The control unit 21 invalidates the detection signal d as described above and outputs a second state holding signal (opening inhibition signal) from the output unit 22.
The output of b2 is prohibited. Thereby, the opening operation is continued until the door 1 is fully opened.

When the rear sensor 14 does not output the detection signal d, the safety assist circuit 19 does not operate, and the door drive circuit 18 drives the motor 4 to open the door 1.

During the opening operation of the door 1, the open / close determination unit 20
Based on the detection of the positive voltage applied to the motor 4, it is constantly monitored whether the door 1 is in the open operation or in the fully open state. When the opening / closing control unit 20 detects the positive voltage and determines that the door 1 is in the open operation or in the fully opened state, the control unit 21 sends the output signal from the output unit 22 to the front sensor 13 as shown in FIG. The first state holding signal b1, which is the same signal as the door opening signal from the controller 1, is output, and the opening operation of the door 1 is continued. When the detection signal d is output from the rear sensor 14, the first state holding signal b1 is continuously output, and the door 1 is held in the fully open state. Thus, as described above, the closing operation of the door 1 is prohibited, and the door 1 is prevented from hitting the human body H.

During the opening operation of the door 1 or in the fully opened state, the front F
When the human body H, which is an approaching object, approaches, the door opening signal a1 is input to the starting input terminal D of the door driving circuit 18, and the door driving circuit 18 outputs a positive voltage to drive the motor 4. Then, the door 1 is opened.

When the detection signal d is not output from the rear sensor 14, the safety assist circuit 19 does not operate, and FIG.
At time t4 in (c), the output of the first state holding signal (opening operation holding signal) b1 is stopped. The door drive circuit 18
When the door open signal a1 and the first state holding signal b1 are no longer input, the application of the positive voltage to the motor 4 is stopped. Thereby, the door 1 starts the closing operation by the restoring force of the elastic body 9 in FIG. 1 as shown in FIG.
By detecting the back electromotive voltage having the waveform shown in (e), it is recognized that the door 1 is closing. At this time, when the front sensor 13 detects the human body H and outputs a door opening signal (opening command) a,
The door drive circuit 8 is operated, the closing operation of the door 1 is stopped, the door 1 is opened again, and the human body H passes.

When the open / close determination unit 20 detects the disappearance of the back electromotive voltage and determines the fully closed state of the door 1, that is, FIG.
At time t5, when the back electromotive voltage of the motor 4 is lost and the open / close determination unit 20 outputs a fully closed determination signal to the control unit 21,
The control unit 21 controls the first and second state holding signals b1, b
2 is released from the output prohibition state. At this time, the open / close determination unit 2
0 is a motor 4 that is reversely rotated in conjunction with the closing operation of the door 1.
Since the door 1 is fully closed based on the detection of the back electromotive force generated at the time of installation, no setting or adjustment is required at the time of construction, and the time when the door 1 is fully closed is recognized very accurately. I do. Therefore, even if the closing operation time of the door 1 changes due to the deterioration of the spiral spring 9 or the like, no setting or adjustment is required, and the time when the door 1 is fully closed for a long period of time is extremely accurate. Can be recognized.

As described above, the control unit 21 releases the output prohibition state of the first and second state holding signals b1 and b2 when the door 1 is correctly detected in the fully closed state. Immediately after the time point t5 in FIG.
When the detection signals a and d are output from both the sensors 13 and 14 as shown in (b), as shown in (d),
Since the control unit 21 outputs the second state holding signal b2 from the output unit 22 based on the input of the detection signal d from the rear sensor 14, the human body H is located at the position close to the door 1 on the rear R side.
In such a state, the door 1 can be reliably prevented from starting the opening operation and hitting the human body.

FIG. 4 is a flowchart showing the operation of the second embodiment. In the second embodiment, the fully opened state of the door 1 in FIG. 1 is determined. This fully open state is provided by separately providing a position detection sensor that detects the position of the door 1 from fully closed to fully open or only the fully open position, or that the open / close determination unit 20 detects the opening operation of the door 1 by detecting a positive voltage. After the determination is made, the time when the positive voltage becomes zero level, that is, the period from the moment when the positive voltage becomes zero to the time when the reverse voltage is generated by the start of the closing operation of the door 1 is detected.
Be recognized.

In the flowchart of FIG. 4, steps S11 to S13 are executed instead of step S6 of FIG. When the fully opened state of the door 1 is recognized in step S11, the second state holding signal b2 is output from the control unit 21 (step S12), and the fully opened state of the door 1 is held. When it is determined in step S11 that the door 1 is not in the fully opened state, that is, in the fully closed state, the process proceeds to step S13. As described above, the open / close determination unit 20 recognizes the fully closed state of the door 1 based on the fact that neither the positive voltage nor the reverse voltage is detected. In step S13, the control unit 21 sends the second
Is output, and the door 1 is held in the fully closed state.

In the above embodiments, the safety assist circuit 19
Controls the door drive circuit 18 by switching the detection signal a from the front sensor 13 to valid / invalid. However, as in the third embodiment shown in FIG. The control unit 21 receives the detection signals a and d from the controller 14, and outputs the detection signals a and d from the output unit 22.
The door drive circuit 18 can be directly controlled.

[0036]

As described above, according to the safety auxiliary circuit for the automatic door device of the present invention, the back electromotive voltage generated in the motor is detected to recognize that the door is in the closing operation. Compared with the conventional circuit, both a timer for setting the door closing operation time and a complicated operation for setting a predetermined timer time for the timer are unnecessary. Further, since the fully-closed state of the door is recognized based on the detection of the back electromotive voltage of the motor which is reversely rotated in conjunction with the closing operation of the door, the time when the door is fully closed can be recognized very accurately. Therefore, even if the closing time of the door changes due to the deterioration of the elastic body for closing the door, no setting or adjustment is required, and the door will be in the fully closed state for a long time. The point in time at which it was reached can be recognized very accurately. Moreover, the conventional circuit detects the back electromotive voltage generated in the motor by using the existing wiring provided for detecting the positive voltage applied to the motor for the purpose of determining the opening operation of the door. There is no increase in the complexity of the structure and the cost.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an automatic door device provided with a safety auxiliary circuit according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing the operation of the above-mentioned safety auxiliary circuit.

3 (a) to 3 (f) are timing charts showing waveforms of signals and applied voltages of respective parts of the automatic door device and a state of a door of the automatic door device.

FIG. 4 is a flowchart illustrating an operation of a safety auxiliary circuit according to a second embodiment of the present invention.

FIG. 5 is a block diagram showing an automatic door device provided with a safety auxiliary circuit according to a third embodiment of the present invention.

FIG. 6 is a schematic plan view showing an automatic swing door to which the present invention is applied.

FIG. 7 is a schematic plan view showing an automatic bi-hold door to which the present invention is applied.

FIG. 8 is a timing chart showing waveforms of signals and applied voltages of various parts of a conventional automatic door device, a state of a door, and the like.

[Explanation of symbols]

1, 2, door 4, motor 9, elastic body 13, front sensor 14, rear sensor 16, opening / closing device 18, door driving circuit 19, safety auxiliary circuit, 20 opening / closing determination section 2,
1 ... control unit, a, d ... detection signal, a1 ... door open signal, b
1: a first state holding signal, b2: a second state holding signal,
F: Forward, R: Backward, H: Human body (entry object), E1, E
2: Detection area.

Claims (3)

[Claims] An opening / closing determining section that recognizes an opening / closing operation of a door; a determination result of the opening / closing determining section; and a detection signal from a sensor for controlling opening / closing of the door, and drives the door. A control unit that controls a door drive circuit, wherein the open / close determination unit detects a positive voltage applied to a motor that opens the door and a back electromotive voltage generated in the motor due to the closing operation of the door, A safety auxiliary circuit for an automatic door device that recognizes the opening and closing operations of the door. 2. The device according to claim 1, wherein the door is opened by rotating or advancing rearward to allow an intruding object to pass therethrough, and the sensor has a detection area behind the door. A back sensor that detects an intruding object or an object present behind a door and prohibits an opening / closing operation by the door drive circuit, wherein the control unit recognizes that the opening / closing determination unit performs the opening / closing operation of the door. A safety auxiliary circuit for an automatic door device that releases a detection signal from the rear sensor from prohibiting a door opening / closing operation by the door drive circuit. 3. The automatic door device according to claim 2, wherein the automatic door device includes a front sensor having a detection area in front of the door, detecting an entering object, operating the door drive circuit, and opening the door. Auxiliary circuits for automatic door devices.