JP2002047861A - Automatic door device and control device used for the door device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently open/close an automatic door with a plurality of paths for automated guided vehicles set at an opening. SOLUTION: Each automated guided vehicle transmits a door opening request signal before passing the automatic door, and a door closing request signal after passing it. This automatic door device comprises communication parts 140-150 for receiving the door opening request signal and the door closing request signal from the automated guided vehicle; an opening/closing part 130 for opening/closing the automatic door; and a control part 120 for controlling the opening/closing part 130 using a function determined by the number of door opening request signals and the number of door closing request signals received by the communication parts 140-150.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic door apparatus through which an automatic guided vehicle passes, and more particularly, to a control technique for opening and closing an automatic door based on an open / close request signal from a plurality of automatic guided vehicles.

[0002]

2. Description of the Related Art In a production factory, in order to save labor,
An automatic guided vehicle that transports parts and the like unattended is used. The automatic guided vehicle may travel in a plurality of partitioned rooms in a production factory, and in such a case, the automatic guided vehicle passes through an automatic door provided in a partition of the room.
Conventionally, one automatic guided vehicle path is set for one automatic door.

[0003] When one automatic guided vehicle route is set for one automatic door, the opening and closing of the automatic door is controlled as follows. Sensors for detecting automatic guided vehicles are provided at the entrance and exit of the automatic door. This sensor is connected to the control device of the automatic door. When the sensor on the entrance side of the automatic door detects the automatic guided vehicle arriving before the automatic door, the control device of the automatic door opens the door. When the sensor on the exit side of the automatic door detects that the automatic guided vehicle has passed through the automatic door, the automatic door control device closes the door. In this way,
The automatic door is opened each time one automatic guided vehicle arrives, and the automatic door is closed when the automatic guided vehicle passes.

[0004]

However, depending on the layout of a plurality of rooms in a production factory, there are cases where it is desired to provide a plurality of automatic guided vehicle routes for one automatic door. Further, there is a case where it is desired to pass a plurality of automatic guided vehicles by one opening and closing of the automatic door. As described above, a path of a plurality of automatic guided vehicles is set for one automatic door, and passing through a plurality of automatic guided vehicles at once without any trouble cannot be realized by a conventional automatic door.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has an automatic door device and an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes. Is to provide a control device.

[0006]

An automatic door apparatus according to a first aspect of the present invention is an automatic door apparatus in which a plurality of traveling paths of an automatic guided vehicle are set in an opening, wherein the automatic guided vehicle includes a plurality of automatic guided vehicles. After traveling on the traveling route and passing through the automatic door, each automatic guided vehicle transmits an opening request signal to the automatic door device before passing through the automatic door, and transmits a closing request signal to the automatic door device after passing. Receiving means for receiving an opening request signal and a closing request signal from a carrier, opening and closing means for opening and closing an automatic door, and a door opening request connected to the receiving means and the opening and closing means and received by the receiving means. Control means for controlling the opening / closing means using a function determined by the number of signals and the number of door closing request signals.

According to the first aspect, the control means controls the opening / closing means using a function determined by the number of door request signals and the number of door request signals received by the receiving means.
Thus, for example, a function is used in which the state in which the automatic door is closed is set as an initial value, and 1 is added to the initial value each time a door opening request signal is received, and 1 is subtracted each time a door closing request signal is received. When the obtained value is a value obtained by adding 1 to the initial value, an instruction to open the door is issued, and when the value is the initial value, an instruction to close the door is issued to control the opening / closing means. With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic doors are opened until all the automatic guided vehicles that have requested the opening pass through the automatic doors and make a door closing request. As a result, it is possible to provide an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

According to a second aspect of the present invention, in addition to the configuration of the first aspect, the control means includes a predetermined initial value set to a predetermined constant each time a door opening request signal is received. And a function means for subtracting a constant each time a door-opening request signal is received, and a value calculated by the function means when the door-opening request signal is received is a value obtained by adding a constant to an initial value. Means for instructing the opening / closing means to open the door, and means for instructing the opening / closing means to close the door when the value calculated by the function means at the time of receiving the closing request signal is an initial value.

According to the second aspect, the function means adds a predetermined constant to the predetermined initial value each time the door opening request signal is received, and adds the constant each time the door closing request signal is received. Subtract. The control means instructs the opening / closing means to open when the value calculated by the function means is a value obtained by adding a constant to the initial value upon receiving the door opening request signal, and upon receiving the door closing request signal, The value calculated by the function means
If it is the initial value, it instructs the opening / closing means to close the door. With this, for example, the function means that sets the state in which the automatic door is closed as an initial value, adds 1 to the initial value each time a door opening request signal is received, and subtracts 1 each time a door closing request signal is received, The opening / closing means can be controlled by the calculated value. With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic doors are opened until all the automatic guided vehicles that have requested the opening pass through the automatic doors and make a door closing request. As a result, it is possible to provide an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

[0010] According to a third aspect of the present invention, in addition to the configuration of the first aspect, the control means includes a calculating means for calculating a difference between the number of the opening request signals and the number of the closing request signals. Means for instructing the opening / closing means to open the door when the value calculated by the calculating means at the time of receiving the door opening request signal is 1, and a value calculated by the calculating means at the time of receiving the door closing request signal Means for instructing the opening / closing means to close the door when is 0.

According to the third aspect, the calculating means calculates a difference between the number of door opening request signals and the number of door closing request signals. The control means instructs the opening / closing means to open the door when the value calculated by the calculation means is 1, upon receiving the door opening request signal,
When the value calculated by the calculating means is 0 when the door closing request signal is received, the opening / closing means is instructed to close the door. Thus, the opening / closing means can be controlled based on the difference between the number of door opening request signals and the number of door closing request signals. With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic doors are opened until all the automatic guided vehicles that have requested the opening pass through the automatic doors and make a door closing request. As a result, it is possible to provide an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

[0012] According to a fourth aspect of the present invention, in addition to the configuration of the first aspect, the control means is configured such that the control means receives a door opening request signal at a predetermined initial value for each traveling route. And a function means for subtracting a constant each time a door-opening request signal is received, and a value calculated by the function means at the time of receiving the door-opening request signal. The means for instructing the opening / closing means to open the door when the value is a value obtained by adding a constant to the initial value only in one traveling route, and the values calculated by the function means when the closing request signal is received are all Means for instructing the opening / closing means to close the door when it is the initial value in the travel route of the vehicle.

[0013] According to the fourth aspect, the function means adds a predetermined constant to a predetermined initial value every time the door opening request signal is received for each traveling route, and outputs the closing request signal. Subtract a constant each time it is received. The control means, when receiving the door opening request signal, the value calculated by the function means,
Only in one traveling route among all traveling routes, when the value is a value obtained by adding a constant to the initial value, the opening / closing means is instructed to open the door, and when the door closing request signal is received, the value calculated by the function means is In all the travel routes, if the initial value is set, the door opening / closing means is instructed to close the door. With this, for example, the function means that sets the state in which the automatic door is closed as an initial value, adds 1 to the initial value each time a door opening request signal is received, and subtracts 1 each time a door closing request signal is received, The opening / closing means can be controlled based on the calculated value for each traveling route. With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic doors are opened until all the automatic guided vehicles that have requested the opening pass through the automatic doors and make a door closing request. As a result, it is possible to provide an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

An automatic door device according to a fifth aspect of the present invention includes the first to fourth automatic door devices.
In addition to the configuration of any one of the inventions, a detecting means for detecting a state in which the automatic door is open, and connected to the detecting means, and transmits a traveling permission signal to the automatic guided vehicle when the automatic door is open. Automatic transmission device further including a transmission means for receiving the travel permission signal, the automatic guided vehicle travels toward the automatic door.

According to the fifth invention, when the detecting means detects that the automatic door is opened, the transmitting means transmits a traveling permission signal to the automatic guided vehicle. Accordingly, the automatic guided vehicle travels toward the automatic door only when the automatic door is open. As a result, it is possible to provide an automatic door device that can efficiently and safely open and close an automatic door having a plurality of automatic guided vehicle routes.

A control device according to a sixth aspect of the present invention is a control device for an automatic door device in which a plurality of traveling paths of an automatic guided vehicle are set in an opening, wherein the plurality of automatic guided vehicles travel on a plurality of traveling paths. Each automatic guided vehicle sends an opening request signal before the automatic door and a closing request signal after the automatic door to the control device, and the automatic door device opens and closes the automatic door. Including opening and closing means, the control device, from the automatic guided vehicle, receiving means for receiving a door opening request signal and a door closing request signal, connected to the receiving means, the number of door opening request signals received by the receiving means and the door closing Instruction means for instructing the opening / closing means to open and close the door using a function determined by the number of request signals.

According to the sixth aspect, the instructing means instructs the opening / closing means to open and close the door using a function determined by the number of opening request signals and the number of closing request signals received by the receiving means. Thus, for example, a function is used in which the state in which the automatic door is closed is set as an initial value, and 1 is added to the initial value each time a door opening request signal is received, and 1 is subtracted each time a door closing request signal is received. When the obtained value is a value obtained by adding 1 to the initial value, an instruction to open the door is issued, and when the value is the initial value, an instruction to close the door is issued to control the opening / closing means.
With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic doors are opened until all the automatic guided vehicles that have requested the opening pass through the automatic doors and make a door closing request. As a result, it is possible to provide a control device of an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

According to a seventh aspect of the present invention, in addition to the configuration of the sixth aspect, the instructing means sets a predetermined constant to a predetermined initial value each time a door opening request signal is received. A function means for adding and subtracting a constant each time a door-opening request signal is received, and when a value calculated by the function means at the time of receiving a door-opening request signal is a value obtained by adding a constant to an initial value. Means for instructing the opening / closing means to open the door, and means for instructing the opening / closing means to close the door when the value calculated by the function means is an initial value when the door closing request signal is received.

According to the seventh aspect, the function means adds a predetermined constant to the predetermined initial value each time the door opening request signal is received, and adds the constant each time the door closing request signal is received. Subtract. The instructing means instructs the opening / closing means to open the door when the value calculated by the function means is a value obtained by adding a constant to the initial value upon receiving the door opening request signal, and upon receiving the door closing request signal, The value calculated by the function means
If it is the initial value, it instructs the opening / closing means to close the door. With this, for example, the function means that sets the state in which the automatic door is closed as an initial value, adds 1 to the initial value each time a door opening request signal is received, and subtracts 1 each time a door closing request signal is received, The opening / closing means can be controlled by the calculated value. With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic doors are opened until all the automatic guided vehicles that have requested the opening pass through the automatic doors and make a door closing request. As a result, it is possible to provide a control device of an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

According to an eighth aspect of the present invention, in addition to the configuration of the sixth aspect, the control means further comprises: a calculating means for calculating a difference between the number of the opening request signals and the number of the closing request signals. When the door opening request signal is received, the value calculated by the calculating means is 1
Means for instructing the opening and closing means to open the door when
Means for instructing the opening / closing means to close the door when the value calculated by the calculating means is 0 upon receipt of the door closing request signal.

According to the present invention, the calculating means calculates a difference between the number of door opening request signals and the number of door closing request signals. The instructing means instructs the opening / closing means to open the door when the value calculated by the calculating means is 1, upon receiving the door opening request signal,
When the value calculated by the calculating means is 0 when the door closing request signal is received, the opening / closing means is instructed to close the door. Thus, the opening / closing means can be controlled based on the difference between the number of door opening request signals and the number of door closing request signals. With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic doors are opened until all the automatic guided vehicles that have requested the opening pass through the automatic doors and make a door closing request. As a result, it is possible to provide a control device of an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

According to a ninth aspect of the present invention, in addition to the configuration of the sixth aspect, the instructing means is configured such that each time the vehicle receives the door opening request signal at a predetermined initial value for each traveling route, Function means for adding a predetermined constant and subtracting the constant each time a door closing request signal is received, and a value calculated by the function means at the time of receiving the door opening request signal, only in all traveling routes. The means for instructing the opening / closing means to open the door when the value is a value obtained by adding a constant to the initial value only in one traveling route, and the value calculated by the function means when the door closing request signal is received, Means for instructing the opening / closing means to close the door when the initial value is provided in the traveling route.

According to the ninth aspect, the function means adds a predetermined constant to a predetermined initial value every time the door opening request signal is received for each traveling route, and outputs the closing request signal. Subtract a constant each time it is received. The instructing means, when receiving the door opening request signal, the value calculated by the function means,
Only in one traveling route among all traveling routes, when the value is a value obtained by adding a constant to the initial value, the opening / closing means is instructed to open the door, and when the door closing request signal is received, the value calculated by the function means is In all the travel routes, if the initial value is set, the door opening / closing means is instructed to close the door. With this, for example, the function means that sets the state in which the automatic door is closed as an initial value, adds 1 to the initial value each time a door opening request signal is received, and subtracts 1 each time a door closing request signal is received, The opening / closing means can be controlled based on the calculated value for each traveling route. With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic doors are opened until all the automatic guided vehicles that have requested the opening pass through the automatic doors and make a door closing request. As a result, it is possible to provide a control device of an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

The control device according to a tenth aspect of the present invention includes
In addition to the configuration of any one of the inventions, a detecting means for detecting a state in which the automatic door is open, and connected to the detecting means, and transmits a traveling permission signal to the automatic guided vehicle when the automatic door is open. The automatic guided vehicle travels toward the automatic door upon receiving the travel permission signal.

According to the tenth aspect, the transmitting means transmits a traveling permission signal to the automatic guided vehicle when the detecting means detects that the automatic door is opened. Accordingly, the automatic guided vehicle travels toward the automatic door only when the automatic door is open.
As a result, it is possible to provide a control device of an automatic door device capable of efficiently and safely opening and closing an automatic door having a plurality of automatic guided vehicle routes.

[0026]

Embodiments of the present invention will be described below with reference to the drawings. In the following description, the same components are denoted by the same reference numerals. Their names and functions are the same. Therefore, detailed description thereof will not be repeated. In the following description, a magnetic guidance system is used as an automatic guided vehicle guidance system, but the invention is not limited thereto, and another system may be used.

<Embodiment 1> Referring to FIG. 1, an automatic door device according to the present embodiment includes an A route 300 and a B route 30.
Automatic doors 160 and 162 which are provided on the second and C paths 304 and open in both directions from the central portion;
0 and an opening / closing section 130 composed of a motor, an air cylinder, and the like for opening and closing the automatic door 162, a control section 120 connected to the opening / closing section 130 and controlling the entire automatic door device, and an A path 300, a B path 302, and a C path, respectively. The communication units 140 and 144 provided to the left of the automatic door 160 and the automatic door 162 in FIG. 148 and corresponding unmanned persons provided on the right side of the automatic doors 160 and 162 in FIG. 1 corresponding to the A path 300, the B path 302, and the C path 304, respectively, connected to the control unit 120. It includes communication units 142, 146, and 150 for communicating with the carrier 200.

The automatic guided vehicle 200 is a fixed path automatic guided vehicle that travels along a magnetic guide line. As shown in FIG. 1, when the automatic door 160 and the automatic door 162 are fully opened, the A path 300 and the B path 30 on which the magnetic induction wires are laid.
The automatic guided vehicle 200 travels along the second and C paths 304. A route 300, B route 302 and C route 304
Are markers 320, 312, and 314 indicating that the communication position with the automatic door device in front of the automatic door is approaching, and a marker 310 indicating that the communication position with the automatic door device after passing through the automatic door is approaching. , 322 and 324 are provided, respectively. The communication units 140 to 150 of the automatic door device are provided at positions separated from the respective markers by a predetermined distance, and the communication units 140 to 150 of the automatic door device and the communication unit 24 of the automatic guided vehicle 200 are provided.
0 communicate with each other. In the A route 300, the B route 302 moves in the direction from the marker 320 to the marker 310.
In the direction from the marker 312 to the marker 322, the C path 30
At 4, the automatic guided vehicle 200 travels in the direction from the marker 314 to the marker 324.

Referring to FIG. 2, an automatic door device 100 according to the present embodiment has a control unit 120 for controlling each unit of the automatic door device 100, and is connected to the control unit 120 and has an automatic guided vehicle 2
Communication units 140 to 150 that communicate with the control unit 1
20 and an opening / closing unit 130 that opens and closes the automatic door 160 and the automatic door 162.

As shown in FIG. 1, the communication units 142, 144, and 148 are installed at positions near the automatic guided vehicle route before the automatic doors pass, and when the automatic guided vehicle stops at a predetermined position, the unmanned transportation is performed. Communication is performed with the car 200. At this time,
The automatic door device 100 receives a door opening request signal from the automatic guided vehicle 200 and transmits a passage permission signal to the automatic guided vehicle 200. The communication units 140, 146, and 150 are installed at positions after the automatic door has passed near the path of the automatic guided vehicle as shown in FIG. 1, and are connected to the automatic guided vehicle 200 when the automatic guided vehicle stops at a predetermined position. Communication between. At this time, the automatic door device 100 receives a door closing request signal from the automatic guided vehicle 200.

The control unit 120 stores the number of door opening request signals and the number of door closing request signals received from the automatic guided vehicle 200, stores the operating time period of the automatic door device 100,
A memory 126 for storing a program executed by a CPU (Central Processing Unit) to be described later, and a CPU 12 for executing the program stored in the memory 126
2 and communication units 140 to 150 connected to the CPU 122
Between the communication unit interface 124 and the CPU 12
2 and an opening / closing section interface 128 between the opening / closing section 130 connected to the second section 2. The opening / closing section interface 128 is connected to the automatic door 160 and the automatic door 1 of the opening / closing section 130.
62 includes a sensor for detecting the fully open state and the fully closed state.

The automatic guided vehicle 200 includes a control unit 220 for controlling each unit of the automatic guided vehicle 200, a communication unit 240 connected to the control unit 220 and communicating with the communication units 140 to 150 of the automatic door device 100, The sensor 250 is connected to the control unit 220 and connected to the control unit 220 to detect markers on the route and to detect magnetic guide lines laid along the route. And a driving unit 260 for moving and stopping the transport vehicle 200 along a predetermined route. As described above, the sensor 250 detects the magnetic induction wire laid along each path, and the control unit 220 analyzes the detected signal,
The control unit 220 controls the traveling wheels 262 and the steered wheels 264 of the driving unit 260 so that the automatic guided vehicle 200 travels along the magnetic guide line, so that the automatic guided vehicle 200
Runs.

The control unit 220 of the automatic guided vehicle 200 includes a memory 226 storing a running route of the automatic guided vehicle 200 and a program executed by a CPU described later, and a memory 226.
The CPU 2 is connected to the CPU 2 and executes programs stored in the memory 226 to control each unit of the automatic guided vehicle 200.
22, a communication unit interface 224 between the communication unit 240 connected to the CPU 222, a sensor interface unit 230 between the sensor 250 connected to the CPU 222, and a driving unit 260 connected to the CPU 222
And a driver interface 228 between them. The communication unit interface 224 is an interface for transmitting a door opening request signal and a door closing request signal to the communication unit 240 according to an instruction from the CPU 222. The sensor unit interface 230 converts the signal detected by the sensor 250 into C
This is an interface for transmitting to the PU 222.
The drive unit interface 228 is an interface for transmitting a control signal from the CPU 222 to the drive unit 260.

Referring to FIG. 3, a program executed by automatic guided vehicle 200 passing through automatic door device 100 according to the present embodiment has the following control structure for automatic door passing processing.

Step (hereinafter, step is abbreviated as S)
At 100, the CPU 222 determines that the sensor 250 detects the marker 320 in front of the automatic door while the automatic guided vehicle 200 is traveling,
It is determined whether any of 312 and 314 has been detected. If the marker in front of the automatic door is detected (YES in S100), the process proceeds to S102. On the other hand, if the marker in front of the automatic door is not detected (NO in S100), the process proceeds to S120.

At S102, CPU 222 determines that communication unit 1 of automatic door device 100 installed at a predetermined distance from the marker.
The driving unit 260 is instructed to stop at 42, 144, and 148 via the driving unit interface 228. S
At 104, the CPU 222 confirms that the automatic guided vehicle 200 is stopped, and
A door opening request signal is transmitted to any of 42, 144, and 148 via the communication unit interface 224 and the communication unit 240.

At S106, CPU 222 sets communication unit 2
It is determined whether or not a passage permission signal has been received from the automatic door device 100 via the control unit 40. When a passage permission signal is received from automatic door device 100 (YES in S106), the process proceeds to S1.
08. On the other hand, if the passage permission signal is not received from automatic door device 100 (NO in S106), the process proceeds to S1.
06, and waits until a passage permission signal is received from the automatic door device 100.

At S 108, CPU 222 issues a driving instruction to driving unit 260 via driving unit interface 228. At S110, CPU 222 determines that sensor 25
It is determined whether or not 0 has detected any of the markers 310, 322, 324 after passing through the automatic door. If a marker after passing through the automatic door is detected (YES in S110), the process proceeds to S112. On the other hand, if the marker after passing through the automatic door is not detected (NO in S110), the process returns to S110, and waits until the marker after passing through the automatic door is detected.

At S112, CPU 222 determines that communication unit 1 of automatic door device 100 installed at a predetermined distance from the marker.
The driving unit 260 is instructed to stop at 40, 146, and 150 via the driving unit interface 228. S
At 114, CPU 222 confirms that automatic guided vehicle 200 is stopped, and communicates with communication unit 1 of automatic door device 100.
A door closing request signal is transmitted to any of 40, 146, and 150 via the communication unit interface 224 and the communication unit 240.

At S 116, CPU 222 determines that communication unit 2
It is determined whether or not a passage permission signal has been received from the automatic door device 100 via the control unit 40. When a passage permission signal is received from automatic door device 100 (YES in S116), the process proceeds to S1.
Moved to 18. On the other hand, if the passage permission signal is not received from automatic door device 100 (NO in S116), the process proceeds to S1.
16 and waits until a passage permission signal from the automatic door device 100 is received.

At S 118, CPU 222 issues a driving instruction to driving unit 260 via driving unit interface 228.

At S120, CPU 222 determines that memory 2
It is determined whether or not the vehicle has arrived at the destination based on the traveling route of the automatic guided vehicle 200 stored in 20. If it is determined that the vehicle has arrived at the destination (YES in S120), the process ends. On the other hand, if it is determined that the vehicle has not arrived at the destination (NO in S120), the process returns to S100.

The process of waiting for the passage permission signal in S116 of FIG. 3 may be omitted. That is, upon transmitting the door closing request signal to the communication unit of the automatic door device 100, the CPU 222 may immediately instruct the driving unit 260 to travel.

Referring to FIG. 4, the program executed by automatic door device 100 according to the present embodiment has the following control structure.

At S200, CPU 122 determines whether automatic door 1
It is determined whether the automatic door 60 and the automatic door 162 are closed. This determination is made by a sensor provided in the opening / closing section interface 128. If the automatic door is in the closed state (YES in S200), the process proceeds to S206. On the other hand, if the automatic door is not closed (S20
(NO at 0), the process proceeds to S202.

In S202, the CPU 122 sets the automatic door 16
0 and the closing operation of the automatic door 162 to the opening / closing unit 130 via the opening / closing unit interface 128. S204
, The CPU 122 determines whether or not the automatic door is in the fully closed state. This determination is based on the opening / closing unit interface 12.
8 by detecting that the automatic door is completely closed. If the automatic door device is in the fully closed state (YES in S204), the process proceeds to S206. On the other hand, if the automatic door is not in the fully closed state, such as from the instruction to close the automatic door in S202 until the automatic door is completely closed (N in S204).
O), the process returns to S204, and waits until the automatic door is fully closed.

In S206, CPU 122 initializes (R = 0) the number of signal receptions R corresponding to the difference between the received number of opening request signals and the number of closing request signals received.

At S208, CPU 122 determines whether or not a signal has been received from an automatic guided vehicle. This decision
Communication unit 140 through communication unit interface 124
This is done by receiving a signal from one of the 150. When a signal is received from the automatic guided vehicle 200 (S20)
(YES at 8), the process proceeds to S210. On the other hand, if a signal is not received from automatic guided vehicle 200 (NO in S208), the process returns to S208, and waits for reception of a signal from automatic guided vehicle 200.

At S210, CPU 122 proceeds to S208.
It is determined whether or not the received signal is a door opening request signal. This determination is made based on the contents of the signals received by the communication units 140 to 150 via the communication unit interface 124. In addition, this determination may be made by specifying the received communication unit (a door opening request signal from the communication units 142, 144, 148, and a door closing request signal from the communication units 140, 146, 150). If the received signal is a door opening request signal (YE at S210)
S), the process is moved to S212. On the other hand, if the received signal is a door closing request signal (NO in S210),
The process proceeds to S220.

At S212, CPU 122 performs an operation of R = R + 1 for signal reception number R. In S214, CPU 122 determines whether or not signal reception number R is one. If signal reception number R is 1 (YES in S214), the process proceeds to S216. On the other hand, if signal reception number R is not 1 (NO in S214), the process proceeds to S218.

At S216, CPU 122 instructs the automatic door opening operation. In S218, CPU 122 determines whether or not the automatic door is in a fully opened state. This decision
This is performed by a sensor included in the opening / closing section interface 128 detecting the fully opened state of the automatic door. If the automatic door is fully open (YES in S218), the process proceeds to S226. On the other hand, if the automatic door is not fully opened (NO in S218), the process returns to S218, and waits until the automatic door is fully opened.

At S226, CPU 122 transmits a traffic permission signal to unmanned carrier 200 via communication unit interface 124 and any of communication units 140 to 150.

At S220, CPU 122 performs an operation of R = R−1 on number R of received signals. In S222, CPU 122 determines whether signal reception number R is 0 or not. If signal reception number R is 0 (YES in S222), the process proceeds to S224. On the other hand, if signal reception number R is not 0 (NO in S222), the process proceeds to S230.

At S224, CPU 122 instructs an automatic door closing operation. In S230, CPU 122 transmits a traffic permission signal to automatic guided vehicle 200 via communication unit interface 124 and any of communication units 140 to 150.

At S228, CPU 122 determines whether or not the operation time of the automatic door has ended. This determination is made by comparing the operating time zone of the automatic door stored in the memory 126 with the current time. If the operation time of the automatic door has ended (YE in S228)
S), the process ends. On the other hand, if the operation time of the automatic door has not ended (NO in S228), the process proceeds to S2
08, and waits for reception of a signal from the automatic guided vehicle 200.

The operation of the automatic door device 100 based on the above structure and flowchart will be described.

Referring to FIG. 5, automatic guided vehicle on route A, B
Assume that the automatic guided vehicle on the route arrives at the automatic door device 100 in the order of the automatic guided vehicle on the route C, and that the automatic guided vehicle on the route B, the automatic guided vehicle on the route A, and the automatic guided vehicle on the route C pass through the automatic door in this order. The operation of the automatic door device 100 will be described. In the following description, a description will be given from the time when the automatic door is in the closed state.

First, since the automatic door is in the closed state, the number R of received signals is initialized (S206). When a door opening request signal is received from automatic guided vehicle 200 on route A (YES in S208, YES in S210), R = R + 1 is calculated for signal reception number R, and signal reception number R becomes 1 ( S212). Since the number of signal receptions R is 1 (S214
YES), the automatic door is opened (S21).
6). When the automatic door is fully opened (YE at S218)
S), a passage permission signal is transmitted to the automatic guided vehicle 200 on the route A (S226), and the automatic guided vehicle 200 on the route A travels and passes through the automatic door.

With the automatic door open, the automatic guided vehicle on route B arrives before automatic door device 100, and receives a door opening request signal from the automatic guided vehicle (YE in S210).
S). The calculation of R = R + 1 is performed on the number R of received signals, and the number R of received signals becomes 2 (S212). Since the number of signal receptions R is not 1 (NO in S214), the automatic door opening operation is not instructed, and the automatic door is fully opened (S218).
YES), a passage permission signal is transmitted to the automatic guided vehicle 200 on the route B (S226).

Further, when automatic guided vehicle 200 on route C arrives before automatic door device 100 and transmits a door opening request signal from the automatic guided vehicle (YES in S210). The calculation of R = R + 1 is performed on the number of received signals R, and the number of received signals R becomes 3 (S212). Since the number R of received signals is not 1 (NO in S214), the operation of opening the automatic door is not instructed, and if the automatic door is fully opened (YE in S218).
S), a passage permission signal is transmitted to the automatic guided vehicle 200 on the C route (S226).

When the number R of received signals is 3 and a door closing request signal is received from the automatic guided vehicle 200 on the route B (S208).
At S210, NO at S210), the calculation of R = R-1 is performed on the number R of received signals, and the number R of received signals becomes 2 (S220). Since the number R of received signals is not 0 (S2
No at 22), the closing operation of the automatic door is not instructed, and a traffic permission signal is transmitted to the automatic guided vehicle 200 on the B route (S2)
30).

Next, when the number R of received signals is 2, the automatic guided vehicle 200 on the A route passes through the automatic door and transmits a door closing request signal (YES in S208, N in S210).
O), the calculation of R = R-1 is performed on the number R of received signals, and the number R of received signals becomes 1 (S220). Since the number R of received signals is not 0 (NO in S222), the closing operation of the automatic door is not instructed, and the passage permission signal is transmitted to the automatic guided vehicle 200 on the A route (S230).

Next, when the number R of received signals is 1, the automatic guided vehicle 200 on the route C passes through the automatic door and transmits a door closing request signal (YES in S208, N in S210).
O), the calculation of R = R-1 is performed on the number R of received signals, and the number R of received signals becomes 0 (S220). Since the number R of received signals is 0 (YES in S222), a closing operation of the automatic door is instructed (S224), and the automatic door is closed. In addition, a passage permission signal is transmitted to the automatic guided vehicle 200 on the C route (S230).

As described above, in the automatic door apparatus according to the present embodiment, the number of signals R is set to 0 as an initial value in a state where the automatic door is closed, and the initial value is changed to the initial value every time a door opening request signal is received. The opening and closing of the automatic door can be controlled by a function that adds 1 to the above and subtracts 1 every time a door closing request signal is received. With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic door is opened until all the automatic guided vehicles that have made the opening request pass through the automatic door and make a door closing request. As a result, it is possible to provide an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

<Embodiment 2> An automatic door apparatus 100 according to the present embodiment is different from the above-described first embodiment in that
The functions based on the opening request signal and the closing request signal received from 00 are different. The hardware configuration and the automatic guided vehicle of the automatic door device according to the present embodiment are the same as those in the first embodiment, and therefore, detailed description thereof will not be repeated here.

Referring to FIG. 6, the program executed by automatic door device 100 has the following control structure.
The processing of S300 to S304 in FIG.
Are the same as the processing of S200 to S204, respectively, and thus detailed description thereof will not be repeated.

At S306, CPU 122 initializes the number R1 of received door opening request signals and the number R2 of received door closing request signals (R1 = 0, R2 = 0). At S308, C
The PU 122 determines whether a signal has been received from the automatic guided vehicle 200. At S310, CPU 122 proceeds to S3
At 08, it is determined whether or not the received signal is a door opening request signal. If the received signal is a door opening request signal (YES in S310), the process proceeds to S312.
On the other hand, if the received signal is a door closing request signal (S
(NO at 310), the process proceeds to S320.

At S312, CPU 122 performs an operation of R1 = R1 + 1 on number R1 of received door opening request signals. In S314, CPU 122 determines whether or not the value of the calculation result obtained by subtracting the number R2 of received closing request signals from the number R1 of received opening request signals is one. Calculation result (R1-R
If 2) is 1 (YES in S314), the process proceeds to S316. On the other hand, the operation result (R1-R2)
Is not 1 (NO in S314), the process proceeds to S318.

At S316, CPU 122 instructs the automatic door opening operation. In S318, CPU 122 determines whether or not the automatic door is in a fully opened state. If the automatic door is fully open (YES in S318), the process proceeds to S
Moved to 326. On the other hand, if the automatic door is not in the fully opened state (NO in S318), the process returns to S318,
Wait until the automatic door is fully open.

At S326, CPU 122 transmits a traffic permission signal to automatic guided vehicle 200 that has transmitted the signal.

At S320, when the signal received from automatic guided vehicle 200 is a door closing request signal (N at S310
O), the CPU 122 calculates R2 = R2 + 1 for the number R2 of received door closing request signals. In S322, C
The PU 122 determines whether or not the value of the calculation result obtained by subtracting the received number R2 of the closing request signals from the received number R1 of the opening request signals is 0. If the calculation result (R1-R2) is 0 (YES in S322), the process proceeds to S324. On the other hand, if the value of the calculation result (R1-R2) is not 0 (NO in S322), the process proceeds to S330.

At S324, CPU 122 instructs the automatic door closing operation. In S330, CPU 122 transmits a traffic permission signal to automatic guided vehicle 200 that has transmitted the signal. In S328, CPU 122 determines whether or not the operation time of the automatic door has ended. If the operation time of the automatic door has ended (YES in S328), the process ends. On the other hand, if the operation time of the automatic door has not ended (NO in S328), the process returns to S308, and waits for reception of a signal from automatic guided vehicle 200.

The operation of the automatic door device 100 based on the above structure and flowchart will be described. In the following description, a description will be given from the time when the automatic door is in the closed state.

Referring to FIG. 7, since the automatic door is in the closed state, the number R1 of received opening request signals and the number R2 of received closing request signals are initialized (S306). At this time,
Number of received door request signals R1 = 0, number of received door request signals R2
= 0, the calculation result (R1-R2) = 0 obtained by subtracting the number R2 of received closing request signals from the number R1 of received opening request signals.

When automatic guided vehicle 200 on route A transmits a door opening request signal (YES in S308, YE in S310)
S) Regarding the number R1 of received door opening request signals, R1 = R1 +
The calculation of 1 is performed, and the number R1 of received door opening request signals becomes 1 (S312). Since the value of the calculation result (R1-R2) obtained by subtracting the number R2 of received closing request signals from the number R1 of received opening request signals is 1 (YES in S314), an instruction to open the automatic door is given (S316). . After the automatic door opening operation is instructed, when it is detected that the automatic door is fully opened (S
If YES at 318), a traffic permission signal is transmitted to automatic guided vehicle 200 on route A (S326).

In this state, if a door opening request signal is received from automatic guided vehicle 200 on route B (YES in S308, S
At 310, YES), the calculation of R1 = R1 + 1 is performed on the number R1 of received door opening request signals, and the number R1 of received door opening request signals becomes 2 (S312). Since the value of the calculation result (R1−R2) obtained by subtracting the number R2 of received request signals for closing from the number R1 of received request signals for opening the door is not 1 (N in S314)
O), when the automatic door opening operation is not instructed and it is detected that the automatic door is fully open (YES in S318), a passage permission signal is transmitted to the automatic guided vehicle 200 in the B route (S).
326).

In this state, if a door opening request signal is received from automatic guided vehicle 200 on route C (YES in S308, S
At 310, YES), R1 = R1 + 1 is calculated for the number R1 of opening request signals, and the number R1 of opening request signals becomes 3 (S312). Since the value of the calculation result (R1−R2) obtained by subtracting the number R2 of receiving the closing request signal from the number R1 of the opening request signal received is not 1 (N in S314)
O), if the automatic door opening operation is not instructed and it is detected that the automatic door is fully opened (YES in S318), a passage permission signal is transmitted to the automatic guided vehicle 200 on the C route (S).
326). At this time, the number R1 of received door opening request signals is 3, the number R2 of received door request signals is 0, and the calculation result (R1-R2) is 3.

In such a state, the automatic guided vehicle 2 on the B route
When a door closing request signal is received from 00 (YE in S308)
(S, NO in S310), R2 = R2 + 1 is calculated for the number R2 of received door closing request signals, and the number R2 of received door closing request signals becomes 1 (S320). Since the value of the operation result (R1−R2) obtained by subtracting the number R2 of receiving the closing request signal from the number R1 of receiving the opening request signal is not 0 (N in S322)
O), the closing operation of the automatic door is not instructed, and the passage permission signal is transmitted to the automatic guided vehicle 200 on the route B (S330).

Further, when a door closing request signal is received from automatic guided vehicle 200 on route A (YES in S308, S31)
NO at 0), the number R2 of received door closing request signals is R2
= R2 + 1, and the number R2 of received closing request signals is calculated.
Becomes 2 (S320). An operation result (R1-R) obtained by subtracting the number R2 of received closing request signals from the number R1 of received opening request signals.
Since the value of 2) is not 0 (NO in S322), the closing operation of the automatic door is not instructed, and the passage permission signal is transmitted to the automatic guided vehicle 200 on the A route (S330).

Further, when a door closing request signal is received from automatic guided vehicle 200 on route C (YES in S308, S31)
NO at 0), the number R2 of received door closing request signals is R2
= R2 + 1, and the number R2 of received closing request signals is calculated.
Becomes 3 (S320). An operation result (R1-R) obtained by subtracting the number R2 of received closing request signals from the number R1 of received opening request signals.
Since the value of 2) is 0 (YES in S322), the closing operation of the automatic door is instructed (S324), and a passage permission signal is transmitted to the automatic guided vehicle 200 on the C route (S330).

The automatic door apparatus according to the present embodiment opens and closes the automatic door with an initial value indicating the state in which the automatic door is closed and a function for subtracting the number of the door request signals from the number of the open request signals. Can control. With this configuration, when a plurality of automatic guided vehicles make a door opening request, the automatic door is opened until all the automatic guided vehicles that have made the opening request pass through the automatic door and make a door closing request. As a result, it is possible to provide an automatic door device capable of efficiently opening and closing an automatic door having a plurality of automatic guided vehicle routes.

<Embodiment 3> The automatic door apparatus 100 according to the present embodiment is different from Embodiments 1 and 2 in that a function based on an opening request signal and a closing request signal received from the automatic guided vehicle 200 is used. Are different. The hardware configuration and the automatic guided vehicle of the automatic door device according to the present embodiment are the same as those in the first embodiment, and therefore, detailed description thereof will not be repeated here.

Referring to FIG. 8, the program executed by automatic door device 100 according to the present embodiment has the following control structure. Note that the processing in S400 to S404 in FIG. 8 is the same as the processing in S200 to S204 in FIG. 4, respectively, and thus detailed description thereof will not be repeated.

At S406, CPU 122 initializes the number of signal receptions R (x) of each path (R (x) = 0, x = 1 to 1).
n). Here, n is the number of paths of the automatic guided vehicle passing through the automatic door device 100. Hereinafter, description will be made on the assumption that n = 3.

At S408, CPU 122 determines the m-th (1
≦ m ≦ n: It is determined whether or not a signal has been received from the automatic guided vehicle on the route of m = 1, 2, 3). If a signal is received from the automatic guided vehicle on the m-th route (YES in S408), the process proceeds to S410. At S410, CPU 122
Determines whether the signal received in S408 is a door opening request signal. If the signal received in S408 is a door opening request signal (YES in S410), the process proceeds to S4
Moved to 12. On the other hand, if the signal received in S408 is a door closing request signal (NO in S410), the process proceeds to S422.

At S412, CPU 122 performs an operation of R (m) = R (m) +1 on signal reception number R (m). At S414, CPU 122 determines that signal reception number R
It is determined whether (m) = 1. Number of signal reception R
If (m) = 1 (YES in S414), the process proceeds to S416. On the other hand, the number of received signals R (m) =
If not 1 (NO in S414), the process proceeds to S42
Moved to 0.

At S 416, CPU 122 determines whether or not the number of signal receptions R on all routes other than m is zero. the number of signal receptions R in all routes except m
Is 0 (YES in S416), the process proceeds to S
Moved to 418. On the other hand, if the number R of received signals in all the paths other than m is not 0 (N in S416)
O), the process is moved to S420.

At S418, CPU 122 instructs the automatic door opening operation. In S420, CPU 122 determines whether or not the automatic door is in a fully opened state. If the automatic door is in the fully opened state (YES in S420), the process proceeds to S430. On the other hand, if the automatic door is not fully opened (S
(NO at 420), the process returns to S420, and waits until the automatic door is fully opened.

At S430, CPU 122 transmits a traffic permission signal to unmanned carrier 200 on the m-th route.

In S422, if the received signal is a door closing request signal (NO in S410), CPU 122 calculates R (m) = R (m) -1 for signal reception number R (m). . In S424, CPU 122 determines whether or not signal reception number R (m) is 0. If the number of received signals R (m) is 0 (YES in S424),
The process proceeds to S426. On the other hand, the number of received signals R (m)
Is not 0 (NO in S424), the process proceeds to S4
Moved to 34.

At S426, CPU 122 determines whether or not the number of signal receptions R on all paths other than m is zero. the number of signal receptions R in all routes except m
Is 0 (YES in S426), the process proceeds to S
Moved to 428. On the other hand, if the number of signal receptions R in all the paths other than m is not 0 (N in S426)
O) The process is moved to S434.

At S428, CPU 122 instructs the automatic door closing operation. In S434, CPU 122 determines that m
A passage permission signal is transmitted to the automatic guided vehicle 200 on the second route. In S432, CPU 122 determines whether or not the operation time of the automatic door has ended. If the operation time of the automatic door has ended (YES in S432), the process ends. On the other hand, if the operation time of the automatic door has not ended (S4
(NO at S32), the process returns to S408, and waits for reception of a signal from the automatic guided vehicle on the m-th route.

The operation of the automatic door device 100 based on the above structure and flowchart will be described. In the following description, a description will be given from the time when the automatic door is in the closed state.

Referring to FIG. 9, since the automatic door is in the closed state, the number of signal receptions R (1) corresponding to route A becomes zero, and the number of signal receptions R (2) corresponding to route B becomes zero. , C corresponding to the C path are initialized to 0.

When a door opening request signal is received from automatic guided vehicle 200 on route A (YES in S408, Y in S410)
ES) and the number of signal receptions R (1), R (1) = R
(1) An operation of +1 is performed, and the number R (1) of received signals is 1
(S412). Since the number of signal receptions R (1) is 1 (YES in S414), and all the number of signal receptions R other than R (1) are 0 (YES in S416), an instruction to open the automatic door is issued. (S418). After the automatic door opening operation is instructed, if it is detected that the automatic door is in the fully opened state (YES in S420), the automatic guided vehicle 20 in the A route will be described.
A traffic permission signal is transmitted to 0 (S430). At this time, the number of signal receptions R (1) corresponding to the path A is 1, the number of signal receptions R (2) corresponding to the path B is 0, and the number of signal receptions R (3) corresponding to the path C is 0.

In this state, when a door opening request signal is received from automatic guided vehicle 200 on route B (YES in S408, S
YES at 410), and regarding the number of signal receptions R (2), R
The calculation of (2) = R (2) +1 is performed, and the number of signal receptions R
(2) becomes 1 (S412). Although the number of signal receptions R (2) is 1 (YES in S414), the number of signal receptions R (2)
Since (1) is also 1 (NO in S416), the automatic door opening operation is not instructed, and if it is detected that the automatic door is fully opened (YES in S420), the automatic guided vehicle 200 on the B route Is transmitted (S430).

In this state, when an opening / closing request signal is received from automatic guided vehicle 200 on route C (YES in S408, S
YES at 410), and regarding the number of signal receptions R (3), R
The calculation of (3) = R (3) +1 is performed, and the number of signal receptions R
(3) becomes 1 (S412). R (3) is 1 (YES in S414), but R (1) and R (2) are also 1
(NO in S416), the automatic door opening operation is not instructed, and if it is detected that the automatic door is fully open (YES in S420), a passage permission signal is sent to the automatic guided vehicle 200 on the C route. It is transmitted (S430). At this time, A
The number of signal receptions R (1) corresponding to the path is 1, the number of signal receptions R (2) corresponding to the path B is 1, and the number of signal receptions R (3) corresponding to the path C is 1.

In such a state, the automatic guided vehicle 2 on the B route
When the door closing request signal is received from 00 (YE in S408)
(S, NO in S410), R (2) = R (2) -1 is calculated for signal reception number R (2), and signal reception number R (2) becomes 0 (S422). Number of signal reception R
Although (2) is 0 (YES in S424), the signal reception number R (1) and the signal reception number R (3) are 1 (NO in S426). Without
A passage permission signal is transmitted to the automatic guided vehicle 200 on the route B (S434).

Further, when a door closing request signal is received from automatic guided vehicle 200 on route A (YES in S408, S41)
0, NO), and for the number of signal receptions R (1), R (1)
= R (1) -1 is calculated, and the number of received signals R (1)
Becomes 0 (S422). Although the number of signal receptions R (1) is 0 (YES in S424), the number of signal receptions R (3) is 1
(NO in S426), the closing operation of the automatic door is not instructed, and the passage permission signal is transmitted to the automatic guided vehicle 200 on the A route (S434).

Further, when a door closing request signal is received from automatic guided vehicle 200 on route C (YES in S408, S41)
0, NO), and for the number of signal receptions R (3), R (3)
= R (3) -1 is calculated and the number of received signals R (3)
Becomes 0 (S422). Signal reception number R (3) is 0 (YES in S424), and signal reception number R (1) and signal reception number R (2) are also 0 (YE in S426).
S), an instruction to close the automatic door is issued (S428), and a passage permission signal is transmitted to the automatic guided vehicle 200 on the C route (S4).
34).

The automatic door device according to the present embodiment sets the state in which the automatic door device is closed as an initial value, adds 1 to the initial value each time a door opening request signal is received, and receives a door closing request signal. The opening and closing of the automatic door can be controlled based on the value for each traveling route calculated by the function of subtracting 1 each time. In this way, when a plurality of automatic guided vehicles make a door opening request, the automatic door is kept open until all the automatic guided vehicles that have requested the opening pass through the automatic door and make a door closing request. As a result, it is possible to provide an automatic door device capable of efficiently opening and closing an automatic door device having a plurality of automatic guided vehicle routes.

The embodiments disclosed this time are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

[Brief description of the drawings]

FIG. 1 is a layout diagram of a door opening / closing device according to a first embodiment of the present invention.

FIG. 2 is a control block diagram of the door opening and closing device and the automatic guided vehicle according to Embodiment 1 of the present invention.

FIG. 3 is a flowchart showing a control procedure of an automatic guided vehicle opening / closing request process according to Embodiment 1 of the present invention;

FIG. 4 is a flowchart showing a control procedure of an opening / closing process of the door opening / closing device according to the first embodiment of the present invention.

FIG. 5 is a timing chart of an opening / closing process of the door opening / closing device according to the first embodiment of the present invention.

FIG. 6 is a flowchart showing a control procedure of an opening / closing process of a door opening / closing device according to a second embodiment of the present invention.

FIG. 7 is a timing chart of an opening / closing process of a door opening / closing device according to Embodiment 2 of the present invention.

FIG. 8 is a flowchart showing a control procedure of an opening / closing process of a door opening / closing device according to Embodiment 3 of the present invention.

FIG. 9 is a timing chart of an opening / closing process of the door opening / closing device according to Embodiment 3 of the present invention.

[Explanation of symbols]

100 automatic door device, 200 automatic guided vehicle, 120, 2
20 control unit, 122, 222 CPU, 124, 22
4 communication unit interface, 126, 226 memory,
128 opening / closing section interface, 130 opening / closing section, 1
40 to 150, 240 communication unit, 160, 162 automatic door, 228 drive unit interface, 230 sensor unit interface, 250 sensor, 260 drive unit, 262 running wheel, 264 steering wheel, 300 to 304
Automated guided vehicle path, 310-324 Marker

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Yuichi Nakano 22-22 Nagaikecho, Abeno-ku, Osaka-shi CC03 DD07 DD15 EE05 FF01 KK07 KK18 KK20

Claims (10)

[Claims] 1. An automatic door device in which a plurality of traveling paths of an automatic guided vehicle are set in an opening, wherein the plurality of automatic guided vehicles travel on the plurality of traveling paths and pass through the automatic door,
Each of the automatic guided vehicles transmits an opening request signal before passing through the automatic door and a closing request signal after passing to the automatic door device, respectively, and the automatic door device, from the automatic guided vehicle, Receiving means for receiving the request signal and the closing request signal; opening and closing means for opening and closing the automatic door; connecting to the receiving means and the opening and closing means, and receiving the opening request received by the receiving means. An automatic door device, comprising: control means for controlling the opening / closing means using a function determined by the number of signals and the number of the door closing request signals. 2. The method according to claim 1, wherein the control unit adds a predetermined constant to a predetermined initial value each time the door opening request signal is received, and subtracts the constant each time the door closing request signal is received. And a function unit for instructing the opening / closing unit to open the door when the value calculated by the function unit is a value obtained by adding the constant to the initial value when the door opening request signal is received. The method according to claim 1, further comprising: means for instructing the opening / closing means to close the door when the value calculated by the function means is the initial value when the door closing request signal is received. Automatic door device. 3. The control unit includes: a calculating unit configured to calculate a difference between the number of the opening request signals and the number of the closing request signals; and a calculating unit configured to calculate the difference when receiving the opening request signal. Means for instructing the opening / closing means to open the door when the value obtained is 1, and closing the door to the opening / closing means when the value calculated by the calculation means is 0 when the closing request signal is received. 2. The automatic door device according to claim 1, further comprising: 4. The control means, for each of the traveling routes, adds a predetermined constant to a predetermined initial value each time the door opening request signal is received, and receives the door closing request signal. Function means for decrementing the constant each time, upon receipt of the door opening request signal, the value calculated by the function means, only in one traveling route among all traveling routes, the initial value Means for instructing the opening / closing means to open the door when the value is a value obtained by adding the constant; and when the door closing request signal is received, the value calculated by the function means is the initial value in all traveling routes. Means for instructing the opening / closing means to close the door when the value is a value. 5. The automatic door device, wherein the automatic door device is connected to the detecting means for detecting a state in which the automatic door is open, and the automatic door device is allowed to travel to the automatic guided vehicle when the automatic door is open. The automatic door device according to any one of claims 1 to 4, further comprising a transmission unit for transmitting a signal, wherein the automatic guided vehicle travels toward the automatic door upon receiving the travel permission signal. 6. A control device for an automatic door device in which a plurality of traveling paths of an automatic guided vehicle are set in an opening, wherein the plurality of automatic guided vehicles travel along the plurality of traveling paths to move the automatic door. Passing, each of the automatic guided vehicles transmits an opening request signal before passing through the automatic door and a closing request signal after passing to the control device, and the automatic door device opens and closes the automatic door. Opening / closing means, the control device includes: receiving means for receiving the door opening request signal and the door closing request signal from the automatic guided vehicle; and the opening means connected to the receiving means and received by the receiving means. A control device for an automatic door device, comprising: an instruction means for instructing the opening / closing means to open / close the opening / closing means using a function determined by the number of door request signals and the number of the door request signals. 7. The instructing means adds a predetermined constant to a predetermined initial value each time the door opening request signal is received, and subtracts the constant each time the door closing request signal is received. And a function unit for instructing the opening / closing unit to open the door when the value calculated by the function unit is a value obtained by adding the constant to the initial value when the door opening request signal is received. The method according to claim 6, further comprising: means for instructing the opening / closing means to close the door when the value calculated by the function means is the initial value when the door closing request signal is received. Control device for automatic door device. 8. An instructing means, comprising: calculating means for calculating a difference between the number of the opening request signals and the number of the closing request signals; and calculating by the calculating means upon receiving the opening request signal. Means for instructing the opening / closing means to open the door when the value obtained is 1, and closing the door to the opening / closing means when the value calculated by the calculation means is 0 when the closing request signal is received. 7. The control device for an automatic door device according to claim 6, further comprising: means for instructing the automatic door device. 9. The instruction means, for each of the traveling routes, adds a predetermined constant to a predetermined initial value each time the door opening request signal is received, and receives the door closing request signal. Function means for decrementing the constant each time, upon receipt of the door opening request signal, the value calculated by the function means, only in one traveling route among all traveling routes, the initial value Means for instructing the opening / closing means to open the door when the value is a value obtained by adding the constant; and when the door closing request signal is received, the value calculated by the function means is the initial value in all traveling routes. 7. A control device for an automatic door device according to claim 6, further comprising means for instructing the opening / closing means to close the door when the value is a value. 10. The control device is connected to a detecting means for detecting a state in which the automatic door is open, and a running permission signal to the automatic guided vehicle when the automatic door is open. The automatic door control device according to any one of claims 6 to 9, further comprising: a transmission unit configured to transmit the automatic transmission to the automatic door when the automatic guided vehicle receives the travel permission signal. .