JP2002121965A - Drive control method and driving device for automatic door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly start the driving without giving discomfort to an operator in starting the door drive by a manual operation. SOLUTION: An operating amount determination part 42 determines that a door body is operated from a reference position by a prescribed amount and a speed arithmetic part 44 calculates the actual door speed. At the determination by the operation amount determination part 42, a drive control part 46 allows a door drive motor 24 to start and the door drive to start at a driving speed corresponding to the actual door speed calculated by the speed arithmetic part 44.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a sliding door, a hinged door,
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic door drive control method and apparatus for automatically starting driving of a door body of various types of doors such as a revolving door when the door body is manually operated by a predetermined amount.

[0002]

2. Description of the Related Art Conventional general automatic doors are roughly classified into the following two types.

1) A sensor (for example, an infrared sensor) for detecting that a person has approached the vicinity of the door is provided, and when the sensor detects the approach of a person, the door is automatically started (for example, the door is opened).

2) An operation switch is provided on a door body (for example, a door panel), and the door is started when the operation switch is operated.

[0005] However, in the door of 1), since the door drive is started only by the approach of a person, useless door drive is performed simply by the approach of a pedestrian (ie, a person who does not intend to pass through the door). There is an inconvenience. Further, the door 2) has a disadvantage that wiring between the operation switch provided on the door side, that is, the movable side, and the door driving device provided on the structure side, that is, the stationary side, becomes complicated.

As means for solving such inconveniences, for example, Japanese Patent Application Laid-Open No. 62-178680 describes
There is disclosed an apparatus in which door driving is started when a sliding door is opened by a predetermined minute amount.

[0007]

Conventionally, when starting an automatic door, a motor control for gradually increasing the voltage of a door drive motor from 0 to a target voltage in order to reduce a shock due to the inertia of the door body itself. Is performed.

However, when the door drive is started from the time when the door body is operated by a predetermined amount as described in the above-mentioned publication, the door body already has a manual operation speed at the start of the drive. Assuming that the voltage of the door drive motor rises from 0, until the voltage reaches the voltage corresponding to the manual operation speed, the motor voltage conversely acts as a resistance of the door operation in the opening direction, and the door speed is temporarily reduced. This results in a deceleration. That is, for a while after starting the door driving, a phenomenon that the opening operation of the door once feels heavy occurs, which causes an inconvenience of giving an uncomfortable feeling to the operator (that is, a person passing through the door).

The present invention has been made in view of the above circumstances, and has been made in view of the above circumstances. The automatic door drive control that allows an automatic door to be started by a manual operation of a door body and that can be smoothly started without giving a sense of incongruity to an operator. It is an object to provide a method and a drive.

[0010]

As a means for solving the above-mentioned problems, the present invention provides a driving means which starts driving a door body in the operating direction when the door body is manually operated. In the automatic door drive control method, a door speed when the door body is operated by the predetermined amount is detected, and the drive of the door body is started at a drive speed corresponding to the detected speed.

Further, the present invention provides a driving means for opening and closing the door main body, an operation detecting means for detecting that the door main body has been operated by a predetermined amount from a reference position, and the operation of the door main body by the operation detecting means. A drive control means for causing the drive means to start driving the door body in the operation direction from a point in time when it is detected that the door body has been operated only by a fixed amount, wherein the door body has a predetermined amount A speed detecting means for detecting a door speed at the time of operation is provided, and the drive control means is configured to start driving the door body at a driving speed corresponding to the detected speed.

According to these methods and apparatuses, the driving of the door main body is started at a driving speed corresponding to the door speed by manual operation. The door can be smoothly driven without giving a feeling of strangeness.

Further, if the drive speed is then gradually increased from the speed at the start of the drive to a predetermined target speed, the door can be moved to the target position as quickly as possible while smoothly starting the drive. Can be moved up.

The reference position can be set as appropriate, and the reference position may be a position where the door body is at rest until immediately before the manual operation is performed (for example, a fully closed position of a sliding door or an opening door), or When the manual operation is performed in the opening direction against the driving in the closing direction, the position at which the speed of the door body becomes 0 by the manual operation may be used.

The drive control means may start driving the door body at a drive speed substantially the same as the detected speed, or a candidate speed corresponding to the detected speed among a plurality of predetermined candidate speeds. May be selected as the drive speed at the start of door body drive. In the former case, the driving can be started at a speed closer to the actual door speed at the start of driving, and in the latter case, the control content can be simplified.

When the driving means includes an electric motor as a driving source, the driving control means may start the electric motor with electric power corresponding to the speed detected by the speed detecting means.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described with reference to the drawings.

The automatic door shown in FIGS. 1 and 2 includes a door panel (door body) 10, and one end (right end in FIGS. 1 and 2) of the door panel 10 has an upward pivot shaft 12 planted on the floor. Is supported so as to be rotatable around the center. By this rotation, the door panel 10 is moved to the position shown in FIGS.
Closed position (reference position) that blocks the passage 13 as shown by the solid line in FIG.
And a fully open position indicated by a two-dot chain line 10 "in FIG.

One end of a rod 14 is pin-joined to the center of the front upper end of the door panel 10, and one end of an arm 16 is pin-joined to the other end. On the other hand, a door driving device 20 is disposed above the door panel 10.
The output shaft 18 protrudes downward from the output shaft 18.
The other end of the arm 16 is fixed to the arm. When the output shaft 18 is driven to rotate, the arm 16 rotates about the output shaft 18 and the arm 16
The door panel 10 connected via the opening 4 is driven to open and close.

As shown in FIG. 3, the door driving device 20 comprises:
In addition to the output shaft 18, the door drive motor 24, the winding spring 2
6 and a controller 30.

The output shaft 18 is supported by a housing of the door driving device 20 so as to be able to rotate (rotate around a vertical axis).
A spur gear 22 is fixed to an appropriate portion.

The door drive motor 24 is connected to the door drive 20
In this embodiment, the drive source is a brushless motor with a reduction gear (or a brush motor). A gear 27 is fixed to the output shaft.
Are meshed with the spur gear 22. Therefore, by the operation of the door drive motor 24, the spur gear 22 and the output shaft 18 are driven to rotate integrally therewith.

The door drive motor 24 has an encoder 25 built therein, and a pulse signal (ie, a position detection signal) is output from the encoder 25 as the motor is driven.

The helical spring 26 applies a biasing force to the output shaft 18 in the door closing direction. A gear 28 fixed to the central axis of the helical spring 26 is opposite to the spur gear 22 and the gear 27. Is engaged from the side.

The controller 30 controls the operation of the door drive motor 24, and includes a motor drive circuit 32, a memory unit 34, a clock 36, I / O units 37 and 38, and a CPU 40 as shown in FIG. Have. The pulse signal output from the encoder 25 is input to the CPU 40 through the I / O unit 37, and the signal output from the CPU 40 is
The data is input to the motor drive circuit 32 through the O unit 38.

The CPU 40 performs a calculation based on the output signal of the encoder 25, and inputs a direction command signal (forward signal or reverse signal) and a PWM signal to the motor drive circuit 32. The motor drive circuit 32 is composed of a bridge circuit having a switching element such as an FET, for example, and outputs a pulse signal having a duty ratio corresponding to the PWM signal input from the CPU 40 to the door drive motor 2.
4 to operate the door drive motor 24 in the direction corresponding to the direction command signal.

Specifically, the motor drive circuit 32 rotates the door drive motor 24 in a direction to open the door panel 10 when the forward direction signal is input as the direction command signal, and turns the door panel 10 when the reverse signal is input. The door drive motor 24 is rotated in the closing direction. The motor voltage of the door drive motor 24 changes in accordance with the duty ratio. That is, the motor voltage is P
It is adjusted by WM control.

FIG. 5 shows the functional configuration of the CPU 40.
The illustrated operation amount determination unit 42 counts the number of pulses of the pulse signal output from the encoder 25 of the door drive motor 24 starting from a reference position (for example, the fully closed position of the door panel 10) described later. When the predetermined number is reached, it is determined that the door panel 10 has been manually operated in the opening direction by a predetermined amount from the reference position. That is, the operation amount determination unit 42 constitutes “operation detection means” according to the present invention together with the encoder 25.

The speed calculation unit 44 counts the number of pulses of the pulse signal output from the encoder 25, and based on the number of pulses and the clock signal output from the clock 36, the actual door speed (opening / closing speed). Is calculated. That is, the speed calculating section 44 constitutes "speed detecting means" in the present invention together with the encoder 25. here,
The specific speed calculation method is not particularly limited, and for example, the number of pulses may be counted at a constant sampling period, and the counted number may be divided by the sampling period, or until a predetermined number of pulses are counted. The time may be sequentially measured, and the count pulse number may be divided by the measured time.

The drive control unit 46 is provided with the operation amount determination unit 42
When it is determined that the door panel 10 has been manually operated by a predetermined amount from the closed position, the control signal is output to the motor drive circuit 32 to start the door drive motor 24 and detect the detected speed at the start (speed calculation unit). Motor control is performed such that the door drive motor 24 is started at a drive speed substantially equal to the actual door speed calculated by 44.

Next, a specific motor control operation actually performed by the controller 30 will be described with reference to the flowchart of FIG. 6 and the time charts of FIGS.

The door opening drive control shown in FIG. 6 is performed when a manual door opening operation is detected from a preset reference position (ie, when a pulse signal in the opening direction is output from the encoder 25 after the reference position). ) (YES in step S1). The “reference position” here is set as follows.

1) As shown in FIG. 7, when the door panel 10 is still at the fully closed position until immediately before the pulse signal in the opening direction is transmitted (ie, from the fully closed position to the door panel 1).
0 when the manual opening operation is started), the fully closed position (the position at point P1 in the figure) is set as the reference position.

2) As shown in FIGS. 8 and 9, when the door panel 10 is manually opened while the door panel 10 is being driven in the closing direction, against the closing drive.
When the door speed in the closing direction becomes lower than or equal to a certain value by the opening operation, control is performed to reduce the motor voltage to 0.
The position when the door speed becomes 0 (the position at the point P2 in FIG. 8 and the point P3 in FIG. 9) is defined as a reference position.

When the manual door opening operation is started from such a reference position (YES in step S1),
The counting of the pulse number M of the signal output from the encoder 25 is started (step S2), and the current speed Vx is calculated every moment based on the pulse number (step S2).
3).

When the manual operation is performed for a predetermined stroke (two-dot chain line 10 'in FIG. 2), specifically, when the count pulse number M reaches 50 (YES in step S4), A start duty ratio Dx for obtaining a motor voltage corresponding to the door speed Vx is calculated (step S5). The duty ratio Dx is a target speed (maximum speed) when the door is opened and driven, and the target speed V
The duty ratio (target duty ratio) for obtaining a
If a is given, it is given by the following equation.

Dx = Da * Vx / Va In this embodiment, as shown in FIGS. 7 to 9, the duty ratio (target duty ratio) Da for opening and driving the door at the target speed Va is obtained. Duty ratio Dx
Is increased by 10 at a time. Therefore, the duty ratio increasing step number Sx required to obtain the duty ratio Dx corresponding to the door speed Vx from the state of the duty ratio 0 is given by Sx = Dx / 10. The number of steps Sx corresponding to this is calculated (step S6).

By starting the door drive motor 24 with the duty ratio Dx corresponding to the actual door speed Vx in this manner, the opening drive of the door panel 10 is started smoothly without causing a large speed shock.

If the actual position of the door panel 10 has not reached the opening brake start position set before the fully open position at the time when the opening drive is started (step S7), the drive starts. Thereafter, the duty ratio Dx is increased by 10 for each unit time (step S9),
Accordingly, the duty ratio step number Sx is also incremented by one (step S10). As a result, the door panel 10 is accelerated by the rise of the duty ratio Dx. Then, when the number of steps Sx reaches the number of steps Sa required to reach the target speed Va (YES in step S8), the process shifts to the opening high speed control. Specifically, a deviation ΔV between the target speed Va and the detected speed Vx is calculated (step S11), and the actual duty ratio Dx is feedback-controlled so that the deviation ΔV approaches 0 (step S12).

Thereafter, when the door panel 10 exceeds the opening brake start position (YES in step S7), the opening brake control for gradually lowering the duty ratio Dx (ie, gradually decreasing the door opening speed) is performed (step S7). Step S13) Further, the opening cushion control for keeping the opening drive speed at the minute speed at the position immediately before the fully open position is performed (step S14). In this way, the timer count is started from the time when it reaches the fully open position (step S15),
When the timer is up (that is, when a predetermined time has elapsed after reaching the fully open position) (Y in step S16)
ES) Next, the process proceeds to the closing drive control for closing the door panel 10 (step S17).

If the door panel 10 has already exceeded the opening brake start position when the door opening drive is started (YES in step S7), the process directly shifts to the opening brake control (step S13). FIG. 7 to FIG. 9 show the time change of the door speed Vx when the control is executed.
Shown in

First, when a manual opening operation is performed from a state where the door panel 10 is stopped at the fully closed position, FIG.
As shown in the figure, the counting of the number of pulses is started from the time when the encoder pulse signal is generated in association with the manual opening operation, and when the number of pulses reaches 50, the door panel 10 is moved at a speed corresponding to the door speed Vx at that time. Motor drive is started (open soft start). And the door speed V
Feedback control (opening high-speed control) for maintaining the target speed is performed from the time when x reaches the target speed (maximum speed) Va. After that, from the time when the vehicle reaches the opening brake start position, the opening brake control is further performed. The cushion control is executed to reach the fully open position.

On the other hand, when the door panel 10 is driven in the closing direction at the target speed (maximum speed), that is, when the closing high-speed control is performed, the door panel 10 is moved in the opening direction against the closing drive. When a resistance is generated, the motor voltage is set to 0 when the closing drive speed drops below a certain level due to the resistance, and thereafter, it is monitored whether or not the door panel 10 is displaced by a predetermined amount or more within one second. If the door panel 10 has not been displaced, it is determined that the door panel 10 has just hit a person or other obstacle, and normal opening drive is performed. On the other hand, after the door speed becomes 0 (point P2)
When the door panel 10 is displaced by 50 pulses in the opening direction, it is determined that the opening operation has been manually performed by the number of pulses, and the opening soft start (that is, the control according to the present invention) is executed as in FIG.

If the door panel 10 exceeds the opening brake start position during the opening soft start control,
The brake control may be started at that time, or, as shown in FIG. 8, the open brake control is started from the time when the actual door speed Vx increases to the target brake speed corresponding to the actual door position (that is, the door control is started). (Reduce the speed).

The same control as that shown in FIG. 8 is also performed when the resistance in the opening direction occurs when the closing brake control is executed after the door panel 10 is driven at a high speed in the closing direction. That is, the motor voltage is set to 0 when the closing drive speed falls below a certain level, and then, when the door panel 10 has not been displaced by a predetermined amount or more in one second, the normal opening drive is executed while the door panel 10 is displaced as shown in FIG. After the door speed becomes 0 (point P3), the door panel 10
When the pulse displacement occurs, an open soft start (that is, control according to the present invention) is executed.

According to the control described above, the door panel 10
Is started at a drive speed substantially equal to the actual operation speed of the door panel 10, so that the drive of the door panel 10 can be started smoothly without giving an uncomfortable feeling to the operator of the door panel 10.

That is, in the conventional motor control, the motor voltage is gradually increased from 0 regardless of the actual door speed (see the broken line in FIG. 7). Conversely, the motor voltage acts as a resistance (brake) for the door operation in the opening direction, resulting in a temporary decrease in the door speed Vx (broken line in the figure). Therefore, the door operator is given an uncomfortable feeling that the door becomes heavy once the door driving starts.

On the other hand, if the control as shown in FIG. 6 is performed, the door drive motor 24 starts up at a motor voltage corresponding to the actual door speed (manual operation speed) Vx as shown by a solid line in FIG. Therefore, the door speed Vx can be smoothly and continuously increased from the manual operation to the target speed with almost no shock. Therefore, when starting the motor, the operator hardly feels strange.

The embodiment of the present invention is not limited to the above-described embodiment, and may take the following forms as an example.

(1) In the above embodiment, the drive of the door panel 10 is started at a drive speed substantially equal to the actual door speed Vx (step S5 in FIG. 6), but the present invention is not limited to this. For example, a plurality of types of candidate speeds (the candidate speeds themselves or the candidate duty ratios corresponding to the candidate speeds may be stored in a memory in advance), and the candidates corresponding to the actual door speed Vx at the time of starting the door drive are stored. It is also possible to select a speed and start door driving at the candidate speed.

For example, as shown in the following Table 1, three types of candidate duty ratios D1 and D1 corresponding to the actual door speed Vx are shown.
D2 and D3 are set in advance, and a duty ratio corresponding to the speed Vx at the start of door driving from among these candidate duty ratios D1 to D3 (for example, a duty ratio D2 when the door speed Vx is equal to or higher than V1 and lower than V2). Is selected, it becomes possible to start the door drive at a speed corresponding to the actual door speed while simplifying the control program.

[0052]

[Table 1]

(2) In the above embodiment, the door drive speed is adjusted by motor voltage control by PWM.
For example, it is also possible to adjust the door drive speed by controlling the current or the number of poles of the AC motor.

(3) As the "operation detecting means" according to the present invention, other than the means using the encoder signal, a means for detecting the movement of the door body by a limit switch may be used. Further, the speed detecting means is not limited to the one using an encoder with a built-in motor, and another encoder for speed detection or the like may be attached to the door main body or a part interlocked therewith.

(4) In the above embodiment, the door panel 10
Has shown a so-called swing door that rotates around a vertical axis,
The present invention is not limited to this, and can be applied to driving of various automatic doors such as sliding doors and revolving doors. In the case of a revolving door, since there is no particularly fully closed position, a reference angle position suitable for determining whether or not a manual opening operation has been performed may be arbitrarily set.

(5) In the above embodiment, the door panel 10
Although the door opening drive is started when a predetermined amount is manually operated from the reference position, various driving start conditions triggered by the manual operation can be set. For example, the door panel 10 is driven at a speed equal to or higher than a certain speed. The driving may be started when a manual operation is performed in the opening direction for a predetermined time or more.

[0057]

As described above, the present invention detects the door speed when the door body is operated by the predetermined amount when starting the door drive triggered by the manual operation of the door body.
Since the driving of the door main body is started at a driving speed corresponding to the detected speed, there is an effect that the door driving can be started smoothly without giving an uncomfortable feeling to the operator.

[Brief description of the drawings]

FIG. 1 is a front view of an automatic door according to an embodiment of the present invention.

FIG. 2 is a sectional view taken along line AA of FIG.

FIG. 3 is a front view showing an internal configuration of a door drive device provided in the automatic door.

FIG. 4 is a hardware circuit diagram of a controller provided in the door driving device.

FIG. 5 is a block diagram showing a functional configuration of a CPU in the controller.

FIG. 6 is a flowchart showing a motor control operation performed by the controller.

FIG. 7 is a time chart showing a time change of a motor voltage and a door speed due to execution of the motor control when a door is manually opened from a fully closed position.

FIG. 8 is a time chart showing a time change of a motor voltage and a door speed due to execution of the motor control when the door is manually opened during the closing high-speed control.

FIG. 9 is a time chart showing a time change of a motor voltage and a door speed due to execution of the motor control when the door is manually opened during the closing brake control.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Door panel (door main body) 20 Door drive device 24 Door drive motor (drive source) 25 Encoder (constitutes operation detection means and speed detection means) 30 Controller 32 Motor drive circuit 40 CPU 42 Operation amount determination unit (constitutes operation detection means) ) 44 Speed calculation unit (constituting speed detection means) 46 Drive control unit

Claims (9)

[Claims] 1. An automatic door drive control method in which, when a door body is manually operated, a driving unit starts driving the door body in the operation direction, the door body being operated by the predetermined amount. A door speed at which the door body is driven, and driving of the door body is started at a drive speed corresponding to the detected speed. 2. The automatic door drive control method according to claim 1, wherein after the door body starts to be driven, the drive speed is gradually increased from a speed at the start of the drive to a predetermined target speed. A drive control method for an automatic door, comprising: 3. A drive means for opening and closing the door body, an operation detecting means for detecting that the door body has been operated by a predetermined amount from a reference position, and the door body being operated by the predetermined amount by the operation detecting means. And a drive control means for causing the drive means to start driving the door body in the operation direction from a point in time when it is detected that the door body has been operated by the predetermined amount. Automatic door driving, comprising: speed detecting means for detecting a door speed at the time of driving, wherein the driving control means is configured to start driving the door main body at a driving speed corresponding to the detected speed. apparatus. 4. The automatic door driving device according to claim 3, wherein the reference position is a position where the door main body is stationary until immediately before the manual operation is performed. apparatus. 5. The automatic door driving device according to claim 3, wherein the reference position is such that a manual operation is performed in an opening direction against a driving of the door body in a closing direction so that the speed of the door body is reduced to zero. The automatic door driving device, wherein the position of the door main body at the time of becomes. 6. The driving apparatus for an automatic door according to claim 3, wherein said driving control means controls the driving speed of the door body after the driving means starts driving the door body. An automatic door driving device characterized in that the driving speed is gradually increased from a predetermined speed to a predetermined target speed. 7. The automatic door driving device according to claim 3, wherein the driving control means starts driving the door body at a driving speed substantially equal to the detected speed. Automatic door drive. 8. The automatic door driving device according to claim 3, wherein the drive control means determines a candidate speed corresponding to the detected speed among a plurality of types of predetermined candidate speeds. A drive device for an automatic door, wherein the drive speed is set to a drive speed at the start of driving of the main body. 9. The automatic door driving device according to claim 3, wherein the driving unit includes an electric motor as a driving source, and the driving control unit matches a speed detected by the speed detecting unit. An automatic door driving device, characterized in that the electric motor is started by using the electric power.