JP2020084641A - Automatic door maintenance support system, automatic door device, automatic door maintenance support method, and program - Google Patents

Abstract

To provide an automatic door maintenance support technology capable of accurately diagnosing the abnormality of an automatic door in response to the fact that the abnormality of the conventional technology automatic door cannot be accurately diagnosed.SOLUTION: An automatic door maintenance support system 1 includes: an acquisition unit 36 which acquires information on a load of a motor 24 which drives a door in a speed control state in which a door of an automatic door 100 is maintained at a predetermined first speed; and a determination unit 42 which determines abnormality of the automatic door on the basis of the acquired information on the load on a predetermined reference value.SELECTED DRAWING: Figure 2

Description

The present invention relates to an automatic door maintenance support system, an automatic door device, an automatic door maintenance support method, and a program.

An automatic door that automatically opens and closes at the opening of a building may fail due to deterioration of parts due to aging, and it is desirable to perform maintenance before the failure occurs. However, the appropriate maintenance time varies greatly depending on the individual device due to the frequency of use and variations in parts. Patent Document 1 describes a monitoring device that monitors a device that is continuously used for a long period of time such as a manufacturing device in order to suppress excessive notification. This monitoring apparatus acquires a physical quantity indicating the state of the manufacturing apparatus to be monitored, and determines the presence/absence of abnormality based on the physical quantity.

JP, 2014-056509, A

Patent Document 1 describes a method in which a mold temperature controller or a robot is used as a device to be monitored, and whether or not there is an abnormality that appears as a sign of future failure is monitored based on a physical quantity indicating the state of each device. .. In this method, the abnormality is notified by displaying an abnormal waveform showing a temporal change of a current value or vibration supplied to the target device for a predetermined time on a graph. However, the disclosure content of Patent Document 1 is vague, and it cannot be said that the disclosure content is sufficient for accurately diagnosing an abnormality in the target device.
From these, the present inventor has recognized that the related art has room for improvement in terms of accurately diagnosing an abnormality of an automatic door configured by a plurality of components.

The present invention has been made in view of these problems, and an object thereof is to provide an automatic door maintenance support technique capable of accurately diagnosing an abnormality of an automatic door.

In order to solve the above problems, an automatic door maintenance support system according to an aspect of the present invention obtains information about a load of a motor that drives a door of an automatic door in a speed control state in which the door is held at a predetermined first speed. And an determining unit that determines the abnormality of the automatic door based on a predetermined reference value based on the acquired information about the load.

According to this aspect, the information regarding the load of the motor can be determined based on the reference value.

It should be noted that any combination of the above and components or expressions of the present invention may be replaced with each other between a method, a device, a program, a temporary or non-temporary storage medium storing the program, a system, etc. It is effective as an aspect of the present invention.

According to the present invention, it is possible to provide an automatic door maintenance support technique capable of accurately diagnosing an abnormality in an automatic door.

It is a front view which shows schematically the automatic door to which the automatic door maintenance support system which concerns on 1st Embodiment was applied. FIG. 2 is a block diagram schematically showing the automatic door maintenance support system of FIG. 1. It is a figure which shows an example of the transition of the door speed in the opening operation of the automatic door of FIG. It is explanatory drawing explaining the estimation method of the maintenance time of the automatic door of FIG. It is another explanatory view explaining the estimation method of the maintenance time of the automatic door of FIG. It is a block diagram which shows schematically the automatic door maintenance support system which concerns on 2nd Embodiment. It is a block diagram which shows the automatic door apparatus which concerns on 3rd Embodiment roughly. 8 is a flowchart showing a process of a computer program of the automatic door device of FIG. 7.

First, the outline of the present invention will be described. One aspect of the present invention is an automatic door maintenance support system. This system includes an acquisition unit that acquires information about the load of a motor that drives the door in a speed control state in which the door of the automatic door is held at a predetermined first speed, and the acquired information about the load as a predetermined reference value. And a determination unit that determines abnormality of the automatic door based on the determination result. The system may assist in the maintenance of one or more automatic doors. The predetermined speed may be a relatively fast first speed after the door has been accelerated, or a relatively slow second speed after the door has been decelerated from the first speed.

The information regarding the load of the motor (hereinafter, referred to as “load information”) may be an electric numerical value corresponding to the load of the motor. As an example, the electrical numerical value may be a motor torque, a motor power consumption, a motor drive current (hereinafter, simply referred to as “current”), a motor drive voltage, or the like. The predetermined reference value may be a reference value set at the time of installation or maintenance of the automatic door, or a reference value updated and set at a predetermined time or when a predetermined event occurs. Good.

According to this aspect, since the load information is used, it is possible to improve the accuracy of the condition diagnosis of the automatic door and its components and the necessity prediction of maintenance as compared with the case where the failure diagnosis is simply performed based on the number of times of opening and closing. Further, according to this aspect, it is possible to estimate the state of wear, deformation, deterioration, adhesion of dirt, etc. of the components of the automatic door. This component includes door rollers for automatic doors, running rails on which the door wheels travel, gear mechanism between motor and drive pulley, drive pulley, driven pulley, timing belt, guide rails for guiding the lower part of the door, and around the door. The rubber packing etc. which are provided are mentioned. Further, according to this aspect, it is possible to estimate the deterioration state of each part of the motor. Examples of the deteriorated state of each part include deterioration of the field magnet of the motor, deterioration of the armature coil, and reduction of lubricating oil in the rotating part.

The above-mentioned reference value may be set according to information on the load of the motor acquired in the past (hereinafter referred to as “past information”). For example, the reference value may be set by adding a predetermined value to past information, or may be set by multiplying past information by a predetermined value. The predetermined value by which the past information is multiplied may be a value of 1 or more. In this case, since the reference value can be set with the motor itself as a reference, it is unlikely to be affected by variations in the installation environment that differ at each installation site. This reference value may be set after maintenance work such as installation and maintenance of the automatic door (hereinafter, simply referred to as “maintenance”). The “after installation or maintenance” may be immediately after the installation or maintenance, or may be after the installation or maintenance is opened and closed a certain number of times (for example, 100 times).

For example, the reference value may be an average value, a median value, or a specific value of the load information at the time of opening/closing each time when the device is opened/closed a certain number of times after installation or maintenance. The specific value may be a value specified from information within a certain range of each load information. The reference value may be set not only after installation or maintenance but also at a predetermined time or when a predetermined event occurs.

The above-mentioned reference value may be set according to the information regarding the load of the motor acquired after the opening/closing operation is performed a predetermined number of times. In this case, the reference value can be set after the hardness of the member made of a material having a large temperature characteristic such as rubber and the viscosity of the grease applied to the movable portion are stabilized, so that an accurate determination can be made. Examples of such a member include a door roller made of rubber, and examples of such grease include grease applied to a shaft or a bearing of a motor.

The determination unit described above may make a determination using a threshold. This threshold value may be set according to at least two combinations of the weight of the door, the area of the main surface of the door, the aspect ratio of the main surface of the door, the installation environment of the door, and the type of automatic door. In this case, the influence of the error due to the installation environment of the automatic door can be reduced. For example, the determination unit may determine whether or not the deviation between the reference value and the motor load information exceeds a threshold value. The main surface of the door is the surface with the largest area among the surfaces of the door, and the type of automatic door is set according to the controllable motor capacity and other than the motor drive circuit. Is set according to the difference in the circuit configuration of.

The above-mentioned determination part may presume the time when maintenance should be performed based on the opening/closing frequency of the door. In this case, it is possible to predict the recommended maintenance time and the replacement time of the members. This opening/closing frequency may be a value obtained by evaluating the opening/closing frequency of the door itself of the determination target automatic door for a certain period of time, or a value set as an estimation parameter for the determination target. May be. The value obtained by evaluating these or the set value may be stored in the storage unit as a frequency value. The determination unit may estimate the maintenance time using the stored frequency value.

The time to maintain may be the recommended maintenance time. Any one of the threshold value, the maintenance period, and the opening/closing frequency can be set as parameters. Therefore, the above-mentioned threshold may be set based on the opening/closing frequency. For example, the maintenance period may be set as a predetermined period (for example, half a year or one year), and the threshold value may be set according to the predetermined period and the above frequency value.

For example, the frequency of opening and closing of automatic doors of tourist facilities and leisure facilities greatly differs depending on the season or during the busy season and the non-busy season. In addition, depending on the season, it may be used while being opened or closed. Therefore, the above-mentioned opening/closing frequency may be updated at predetermined intervals. In this case, it is possible to cope with the seasonal variation of the switching frequency. For example, the above frequency value may be updated with a value obtained by re-evaluating the opening/closing frequency of the target automatic door or a newly set value. The predetermined interval may be defined as a period during which the frequency of opening and closing the automatic door changes, such as one month, three months, or half a year.

The above-mentioned determination unit may also evaluate the fluctuation of the information regarding the load of the motor. In this case, by evaluating this variation, the deteriorated portion can be specified to some extent. For example, the fluctuation cycle can be specified by analyzing the pattern of load fluctuation. Frequency analysis by Fourier transform can be used for this analysis. For example, if load cycle fluctuations are confirmed for a doorwheel rotation period component, a pulley rotation period component, a motor rotation period component, or an aperiodic component, it may be considered that a member related to the component is deteriorated. it can. In this way, by identifying the deteriorated portion, efficient and accurate maintenance work can be performed.

The acquisition unit may acquire the information about the load on the motor even in the speed control state in which the door is held at the second speed lower than the first speed. In this case, the deterioration location can be specified to some extent by analyzing the load information in the two speed control states. For example, the different speeds may be the above-mentioned first speed and second speed. The acquisition unit may acquire the load information in the first speed control state maintained at the first speed and the load information in the second speed control state maintained at the second speed. For example, when the load information changes in proportion to the speed, it can be considered as deterioration of the magnets and coils of the motor, and when it does not change in proportion, it can be considered as deterioration of the mechanical system.

The above-mentioned information regarding the load of the motor may be information regarding the current flowing through the motor. In this case, the load information can be easily detected without separately providing a sensor. The current flowing through the motor (hereinafter referred to as "motor current") can be detected by a current sensor provided on the path through which the current flows. There is no restriction on the connection location of the current sensor on the circuit. For example, the current sensor may be a shunt resistor connected in series with the motor. The motor current may be obtained from the drive voltage applied to the motor. For example, the motor current may be calculated from the duty ratio of the drive voltage of the motor.

The acquisition unit described above may acquire the information about the load of the motor even in the deceleration control state in which the speed is decelerated from the first speed. In this case, the deterioration location can be specified to some extent by acquiring the load information in the deceleration control state. For example, when the mechanical system deteriorates and the load increases, the deceleration increases, and when the motor deteriorates, the deceleration decreases. Therefore, it is possible to specify the deteriorated portion based on these differences.

The present invention may include a presentation unit that presents the determination result of the determination unit described above, and the presentation unit may be arranged near the door. In this case, the owner, user, administrator, etc. of the automatic door can be made aware of the deterioration status. For example, the presentation unit may be a notification device that emits light or sound, or a display device that outputs an image or sound. For example, the presentation unit may be provided in a seamless door, a frame, a pillar, a wall, or the like.

An output unit that outputs the determination result of the determination unit may be provided. In this case, the deterioration situation can be notified to a remote place. For example, the output unit may output the determination result to an external device by a wired or wireless communication means, or may send an electronic mail. This communication means may include a network such as the Internet. The communication means may output the determination result by short-range wireless communication. The external device may be a computer, a server, a cloud or the like provided separately from the automatic door, or a mobile terminal or a smartphone carried by a service person.

The acquisition unit may include a transmission unit that transmits the acquisition result of the acquisition unit to the cloud server, the acquisition unit may be provided in or near the automatic door, and the determination unit may be provided in the cloud server. In this case, the threshold value can be easily updated by providing the determination unit in the cloud server. Further, the load information can be analyzed by an advanced method such as Fourier analysis. In addition, by storing the determination result in the cloud server, the service person can efficiently perform maintenance work while referring to the determination result on the server. For example, the transmission unit may transmit the acquisition result (load information) of the acquisition unit to the cloud server via the communication unit and the network. The cloud server is not particularly limited as long as it is a server provided on the cloud environment.

Another aspect of the present invention is an automatic door device. This device relates to an opening/closing mechanism including a door, a drive mechanism for driving the door to open and close by a motor, a control unit for controlling the motor, and a load of the motor in a speed control state in which the door is held at a predetermined speed by the control unit. An acquisition unit that acquires information, and a determination unit that determines the abnormality of the door based on a predetermined reference value for the acquired information about the load are provided. In the case of a sliding door, the opening/closing mechanism may include a door, a door roller supporting the door, and a rail on which the door roller travels. Further, the drive mechanism includes a motor, a drive pulley driven by the motor, a driven pulley provided in pair with the drive pulley, a belt spanning the drive pulley and the driven pulley, and a connecting portion connecting the belt and the door. You may According to this aspect, since the acquisition and the determination are performed within the range of the automatic door, the connection between the acquisition unit and the determination unit is easier and the configuration is simplified as compared with the case where the determination unit is separately provided outside. You can That is, it is not necessary to separately provide a maintenance support system.

Yet another aspect of the present invention is an automatic door maintenance support method. This method is based on a step of acquiring information about a load of a motor that drives the door in a speed control state in which the door of the automatic door is held at a predetermined speed, and the information about the acquired load based on a predetermined reference value. And a step of determining an abnormality of the automatic door. According to this aspect, since the load information is used, it is possible to improve the accuracy of the condition diagnosis of the automatic door and its components and the necessity prediction of maintenance as compared with the case where the failure diagnosis is simply performed based on the number of times of opening and closing.

Yet another aspect of the present invention is a program for causing a computer to execute the automatic door maintenance support method. This program is based on a step of acquiring information about the load of the motor that drives the door in the speed control state in which the door of the automatic door is held at a predetermined speed, and the information about the acquired load based on a predetermined reference value. And a step of determining an abnormality of the automatic door. According to this aspect, since the load information is used, it is possible to improve the accuracy of the condition diagnosis of the automatic door and its components and the necessity prediction of maintenance as compared with the case where the failure diagnosis is simply performed based on the number of times of opening and closing.

Hereinafter, the present invention will be described based on preferred embodiments with reference to the drawings. In the embodiments and the modified examples, the same or equivalent constituent elements and members are designated by the same reference numerals, and the duplicated description will be omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Further, in each drawing, some of the members that are not important for explaining the embodiment are omitted.
Also, terms including ordinal numbers such as first and second are used to describe various constituent elements, but this term is used only for the purpose of distinguishing one constituent element from another constituent element. The constituent elements are not limited by.

[First Embodiment]
A configuration of an automatic door maintenance support system 1 according to a first embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a front view schematically showing an automatic door 100 to which an automatic door maintenance support system 1 according to the first embodiment is applied. FIG. 2 is a block diagram schematically showing the automatic door maintenance support system 1.

Each functional block shown in FIG. 2 can be realized by an electronic element such as a CPU of a computer or a mechanical component in terms of hardware, and a computer program or the like in terms of software. It depicts the functional blocks realized by cooperation. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways by a combination of hardware and software. The same applies to the functional blocks of FIGS. 6 and 7 described later.

As shown in FIGS. 1 and 2, the automatic door maintenance support system 1 includes an automatic door 100 and an information processing unit 40. The automatic door 100 is driven by the motor 24 to open and close the door 12. The information processing section 40 processes information regarding the load of the motor 24 (hereinafter referred to as “load information Li”). First, the automatic door 100 will be described, and the information processing section 40 will be described later.

(Automatic door)
The automatic door 100 includes a door engine 10, a door 12, a belt 14, a drive pulley 16, a driven pulley 18, a traveling rail 20, a suspension unit 22, a controller 30, a door sensor 32, and a presentation unit 48. Mainly includes a guide rail 82 and a rubber packing 84. The movable direction of the door 12 of this embodiment is parallel to the horizontal X-axis direction. The expected direction of the door 12 is parallel to the horizontal Y-axis direction orthogonal to the X-axis direction. The up-down direction of the door 12 is parallel to the Z-axis direction orthogonal to the X-axis direction and the Y-axis direction. Such notation of direction does not limit the use posture of the automatic door 100, and the automatic door 100 may be used in any posture depending on the application. The presentation unit 48 will be described later.

The door engine 10 includes a motor 24 and a gear mechanism (not shown) that rotationally drives the drive pulley 16 based on the rotation of the motor 24. The door engine 10 functions as a power source for opening and closing the door 12 by the driving force of the motor 24. The motor 24 is driven by an IPM (intelligent power module) provided in an engine drive unit 28 described later. The motor 24 may be a motor based on various known principles. The motor 24 of this embodiment is a brushless motor having an encoder 24e using a Hall IC.

The driven pulley 18 is provided apart from the drive pulley 16 in the X-axis direction. The belt 14 is looped around the outer circumferences of the drive pulley 16 and the driven pulley 18. The belt 14 rotates the driven pulley 18 as the drive pulley 16 rotates. Belt 14 may be a toothed timing belt.

The traveling rail 20 is a rail member for guiding the door 12 above the door 12, and extends in the movable direction of the door 12 (X-axis direction). The suspension portion 22 is a mechanism for suspending the door 12 on the traveling rail 20, and is provided on the upper portion of the door 12. The suspension portion 22 has a door roller 22c that rolls on the traveling rail 20, and is supported by the traveling rail 20 via the door roller 22c. The door 12 is connected to the belt 14 via a connecting member 12j.

The door sensor 32 is attached to the blind 80 or the like and detects a passerby or the like. The controller 30 controls the motor 24 of the door engine 10 to open and close the door 12 according to the detection result of a pedestrian or the like from the door sensor 32. The controller 30 includes an engine drive unit 28 that drives the motor 24 of the door engine 10, a control unit 26 that controls the operation of the automatic door 100, and a detection unit 34 that detects the load information Li of the motor 24. The detection unit 34 will be described later.

The guide rail 82 is a rail having a groove extending in the X-axis direction for guiding the steady rest 12s extending from the lower portion of the door 12. When the door 12 moves, the steady rest 12s of the door 12 rubs against the guide rail 82. The rubber packing 84 is provided around the door 12 or the like mainly for improving airtightness. When the door 12 moves, the rubber packing 84 rubs against either the movable part or the fixed part.

In the thus configured automatic door 100, when the motor 24 rotationally drives the drive pulley 16, the drive pulley 16 and the driven pulley 18 rotate, and the belt 14 moves in a loop. When the belt 14 moves, the suspension portion 22 suspended by the belt 14 via the connecting member 12j moves on the traveling rail 20 in the X-axis direction. The door 12 moves in the X-axis direction together with the suspension portion 22 to perform the opening/closing operation. By operating in this way, the moving speed of the door 12 (hereinafter referred to as “door speed Vd”) is proportional to the rotation speed of the motor 24. The automatic door 100 opens the door 12 when the door sensor 32 detects a passerby, and closes the door 12 at a predetermined timing when the door sensor 32 no longer detects a passerby.

(Opening motion)
The opening operation of the door 12 will be described with reference to FIG. FIG. 3 is a diagram showing an example of transition of the door speed Vd of the door 12 in the opening operation. In this figure, the horizontal axis represents the position of the door 12 from the closed position to the open position (hereinafter referred to as “door position”), and the vertical axis represents the door speed Vd of the door 12 and the current for driving the motor 24 (hereinafter, referred to as “door position”). "Motor current Id"). The opening operation is an operation of moving the door 12 stopped at the closed position to the open position and stopping the door 12. The opening operation of the present embodiment includes an acceleration operation for accelerating the door 12 stopped at the closed position to a predetermined first speed, a first speed control operation for maintaining the first speed, and a deceleration for decelerating to the second speed. The operation includes a second speed control operation for maintaining the second speed, and a door contact operation for bringing the door 12 into contact with a stopper (not shown) to stop the door 12. The acceleration operation, the first speed control operation, the deceleration operation, the second speed control operation, and the door hitting operation are collectively referred to as “each operation”.

As shown in FIG. 3, the first speed is higher than the second speed and the second speed is lower than the first speed. In the first speed control operation, the automatic door 100 keeps the speed Vd of the door 12 constant at the first speed. This state is called the first speed control state. In the second speed control operation, in the automatic door 100, the speed Vd of the door 12 is kept constant at the second speed. This state is called the second speed control state. The first speed control state and the second speed control state are collectively referred to as "each control state".

In the acceleration operation, when the speed Vd reaches the first speed, the operation is switched to the first speed control operation. In the first speed control operation, when the door position reaches a predetermined position, the deceleration operation is switched to. In the deceleration operation, when the speed reaches the second speed, the operation is switched to the second speed control operation. In the second speed control operation, the door 12 is moved to the open position. When the door 12 reaches the open position, the door 12 comes into contact with the stopper and stops by the door hitting operation.

This will be described in more detail. In the acceleration operation, the voltage supplied to the motor 24 (hereinafter simply referred to as “motor voltage”) is controlled so that the relationship between the door position and the door speed Vd follows a predetermined acceleration curve. The motor voltage is pulse width modulated (PWM modulated) and controlled by its duty ratio. In the acceleration operation, the motor 24 may be subjected to constant voltage control, constant current control or constant acceleration control. In this operation, as shown in FIG. 3, the motor current Id increases as the door speed Vd increases.

In the first speed control operation, when the speed Vd fluctuates from the first speed, the motor voltage is controlled so as to suppress the fluctuation. At this time, the motor 24 may be controlled at a constant speed. This control may be control that feeds back the detected motor speed, or may be control that does not include feedback. The first speed may be the maximum movement speed of the door 12 or a speed close thereto. In this operation, as shown in FIG. 3, the motor current Id is substantially constant although there is some variation.

In the deceleration operation, the motor voltage is controlled so that the relationship between the door position and the door speed Vd follows a predetermined deceleration curve. In this operation, the motor voltage is gradually reduced to decelerate due to the sliding load of the door 12 or the like. In the deceleration operation, the brake torque may be generated by a short brake operation that short-circuits the counter electromotive force of the motor 24, or the motor 24 may be supplied with a voltage having a polarity opposite to that at the time of acceleration to generate the brake torque. .. In the deceleration operation, the motor 24 may be subjected to constant voltage control, constant current control or constant acceleration control. In this operation, as shown in FIG. 3, the motor current Id decreases as the door speed Vd decreases.

In the second speed control operation, when the speed Vd fluctuates from the second speed, the motor voltage is controlled so as to suppress the fluctuation. At this time, the motor 24 may be controlled at a constant speed. In this embodiment, the door 12 moving at the second speed is brought into contact with the stopper to stop the door 12. In order to reduce the impact when the door 12 is brought into contact with the stopper, the second speed may be a speed slower than the first speed, for example, a creeping speed that stops in a short time. In this operation, as shown in FIG. 3, the motor current Id is substantially constant although there is some variation.

In the door contact operation, the door 12 stops at the open position by contacting the stopper. The door 12 may slightly change its position due to the reaction of the contact. When the door 12 is stopped at the open position, the motor 24 may be supplied with power enough to maintain the door 12 at the open position, or the power supply to the motor 24 may be stopped. This power supply may be temporary or continuous.

(Close operation)
The closing operation is an operation of moving the door 12 from the open position to the closed position and stopping the door. The closing operation differs from the opening operation in that the moving direction of the door 12 is opposite, and similar to the opening operation, the acceleration operation, the first speed control operation, the deceleration operation, the second speed control operation, and the door hitting operation. Including and Each of these operations is the same as the opening operation, and duplicate description will be omitted.

(Information Processing Department)
Next, the information processing section 40 will be described with reference to FIG. The information processing unit 40 processes the load information Li of the motor 24 to support the maintenance of the automatic door 100. Some or all of the components of the information processing unit 40 may be provided integrally with the controller 30, may be provided separately from the controller 30, or may be provided separately from the automatic door 100. Good. In the present embodiment, the acquisition unit 36 and the transmission unit 38 are provided in the first block 40b that is integrated with the controller 30, and the determination unit 42, the output unit 44, and the storage unit 40m are the second block that is separate from the controller 30. It is provided at 40c. As an example, the second block 40c is provided in a computer of a management center that manages one or more automatic doors.

(Acquisition department)
The acquisition unit 36 acquires the load information Li of the motor 24 detected by the detection unit 34. In particular, the acquisition unit 36 acquires the load information Li of the motor 24 that drives the door 12 in the first speed control state and the second speed control state. Although the load information Li is not particularly limited, the load information Li of this embodiment is the motor current Id. The acquisition unit 36 of the present embodiment acquires the load information Li from the detection result of the detection unit 34. The detection unit 34 can detect the motor current Id as a voltage drop of a shunt resistor (not shown) connected in series to the motor 24.

In addition, the acquisition unit 36 can acquire the door speed Vd according to the cycle or frequency of the output signal of the encoder 24e of the motor 24. Further, the acquisition unit 36 can acquire the door position of the door 12 by counting the output signal of the encoder 24e.

(Transmitter)
The transmission unit 38 of the present embodiment transmits the acquisition result of the acquisition unit 36 to the determination unit 42 via the network or the data bus. In this example, the acquisition result of the acquisition unit 36 is also the load information Li.

(Judgment part)
The determination unit 42 determines the load information Li acquired by the acquisition unit 36 based on a predetermined reference value Ls. In particular, the determination unit 42 determines the abnormality of the automatic door 100 based on the load information Li based on the reference value Ls. The reference value Ls of the present embodiment is a reference value set when the automatic door 100 is installed or maintained. As an example, the determination unit 42 determines that maintenance is necessary when the deviation of the load information Li from the reference value Ls is large, and determines that maintenance is unnecessary when the deviation is small. Further, the determination unit 42 may determine that maintenance is required within a certain period when the deviation is medium.

(Output section)
The output unit 44 outputs the determination result Sj of the determination unit 42 to the outside. In this example, the output unit 44 outputs the determination result Sj of the determination unit 42 to the presentation unit 48. The presentation unit 48 presents the determination result Sj. The presentation unit 48 of the present embodiment is arranged in the frame portion near the door 12 and has an LED 48b. The presentation unit 48 presents the determination result depending on the lighting state of the LED 48b. In this example, the LED 48b is lit in green when maintenance is unnecessary, the LED 48b is lit in yellow when maintenance is required within a certain period, and the LED 48b is lit in red when maintenance is required early.

Further, in this example, the output unit 44 outputs the determination result Sj to the information terminal 60h via the communication means. The output unit 44 may send the determination result Sj as an electronic mail to the information terminal 60h. The information terminal 60h may be a desktop type or may be portable by a service person. By displaying the determination result Sj on the information terminal 60h carried by the service person, the abnormality of the automatic door of the automatic door 100 and the necessity of maintenance can be easily grasped. In this case, the abnormality of the automatic door and the necessity of maintenance can be easily explained to the owner of the automatic door.

The storage unit 40m stores a reference value Ls, load information Li, a determination result Sj, a threshold value Lt, and an opening/closing frequency F described later.

(Standard value)
The reference value Ls will be described. For example, the reference value Ls may be set to a value calculated on design. Further, for example, the reference value Ls may be set to an average value of load information of motors of a plurality of other automatic doors of the same type. In the present embodiment, the reference value Ls is set according to the load information Li of the motor 24 itself acquired in the past. In particular, the reference value Ls is set in the load information of the motor 24 itself acquired during the installation of the automatic door 100 or during the maintenance. The load information used for the reference value Ls may be acquired immediately after the installation or maintenance of the automatic door 100, but in this example, the opening/closing operation is performed a predetermined number of times (for example, 100 times) from the installation or maintenance of the automatic door 100. It is the load information acquired after the operation. The reference value Ls may be set by the load information at the time of one-time opening/closing operation, but in this example, the reference value Ls is an average value of a plurality of load information at the time of making a plurality of times of opening/closing operation.

Once set, the reference value Ls may be constant until the next maintenance. However, the load of the motor has a temperature characteristic and may increase when the temperature is low and decrease when the temperature is high. Therefore, the reference value Ls may be updated every predetermined season. The set or updated reference value Ls is stored in the storage unit 40m.

In order to quantitatively determine the magnitude of the deviation of the load information Li from the reference value Ls, it is desirable to use a threshold value. Therefore, the determination unit 42 of the present embodiment classifies the deviation of the load information Li from the reference value Ls by one or a plurality of threshold values Lt, and sets the classification result as the determination result Sj. In particular, the determination unit 42 is configured to give a notification urging maintenance (hereinafter referred to as “maintenance notification”) when the deviation of the load information Li from the reference value Ls exceeds the threshold value Lt.

The threshold value Lt may be set to a value calculated on design. However, the rate of wear and deterioration of the components of the automatic door varies depending on the weight of the door, the magnitude of the wind pressure applied to the door, and the like. Therefore, in the present embodiment, the threshold Lt is the weight of the door 12, the area of the main surface of the door 12, the aspect ratio of the main surface of the door 12, the installation environment of the door 12 (such as a salt damage area), and the type of the automatic door 100. Can be set according to a combination of at least two. The threshold value Lt is set based on the elements selected from these according to the situation of the installation site of the automatic door 100.

The threshold Lt may be constant once set, but the rate of wear or deterioration may change due to various factors. Therefore, the threshold value Lt may be updated according to the change situation of the factor. The set or updated threshold value Lt is stored in the storage unit 40m.

The method of estimating the maintenance period will be described. 4 and 5 are explanatory views for explaining the method of estimating the maintenance time. The horizontal axis represents elapsed time and the vertical axis represents load information. The lines indicated by reference characters A and B are prediction lines of load information change with respect to elapsed time. A1 and B1 are timings at which the load information Li is detected, and are referred to as “detection time” here. A2 and B2 are timings at which the prediction lines A and B exceed the threshold value Lt, and are timings at which maintenance notification is performed (hereinafter referred to as "notification time"). A3 and B4 are timings at which the prediction lines A and B reach the limit value Lg, and are referred to as “limit time” here. Note that the limit value Lg is a value that is likely to cause a failure when reaching this value.

P1 and P2 indicate the period from the notification time to the limit time (hereinafter referred to as "remaining period P"). FIG. 4 shows a case where the threshold values Lt are the same on the prediction lines A and B, and the remaining period P1 is shorter than the remaining period P2. FIG. 5 shows a case where the threshold Lt is different between the prediction lines A and B, and the remaining period P1 is equal to the remaining period P2.

The inclinations of the prediction lines A and B differ depending on the rate of wear and deterioration of the components of the automatic door (hereinafter referred to as "deterioration rate D"). It is considered that the deterioration rate D is approximately proportional to the opening/closing frequency F of the door 12, and can be replaced with the product of the proportional constant k and the opening/closing frequency F. That is, the predictive line A has a higher opening/closing frequency F and a faster deterioration rate D than the predictive line B, and therefore the remaining period becomes shorter. From these, the remaining period P can be obtained from the limit value Lg, the threshold value Lt, and the deterioration rate D as shown in Expression 1.
Remaining period P=(limit value Lg-threshold value Lt)/degradation rate D... (Equation 1)
When the deterioration rate D is replaced by the product of the proportional constant k and the switching frequency F, Formula 2 is derived.
Remaining period P=(limit value Lg−threshold value Lt)/(k·opening/closing frequency F) (Equation 2)
From Equation 2, the remaining period P can be set according to the opening/closing frequency F.

If the maintenance notification is given at a timing when the remaining period P is small like the prediction line A, the maintenance may not be in time. Therefore, it is desirable that the maintenance notification be given at a timing when the remaining period P has a margin. Therefore, in the present embodiment, the threshold value Lt is set based on the opening/closing frequency F so that the maintenance notification is performed at the timing when the remaining period P reaches a certain period. This fixed period may be, for example, 3 months, 6 months, 12 months, or the like.

FIG. 5 shows a case where the threshold value Lt is changed according to the opening/closing frequency F. In this example, the threshold line L having a high opening/closing frequency F is set to be lower than the threshold line Lt having a low opening/closing frequency F. As a result, the remaining period P1 is substantially equal to the remaining period P2. The threshold value Lt for keeping the remaining period P constant can be obtained from the limit value Lg, the remaining period P and the deterioration rate D as shown in Expression 3.
Threshold value Lt=limit value Lg-remaining period P/degradation rate D... (Equation 3)
When the deterioration rate D is replaced with the product of the proportional constant k and the switching frequency F, Formula 4 is derived.
Threshold value Lt=limit value Lg−remaining period P·(k·opening/closing frequency F)... (Equation 4)
From Expression 4, the threshold value Lt can be set according to the opening/closing frequency F.

The opening/closing frequency F to be substituted into the above equations 2 and 4 is initialized as one of the parameters. The opening/closing frequency F may be constant with the initial setting. However, the opening/closing frequency F may differ greatly depending on the season or between the busy season and the non-busy season. Therefore, the opening/closing frequency F of this embodiment is updated at a predetermined interval. The update interval of the opening/closing frequency F is set according to the period in which the opening/closing frequency of the automatic door changes, such as 1 month, 3 months, or 6 months. The set or updated opening/closing frequency F is stored in the storage unit 40m.

The load information may have a characteristic behavior depending on the location of deterioration of the components of the automatic door. Therefore, the determination unit 42 of the present embodiment also evaluates the variation of the load information Li of the motor 24. In this example, the rotation period component of the door roller 22c, the rotation period component of the pulleys 16 and 18, the rotation period component of the motor 24, and the like are extracted by performing a frequency analysis on the variation of the load information Li. If these rotation cycle components are significantly detected, it can be specified that the member related to the rotation cycle is deteriorated. This frequency analysis can be realized by Fourier-transforming the load information Li stored in the storage unit 40m in time series. When the non-periodic component is significantly detected, deterioration of the traveling rail 20, the belt 14, the steady portion 12s, the guide rail 82, the rubber packing 84, and the like is considered.

Depending on the location of deterioration of the components of the automatic door, characteristic behavior may occur at low speeds. Therefore, the acquisition unit 36 of the present embodiment acquires the load information Li of the motor 24 even in the second speed control state in which the door 12 is held at the second speed lower than the first speed. When the load information Li of the first and second speeds changes proportionally to the speed Vd of the door 12, it can be specified that the magnet (not shown) or the coil (not shown) of the motor 24 has deteriorated, and changes proportionally. If not, it can be identified as deterioration of the mechanical system.

Depending on the location of deterioration of the components of the automatic door, characteristic behavior may occur during deceleration control. Therefore, the acquisition unit 36 of the present embodiment acquires the load information Li of the motor 24 even in the deceleration control state in which the speed is decelerated from the first speed. If the deceleration is large, it can be specified as deterioration of the mechanical system, and if the deceleration is small, it can be specified as deterioration of the magnet or coil of the motor 24.

In the automatic door maintenance support system 1 configured as described above, the opening operation or the closing operation is performed on a daily basis at a predetermined timing, the load information Li of the motor 24 is acquired, and the acquired load information Li is based on the reference value Ls. Then, the abnormality of the automatic door 100 is determined. This operation may be executed as a scheduled operation, for example, when the automatic door 100 starts or ends. The determination result Sj is presented to the presentation unit 48 and the information terminal 60h. The service person, the administrator or the like may check the necessity of maintenance according to the presented determination result Sj and create a maintenance plan.

Further, the load information Li and the determination result Sj may be stored in time series. It is possible to specify the characteristics such as the deterioration speed of the automatic door 100 from the load information Li stored in time series.
The above is the description of the first embodiment.

[Second Embodiment]
The configuration of the automatic door maintenance support system 2 according to the second embodiment of the present invention will be described with reference to FIG. FIG. 6 is a block diagram schematically showing the automatic door maintenance support system 2 and corresponds to FIG. In the drawings and description of the second embodiment, the same or equivalent components and members as those of the first embodiment are designated by the same reference numerals. Description that overlaps with the first embodiment will be omitted as appropriate, and configurations different from the first embodiment will be mainly described.

In the second embodiment, the acquisition unit 36 and the transmission unit 38 are provided in or near the automatic door 100, and the determination unit 42, the output unit 44, and the storage unit 40m are provided in the cloud server 50. The transmission unit 38 of the present embodiment transmits the acquisition result (load information Li) of the acquisition unit 36 to the cloud server 50 via the network NW. The output unit 44 of the present embodiment outputs the determination result Sj of the determination unit 42 to the information terminal 60h via the network NW. The second embodiment is different from the first embodiment in these points, and other configurations are the same.

The second embodiment configured as described above operates in the same manner as the first embodiment, and has the same effects as the first embodiment.

[Third Embodiment]
The configuration of the automatic door device 200 according to the third embodiment of the present invention will be described with reference to FIG. 7. FIG. 7 is a block diagram schematically showing the automatic door device 200 and corresponds to FIG. In the drawings and description of the third embodiment, the same or equivalent components and members as those of the first embodiment are designated by the same reference numerals. Description that overlaps with the first embodiment will be omitted as appropriate, and configurations different from the first embodiment will be mainly described.

In the third embodiment, the acquisition unit 36, the determination unit 42, the output unit 44, and the storage unit 40m are provided at or near the automatic door 100. These may be provided integrally with the controller 30. In particular, the functions of the acquisition unit 36 and the determination unit 42 are realized by the computer 40e in terms of hardware and by the program 40p of the computer 40e in terms of software.

FIG. 8 is a flowchart showing the processing S80 of the program 40p. The process S80 of the program 40p is step S82 in which the door 12 of the automatic door 100 acquires the load information Li of the motor 24 that drives the door 12 in the first speed control state, and the acquired load information Li is set to the reference value Ls. Step S84 of making a determination based on the above. The operations of step S82 and step S84 are the same as the operations of the acquisition unit 36 and the determination unit 42 described above, and a duplicate description will be omitted.

In the above, it explained based on each embodiment of the present invention. Those skilled in the art will understand that these embodiments are exemplifications, that various modifications and changes can be made within the scope of the claims of the present invention, and that such modifications and changes are also included in the scope of the claims of the present invention. It is about to be done. Therefore, the description and drawings in this specification should be treated as illustrative rather than limiting.

[Modification]
Hereinafter, modified examples will be described. In the drawings and description of the modified example, the same or equivalent components and members as those of the embodiment are designated by the same reference numerals. Description that overlaps with the embodiment will be appropriately omitted, and configurations different from the first embodiment will be mainly described.

In the description of the first embodiment, an example in which the determination unit 42 makes a determination using one threshold value has been shown, but the present invention is not limited to this. The determination unit may provide maintenance information in which load information is classified using a plurality of thresholds.

In the description of the first embodiment, an example in which the load information Li is the motor current Id has been shown, but the present invention is not limited to this. For example, a torque sensor capable of detecting the torque of the motor 24 may be separately provided, and the load information Li may be the detection result of this torque sensor.

In the description of the first embodiment, the example in which the motor current Id is detected by using the shunt resistance is shown, but the present invention is not limited to this. For example, the motor current Id may be detected using the duty ratio of the motor voltage.

In the description of the first embodiment, the door speed Vd includes the acceleration control state, the first speed control state, the deceleration control state, and the second speed control state, but the present invention is not limited to this. .. For example, the door speed Vd may not include one or both of the deceleration control state and the second speed control state. In this case, the door 12 may be configured to come into contact with the stopper and stop in the first speed control state.

In the description of the first embodiment, an example in which the door 12 horizontally moves in a predetermined direction has been shown, but the present invention is not limited to this. The door 12 may be one that opens and closes a predetermined opening, and may be one that rotates in a predetermined direction, for example.

In the description of the first embodiment, an example in which the belt 12 is used to drive the door 12 has been shown, but the present invention is not limited to this. The door 12 may be driven by a known driving means such as a chain and a sprocket, a wire and a pulley, a rack and a pinion, a ball and a screw nut.

The above-described modified example has the same effects and advantages as the first embodiment.

Any combination of the above-described embodiments and modified examples is also useful as an embodiment of the present invention. The new embodiment generated by the combination has the effects of the combined embodiment and the modified examples.

1, 2...Automatic door maintenance support system, 10...door engine, 12...door, 14...belt, 24...motor, 26...control section, 34...detection section, 36...acquisition section, 38..Transmission unit, 40..information processing unit, 40e..computer, 40m..storage unit, 40p..program, 42..determination unit, 44..output unit, 48..presentation unit, 50.. Cloud server, 60h...information terminal, 100...automatic door, 200...automatic door device.

Claims (16)

An acquisition unit that acquires information about the load of the motor that drives the door in a speed control state in which the door of the automatic door is held at a predetermined first speed;
An automatic door maintenance support system comprising: a determination unit that determines the abnormality of the automatic door based on the acquired information about the load based on a predetermined reference value. The automatic door maintenance support system according to claim 1, wherein the reference value is set according to information about a load of the motor acquired in the past. The automatic door maintenance support system according to claim 2, wherein the reference value is set according to information about the load of the motor acquired after the opening/closing operation is performed a predetermined number of times. The determination unit is a threshold set according to at least two combinations of the weight of the door, the area of the main surface of the door, the aspect ratio of the main surface of the door, the installation environment of the door, and the model of the automatic door. The automatic door maintenance support system according to claim 1, wherein the automatic door maintenance support system is determined using. The automatic door maintenance support system according to claim 4, wherein the determination unit estimates the time when maintenance should be performed based on the opening/closing frequency of the door. The automatic door maintenance support system according to claim 5, wherein the opening/closing frequency is updated at predetermined intervals. The automatic door maintenance support system according to any one of claims 1 to 6, wherein the determination unit also evaluates a change in information regarding the load on the motor. 8. The automatic door maintenance support according to claim 1, wherein the acquisition unit acquires information about the load of the motor even in a speed control state in which the door is held at a second speed lower than the first speed. system. 9. The automatic door maintenance support system according to claim 1, wherein the information about the load on the motor is information about a current flowing through the motor. 10. The automatic door maintenance support system according to claim 1, wherein the acquisition unit acquires information regarding the load of the motor even in a deceleration control state in which the speed is decelerated from the first speed. A presentation unit for presenting the determination result of the determination unit,
The automatic door maintenance support system according to claim 1, wherein the presentation unit is arranged near the door. The automatic door maintenance support system according to claim 1, further comprising an output unit that outputs a determination result of the determination unit. A transmission unit for transmitting the acquisition result of the acquisition unit to the cloud server,
The acquisition unit is provided in the automatic door or in the vicinity thereof,
The automatic door maintenance support system according to claim 1, wherein the determination unit is provided in the cloud server. An opening and closing mechanism including a door,
A drive mechanism for opening and closing the door with a motor,
A control unit for controlling the motor,
An acquisition unit that acquires information regarding the load of the motor in a speed control state in which the door is held at a predetermined speed by the control unit,
An automatic door device, comprising: a determination unit that determines the abnormality of the door on the basis of the acquired information about the load based on a predetermined reference value. Acquiring information about the load of the motor that drives the door in a speed control state in which the door of the automatic door is held at a predetermined speed;
Determining the abnormality of the automatic door based on the acquired information about the load based on a predetermined reference value. Acquiring information about the load of the motor that drives the door in a speed control state in which the door of the automatic door is held at a predetermined speed;
A program for causing a computer to execute an automatic door maintenance support method, comprising the step of determining the abnormality of the automatic door on the basis of the acquired information on the load based on a predetermined reference value.

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