JP2021173079A - Automatic door device, adjustment device, opening/closing control adjustment method, and automatic door opening/closing control method - Google Patents

Abstract

To provide an adjustment device, an automatic door device, an opening/closing control adjustment method, and an automatic door opening/closing control method which are capable of extending the battery power supply time while maintaining passing performance and safety during battery operation.SOLUTION: An automatic door device 1 includes an opening/closing control unit 21 that controls the opening and closing of a door, a monitoring unit 23 that monitors the status of a battery 31 that supplies power to the opening/closing control unit 21, and an adjustment unit 25 that changes the control settings of the opening/closing control unit 21 based on the status of the battery 31.SELECTED DRAWING: Figure 3

Description

The present invention relates to an automatic door device, an adjusting device, an opening / closing control adjusting method, and an automatic door opening / closing control method.

As a device for maintaining the function of the automatic door in the event of a power failure, there are an emergency power supply device and an uninterruptible power supply (UPS). For example, Patent Document 1 discloses a power supply device for an automatic door that displays the remaining amount of a battery. Patent Document 2 discloses an emergency power supply device for a battery and an automatic door that switches to a motor drive circuit in the event of an emergency or a power failure.

Japanese Unexamined Patent Publication No. 2011-19342 Japanese Unexamined Patent Publication No. 5-3000783

However, if the automatic door device is set to be always open or always open in an emergency such as a power failure, the convenience and safety of the facility user may be impaired.
In addition, even when an emergency power supply is used, the opening and closing speeds of the door may be significantly reduced, power may not be supplied to peripheral devices including sensors, and the function of the automatic door may be significantly impaired. there were. Further, in some uninterruptible power supplies, the operation setting of the door is maintained, but the remaining battery level decreases as the power failure time or the operating time of the private power generation facility becomes longer. Therefore, the door may stop during the opening / closing operation.

One aspect of the present invention has been made in view of the above-mentioned problems, and is an automatic door device and an adjusting device capable of extending the power supply time of the battery while maintaining passability and safety when the battery of the automatic door operates. , An opening / closing control adjustment method and an automatic door opening / closing control method.

In one aspect of the present invention, an opening / closing control device that controls opening / closing of a door,
A monitoring unit that monitors the status of the battery that supplies power to the open / close control device, and
It includes an adjustment unit that changes the control setting of the open / close control device based on the state of the battery.
An automatic door device is provided.

The state of the battery may include at least one of the elapsed time since the battery started supplying power and the remaining amount of the battery.

The adjusting unit changes the control setting of the opening / closing control device by changing at least one of a control parameter for controlling the door and stopping power supply to the target controlled by the opening / closing control device. May be good.

The monitoring unit acquires the remaining amount of the battery and
The adjusting unit may change the control setting when the remaining amount of the battery acquired by the monitoring unit is smaller than a predetermined value.

The monitoring unit acquires the remaining amount of the battery and the elapsed time since the battery started supplying power.
The adjusting unit may change the control setting when the remaining amount acquired by the monitoring unit is larger than a predetermined value and the elapsed time acquired by the monitoring unit is larger than a predetermined time.

Based on the state of the battery and the control information of the open / close control device, the power consumption per hour of the open / close control device and the remaining number of open / close operations that can be executed by the open / close control device based on the remaining amount of the battery. It may be provided with an estimation unit that estimates at least one of them.

The adjusting unit may change the control setting when the remaining number of times estimated by the estimating unit is smaller than a predetermined value.

The monitoring unit acquires the elapsed time, the remaining amount of the battery, and the number of opening / closing operations performed after the battery starts supplying power.
The estimation unit may estimate the amount of reduction in power consumption due to the change in the control setting based on the amount of decrease in the remaining amount of the battery per hour.

The control setting includes a plurality of control parameters for controlling the door.
The adjusting unit may select the control parameter to be changed in the control setting based on the reduction amount estimated by the estimation unit, and determine the value of the changed control parameter.

The adjusting unit may change the control setting a plurality of times based on the information acquired by the monitoring unit.

The adjusting unit may change the control setting to make the door fully open time longer.

The adjusting unit may change the control setting for stopping the door in the fully open state when the remaining amount of the battery acquired by the monitoring unit is smaller than a predetermined value.

In one aspect of the present disclosure, a monitoring unit that monitors the state of the battery that supplies power to the open / close control device, and
It includes an adjustment unit that changes the control setting of the open / close control device based on the state of the battery.
A regulator is provided.

In one aspect of the present disclosure, a step of monitoring the state of the battery supplying power to the open / close control device and
Including a step of changing the control setting of the open / close control device based on the state of the battery.
An opening / closing control adjustment method is provided.

In one aspect of the present disclosure, a step of monitoring the state of a battery that supplies power to a door open / close control device, and
Including a step of changing the control setting of the open / close control device based on the state of the battery.
A method of controlling the opening and closing of an automatic door is provided.

A block diagram schematically showing an example of an automatic door device according to an embodiment. The front view which showed the example of the automatic door system by one Embodiment. A block diagram showing an example of a more detailed configuration of an automatic door device. A table showing an example of control settings for the open / close control device. The graph which showed the example of the operation of the door in mode A. The graph which showed the example of the operation of the door in mode B. The graph which showed the example of the operation of the door in mode C. The graph which showed the example of the operation of the door in mode D. The graph which showed the 1st example of mode switching according to the battery level. The graph which showed the second example of mode switching according to the battery level. A flowchart showing an example of processing executed by the regulator. A flowchart showing an example of processing executed by the regulator.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The embodiments shown below are examples of the embodiments of the present invention, and the present invention is not construed as being limited to these embodiments. Further, in the drawings referred to in the present embodiment, the same parts or parts having similar functions are designated by the same reference numerals or similar reference numerals, and the repeated description thereof will be omitted. Further, the dimensional ratio of the drawing may differ from the actual ratio for convenience of explanation, and a part of the configuration may be omitted from the drawing.

FIG. 1 is a block diagram schematically showing an example of an automatic door device according to an embodiment. The automatic door device 1 of FIG. 1 includes an AC power supply 2, a motor 110, an electric lock 18, a controller 20, an uninterruptible power supply 30 (UPS), and a peripheral device 40. Examples of the AC power source 2 include a power system for supplying AC power and a private power generation facility. An example of the peripheral device 40 is a sensor 41 that detects a passerby or the like.

FIG. 2 is a front view showing an example of an automatic door device. The automatic door system 100 of FIG. 2 shows an example in which the automatic door device 1 is installed in a sliding door of a draw type. Here, the positive direction of the y-axis is referred to as the upward direction, and the positive direction of the x-axis is referred to as the right direction. The door 10 is a sliding door of a draw type, and includes a first door 10L and a second door 10R. The first door 10L is hung on the rail 13 by the door hangers 11L and 12L. Further, the second door 10R is hung on the rail 13 by the door hangers 11R and 12R. The door hangers 11L, 11R, 12L and 12R are all equipped with a door roller. Since the door roller rotates on the rail 13, the door hangers 11L, 11R, 12L and 12R can move left and right. Door stoppers 14L and 14R are provided at both ends of the rail 13, respectively. The door stoppers 14L and 14R limit the range on the rail 13 on which the first door 10L and the second door 10R can move.

Further, in the upward direction of the rail 13, a belt 15 wound around both the drive pulley 16R and the driven pulley 16L is provided. The motor 110 can move the belt 15 clockwise or counterclockwise by rotating the drive pulley 16R. At this time, the driven pulley 16L rotates according to the movement of the drive pulley 16R and the belt 15. A door hanger 12L is connected to the upper side of the belt 15. A door hanger 12R is connected to the lower side of the belt 15. Therefore, the first door 10L and the second door 10R move left and right according to the movement of the belt 15. For example, as shown in FIG. 2, when the door 10 is closed, the door 10 can be opened by moving the belt 15 counterclockwise. When the door 10 is open, the door 10 can be closed by moving the belt 15 clockwise.

The controller 20 controls each component of the automatic door system 100. For example, the controller 20 can drive the motor 110 and open the door 10 according to the detection result by the sensor 41. The automatic door system 100 may include a touch switch in addition to the sensor 41. Further, the automatic door system 100 may include a touch switch instead of the sensor 41. In these cases, the controller 20 can drive the motor 110 and open the door 10 in response to the operation performed on the touch switch.

Further, the controller 20 can measure the time elapsed since the door 10 is opened by the timer. The controller 20 can drive the motor 110 and close the door 10 when the measured time exceeds a certain level. Further, when the door 10 is closed, the controller 20 can fix the driven pulley 16L by using the electric lock 18 to prevent the belt 15 from moving. The automatic door system does not necessarily have to be equipped with the electric lock 18. The controller 20 operates by the electric power supplied via the UPS 30. As will be described later, the controller 20 can adjust the opening speed, the closing speed, the time from the opening state to the start of the closing operation (open timer time), and the like.

The automatic door system 100 may include a switch 17. For example, as shown in FIG. 2, when the door 10 is closed, when the user touches the switch 17, the controller 20 can drive the motor 110 to open the door 10. Further, when the user touches the same switch 17, the door 10 may be closed. A separate switch for closing the door 10 may be prepared. The switch 17 can provide a means for the user to open the door 10 when the sensor 41 is OFF. As the switch 17, for example, a mechanical switch, an electrostatic switch, a touch sensor, an image recognition device, a voice recognition device, a biometric authentication device, a password authentication device, or the like can be used. However, the method of the switch 17 is not particularly limited. The switch 17 may be operated by a user or may be operated by an administrator such as a control center. Further, the arrangement of the switch 17 is not particularly limited.

The configuration of the door 10 shown in FIG. 2 is only an example. For example, other types of doors such as single-pull type sliding doors, hinged doors, folding doors, and glide doors may be used. Further, when a single sliding type door is used, the number of sliding doors may be one. Further, the automatic door system may be provided with a plurality of sensors, and the type and arrangement of the sensors used are not particularly limited. Further, the target of the opening / closing operation is not limited to the door. For example, instead of a door, a device driven by electric power such as a shutter or a gate may be targeted for opening / closing operation. Hereinafter, embodiments of the present disclosure will be described by taking application to an automatic door system as an example.

FIG. 3 is a block diagram showing an example of a more detailed configuration of the automatic door device. Hereinafter, the automatic door system according to the present disclosure will be described with reference to FIG. The automatic door device 1 in FIG. 3 corresponds to a part of the components of the automatic door system 100.

The UPS 30 includes a battery 31, a control unit 32, and a communication unit 33. The control unit 32 of the UPS 30 monitors the state of the battery 31 and controls the charging / discharging of the battery 31. Further, the control unit 32 monitors whether or not AC power is supplied from the AC power source 2. When AC power is supplied from the AC power supply 2, the UPS 30 converts a part of the power supplied by the rectifier circuit (not shown) into direct current. Then, the control unit 32 charges the battery 31 with DC power. The battery 31 is a secondary battery such as a lithium ion battery, for example. However, the battery 31 may be another type of battery. Further, the battery 31 may include a plurality of batteries or a plurality of battery cells. The UPS 30 supplies a part of the electric power of the AC power source 2 to the controller 20 and the sensor 41. The electric power supplied by the UPS 30 may be either alternating current or direct current.

When the supply of AC power from the AC power supply 2 is stopped, the control unit 32 of the UPS 30 starts discharging the battery 31. Therefore, instead of the electric power of the AC power source 2, the electric power of the battery 31 is supplied to the open / close control device 21 of the controller 20 and the sensor 41. In this case, the control unit 32 can transfer information regarding the state of the battery 31 to the controller 20 via the communication unit 33. Here, examples of the state of the battery 31 include the elapsed time from the start of power supply (discharge) by the battery 31, the remaining amount of the battery 31, the output voltage of the battery 31, and the like. However, the information regarding the state of the battery 31 may include other contents. The communication unit 33 is a communication circuit capable of transmitting and receiving data. The communication unit 33 performs communication based on, for example, CAN (Control Area Network). However, the communication method used by the communication unit 33 is not particularly limited. Communication may be via a wired connection or wirelessly.

As shown in FIG. 3, the automatic door device 1 includes a controller 20. The controller 20 includes an open / close control device 21, a monitoring unit 23, a storage unit 24, an adjusting unit 25, and an estimation unit 26. The open / close control device 21 controls the open / close of the door 10. The monitoring unit 23 monitors the state of the battery that supplies power to the open / close control device 21. The adjusting unit 25 changes the control setting of the open / close control device based on the state of the battery. Further, the monitoring unit 23 of the controller 20 may be connected to the communication unit 22. In the example of FIG. 3, the adjusting device 27 including the monitoring unit 23, the storage unit 24, the adjusting unit 25, and the estimating unit 26 is a part of the controller 20 including the open / close control device 21. However, this configuration is only an example. For example, the adjusting device 27 may be an expansion card, an expansion module, or the like added as an option to the controller 20, or may be a device provided outside the controller 20. In this case, a communication circuit for communicating between the controller 20 and the adjusting device 27 is required. The open / close control device 21 supplies electric power to the motor 110 and the electric lock 18. Further, the open / close control device 21 controls the motor 110 and the electric lock 18. The behavior of the motor 110, the operation of the electric lock 18, and whether or not the sensor 41 is used can be changed by the control setting of the open / close control device 21.

FIG. 4 is a table showing an example of control settings of the open / close control device 21. As shown in the table of FIG. 4, the control settings are open speed vo, closed speed vc, starting torque st, open timer ot, open pressing force, closing pressing force, presence / absence of electric lock control, and peripheral devices. It may include a plurality of control parameters such as the presence or absence of power supply. It is possible to individually adjust the set value of each control parameter according to the place where the automatic door device 1 is installed and the usage conditions.

Further, with respect to the control setting, a plurality of modes (for example, modes A to D) may be defined as shown in the table of FIG. In FIG. 4, different combinations of setting values are used for each mode. In the table of FIG. 4, the mode in which the power consumption per hour is reduced toward the right column is arranged. For example, the open speed vo and the closed speed vc in modes B to D are represented by percentages when the set value in mode A is 1. As you go to the right column, you can see that smaller open speed vo and closed speed vc are used. In addition, in the control setting, the opening speed vo and the closing speed vc may be specified by specific values (for example, a speed of millimeters per second) instead of a percentage or a ratio. Similarly, the control parameters such as the starting torque st, the opening pressing force, and the closing pressing force are set to smaller values toward the right column of the table.

When the automatic door system 100 is operating with the power supplied from the battery 31 due to a power failure, the mode arranged in the right column of the table consumes less power of the battery 31, so that the operating time is secured longer. can do. However, the modes located in the right column of the table are less functional (eg, convenience and comfort). For example, when mode D is used, the sensor 41 is turned off, so that the automatic door system 100 automatically detects the user and does not open the door 10, and the user switches. You have to touch 17. An example of the opening operation and the closing operation of the door 10 in each mode will be described later.

The control parameter types, control parameter setting values, and mode definitions shown in the table of FIG. 4 are all merely examples. Therefore, the control setting of the open / close control device 21 does not necessarily have to include all these control parameters. Further, the control setting of the open / close control device 21 may include other control parameters. The set values of the control parameters may be different from those in the table of FIG. Further, a number of modes different from those in the table of FIG. 4 may be defined. Moreover, the set value in each mode may be different from the table of FIG. However, in the following, the automatic door system 100 will be described by taking as an example the case where four modes (modes A to D) are defined for the control settings.

The communication unit 22 of the controller 20 is electrically connected to the switch 17, the communication unit 33 of the UPS 30, and the sensor 41. For example, the communication unit 22 receives the detection signals of the switch 17 and the sensor 41, and transfers the detection signal to the open / close control device 21. Based on the detection signal, the open / close control device 21 can open the door 10. Further, the communication unit 22 can receive information regarding the state of the battery 31 from the control unit 32 of the UPS 30. The information regarding the state of the battery 31 may be transferred to the monitoring unit 23 or stored in the storage unit 24.

The monitoring unit 23 monitors the state of the battery 31 that supplies electric power to the open / close control device 21. Here, the state of the battery 31 may include at least one of the time elapsed since the battery 31 started supplying power and the remaining amount of the battery 31. Further, the monitoring unit 23 may acquire the operation information of the open / close control device 21. Here, as an example of the operation information of the open / close control device 21, the number of times the door 10 is opened, the number of times the door 10 is closed, the number of times the motor 110 is driven, the time the motor 110 is driven, the number of times the motor 110 is rotated, and the motor 110 The power used, the load torque of the motor 110, the number of times the electric lock 18 is locked, and the number of times the electric lock 18 is unlocked. However, the operation information of the open / close control device 21 may include other information.

The storage unit 24 provides a storage area in which data can be stored. As the storage unit 24, any of volatile memory, non-volatile memory, storage, or a combination thereof may be used. Examples of volatile memory include SRAM, DRAM and the like. Examples of the non-volatile memory include NOR flash memory and NAND flash memory. Examples of storage include hard disks, magnetic tapes, and the like. However, types of volatile memory, non-volatile memory, and storage other than those listed here may be used. The storage unit 24 can store, for example, control settings of the open / close control device 21, information regarding the state of the battery 31, and operation information of the open / close control device 21. Further, the storage unit 24 may store the program and data necessary for executing the program.

The adjusting unit 25 changes the control setting of the open / close control device 21 based on the state of the battery 31. For example, the adjusting unit 25 may change the control setting when the remaining amount of the battery 31 acquired by the monitoring unit 23 is smaller than a predetermined value. Further, the adjusting unit 25 changes the control setting when the remaining amount of the battery 31 acquired by the monitoring unit 23 is larger than the predetermined value and the elapsed time from the start of power supply by the battery 31 is larger than the predetermined time. You may. The change of the control setting of the open / close control device 21 by the adjusting unit 25 may include the change of the control parameter. Further, the change of the control setting of the opening / closing control device 21 by the adjusting unit 25 may include stopping the power supply to the object controlled by the opening / closing control device 21. The adjusting unit 25 may change the control setting of the open / close control device 21 a plurality of times based on the information acquired by the monitoring unit 23. The adjusting unit 25 may acquire information from the monitoring unit 23 or may refer to the storage unit 24.

The estimation unit 26 estimates at least one of the power consumption of the open / close control device 21 per hour or the number of open / close operations that the open / close control device 21 can perform based on the state of the battery 31 and the operation information of the open / close control device 21. be able to. For example, it is assumed that the monitoring unit 23 has acquired the remaining amount of the battery 31 and the number of opening / closing operations performed since the battery 31 started supplying electric power. At this time, the estimation unit 26 can estimate the total number of opening / closing operations that the opening / closing control device 21 can execute in the control setting based on the number of opening / closing operations and the remaining amount of the battery 31. Then, the adjustment unit 25 described above may change the control setting when the total number of opening / closing operations estimated by the estimation unit 26 is smaller than a predetermined value.

Further, the monitoring unit 23 may acquire the elapsed time since the battery 31 started supplying power, the remaining amount of the battery 31, and the number of opening / closing operations performed after the battery 31 started supplying power. .. In this case, the estimation unit 26 estimates the amount of reduction in power consumption by changing the control setting of the open / close control device 21 based on the amount of decrease in the remaining amount of the battery 31 per hour. Then, the adjustment unit 25 described above selects the control parameter of the open / close control device 21 to be changed in the control setting of the open / close control device 21 based on the reduction amount estimated by the estimation unit 26, and determines the value of the changed control parameter. be able to.

It should be noted that the controller 20 may not always be able to acquire information regarding the remaining amount of the battery 31. For example, the UPS 30 may not have a means for measuring the remaining amount of the battery 31. Further, even if the UPS 30 measures the remaining amount of the battery 31, there may be a case where the communication means and the interface for transmitting the information regarding the remaining amount of the battery 31 to the outside do not exist.

In such a case, the monitoring unit 23 may estimate the remaining amount of the battery 31 based on at least one of the operation information of the open / close control device 21 or the elapsed time from the start of power supply by the battery 31. Then, the adjusting unit 25 may change the control setting of the open / close control device 21 when the estimated remaining amount of the battery 31 is smaller than a predetermined value.

When the supply of AC power from the AC power supply 2 to the automatic door system 100 is resumed, the UPS 30 supplies the power supplied from the AC power supply 2 to the open / close control device 21 of the controller 20 and the sensor 41 instead of the power of the battery 31. do. Further, the control unit 32 of the UPS 30 stops discharging the battery 31 and restarts charging of the battery 31. When the charging of the battery 31 is started, the adjusting unit 25 may return the control setting of the open / close control device 21 to the contents before the battery 31 starts supplying electric power. For example, when the control setting is any of mode B, mode C, and mode D in FIG. 4, the control setting is changed to mode A. Thereby, the convenience and comfort of the automatic door system 100 can be enhanced. Further, when the set value of each control parameter is changed individually, the adjusting unit 25 may restore the control parameter to the default setting stored in the storage unit 24 when the charging of the battery 31 is started.

When the power system recovers from the power failure, the supply of AC power to the automatic door system 100 is resumed. Further, even if the power system is out of power, when the private power generation facility is started, the supply of AC power to the automatic door system 100 is restarted. If it can be determined whether the restart of the AC power supply from the AC power source 2 is due to the recovery from the power failure of the power system or the start of the private power generation facility, the adjusting unit 25 is different. Control settings can be used. For example, when it is determined that the power system has recovered from a power failure, the adjusting unit 25 changes the open / close control device 21 to the control setting of mode A. Further, when it is determined that the private power generation facility has started, the adjusting unit 25 can change the open / close control device 21 to the control setting of the mode B. That is, when it is determined that the private power generation facility has started, the adjusting unit 25 may change the control setting to prioritize the suppression of power consumption as compared with the case where it is determined that the power system has recovered from the power failure. can. For example, an administrator such as a control center may input the cause of resuming the supply of AC power using a terminal or the like.

The automatic door device according to the present disclosure may include an automatic door, a monitoring unit 23, and an adjusting unit 25. In this case, the monitoring unit 23 monitors the state of the battery 31 that supplies power to the automatic door open / close control device 21. Then, the adjusting unit 25 changes the control setting of the open / close control device 21 based on the state of the battery 31. In addition, the monitoring unit 23 may acquire operation information of the automatic door opening / closing control device 21. In this case, the adjusting unit 25 may change the control setting based on the state of the battery 31 and the operation information of the open / close control device 21. The change of the control setting of the open / close control device 21 by the adjusting unit 25 may include a process of lengthening the fully open time of the automatic door.

Further, the adjusting unit 25 fully opens the automatic door when the remaining amount of the battery 31 is smaller than a predetermined value or when the elapsed time from the start of power supply by the battery 31 becomes longer than the predetermined time. You may stop with. For example, in the event of a power outage during a disaster such as a fire, earthquake, typhoon, or flood, it is possible to secure an evacuation route by keeping the automatic door fully open. Further, the adjusting unit 25 fully closes the automatic door when the remaining amount of the battery 31 is smaller than a predetermined value or when the elapsed time from the start of power supply by the battery 31 becomes longer than the predetermined time. It may be stopped in the state. For example, by keeping the automatic door fully closed, the fire protection function and / or the airtightness can be ensured.

The opening / closing control adjustment method according to the present disclosure includes a step of monitoring the state of the battery 31 that supplies power to the opening / closing control device 21, and a step of changing the control setting of the opening / closing control device 21 based on the state of the battery 31. You may. Further, the automatic door opening / closing control method includes a step of monitoring the state of the battery 31 that supplies power to the opening / closing control device 21 of the door 10 and a step of changing the control setting of the opening / closing control device 21 based on the state of the battery 31. And may be included.

The control unit 32 of the UPS 30, the open / close control device 21 of the controller 20, the monitoring unit 23, the adjustment unit 25, and the estimation unit 26 are implemented by hardware circuits such as FPGA and ASIC, a program running on the CPU, or a combination thereof. It may have been done.

FIG. 5 is a graph showing an example of the operation of the door 10 in the mode A. Mode A is a control setting that pursues the functionality (for example, convenience and comfort) of the automatic door system 100 (see FIG. 4). In the graph 50 of FIG. 5, the vertical axis corresponds to the position of the door and the horizontal axis corresponds to the time t. The lower side of the vertical axis corresponds to the fully closed state, and the upper side of the vertical axis corresponds to the fully open state.

The electric lock 18 of the door 10 in the fully closed state is unlocked at time t = 0 and the opening operation is started. In the mode A, since the sensor 41 is ON, the automatic door system 100 can start the opening operation when a passerby or the like is detected. Therefore, the larger the starting torque, the shorter the time from when the door 10 starts moving until the door 10 reaches a predetermined speed. Since the starting torque st _A of the mode A is set to a value larger than that of the other modes, the door 10 reaches the _{opening speed vo A in a relatively short time.} Then, the door 10 is fully opened at _{time t = t1 A.} In mode A, when the door 10 is in the fully open state, a leftward pressing force is applied to the first door 10L and a rightward pressing force is applied to the second door 10R.

The door 10 is maintained in a fully open state _{from time t = t1 A} to time t = t2 _A. The period during which the door 10 is maintained in the fully open state (t2 _{A −} t1 _A ) is equal to the set number of seconds ot _{A of the open timer.} Then, the door 10 starts the closing operation at the _{time t = t2 A.} Since the starting torque is sufficiently large, the door 10 reaches the _{closing speed vc A in a relatively short time.} Then, the door 10 is fully closed again in time t3 _A. In mode A, when the door 10 is in the fully closed state, a pressing force in the right direction is applied to the first door 10L, and a pressing force in the left direction is applied to the second door 10R. Further, the door 10 is locked by the electric lock 18 in a fully closed state.

FIG. 6 is a graph showing an example of the operation of the door 10 in the mode B. The mode B has a control setting in which the power consumption per hour of the automatic door system 100 is reduced as compared with the mode A (see FIG. 4). In the graph 51 of FIG. 6, the vertical axis corresponds to the position of the door and the horizontal axis corresponds to the time t. The lower side of the vertical axis corresponds to the fully closed state, and the upper side of the vertical axis corresponds to the fully open state. In the graph 51, for comparison, the operation of the door 10 in the mode B is shown by a solid line, and the operation of the door 10 in the mode A is shown by a broken line.

The electric lock 18 of the door 10 in the fully closed state is unlocked at time t = 0 and the opening operation is started. In mode B, since the sensor 41 is ON, the automatic door system 100 can start the opening operation when a passerby or the like is detected. Since the starting torque st _B of mode B is set to a value smaller than mode A, the time required for the door 10 _{to reach a predetermined opening speed (here, vo B} smaller than vo _A ) is longer than that of mode A. It has become. Then, the door 10 is fully opened at the time t = t1 _{B, which is later than the time t = t1 A.} In mode B, when the door 10 is in the fully open state, no pressing force is applied to the first door 10L and the second door 10R.

The door 10 is maintained in a fully open state _{from time t = t1 B} to time t = t2 _B. In mode B, the period _{ot B =} t2 B -t1 B the door 10 to maintain the fully open state is longer than the mode A. Then, the door 10 starts the closing operation at the _{time t = t2 B.} Due to the starting torque, the door 10 accelerates and reaches the _{closing speed vc B.} Regarding the closing speed, vc _A > vc _B. Then, the door 10 is fully closed again at _{time t3 B.} Even in mode B, when the door 10 is in the fully closed state, a pressing force in the right direction is applied to the first door 10L, and a pressing force in the left direction is applied to the second door 10R. Further, the door 10 is locked by the electric lock 18 in a fully closed state. In mode B, the total time required for opening, maintaining, and closing the door 10 is longer than in mode A.

FIG. 7 is a graph showing an example of the operation of the door 10 in the mode C. The mode C has a control setting in which the power consumption per hour of the automatic door system 100 is further reduced as compared with the mode B (see FIG. 4). In the graph 52 of FIG. 7, the vertical axis corresponds to the position of the door and the horizontal axis corresponds to the time t. The lower side of the vertical axis corresponds to the fully closed state, and the upper side of the vertical axis corresponds to the fully open state. In the graph 52, for comparison, the operation of the door 10 in mode C is shown by a solid line, and the operation of the door 10 in modes A and B is shown by a broken line.

The electric lock 18 of the door 10 in the fully closed state is unlocked at time t = 0 and the opening operation is started. In mode C, since the sensor 41 is ON, the automatic door system 100 can start the opening operation on condition that a passerby or the like is detected. Since the starting torque st _B of mode C is set to a value smaller than that of mode B, the time required for the door 10 to reach a predetermined opening speed (here, _{vo C} smaller than vo _{B) is longer than that of mode B.} It's getting longer. Then, the door 10 is fully opened at the time t = t1 _{C, which is later than the time t = t1 B.} In mode C, when the door 10 is in the fully open state, no pressing force is applied to the first door 10L and the second door 10R.

The door 10 is maintained in a fully open state _{from time t = t1 C} to time t = t2 _C. In mode C, the period _{ot C =} t2 C -t1 C the door 10 to maintain the fully open state, it becomes longer than the mode B. Then, the door 10 starts the closing operation at the time t = t2 _C. Due to the starting torque, the door 10 accelerates and reaches _{a closing speed vc C.} Regarding the closing speed, vc _B > vc _C. Then, the door 10 is fully closed again in time t3 _C. Even in mode C, when the door 10 is in the fully closed state, a pressing force in the right direction is applied to the first door 10L, and a pressing force in the left direction is applied to the second door 10R. However, the pressing force in mode C is weaker than that in mode B (see FIG. 4). Further, the door 10 is locked by the electric lock 18 in a fully closed state. In mode C, the total time required for opening, maintaining, and closing the door 10 is even longer than in mode B.

FIG. 8 is a graph showing an example of the operation of the door 10 in the mode D. The mode D has a control setting in which the power consumption per hour of the automatic door system 100 is further reduced as compared with the mode C (see FIG. 4). In the graph 53 of FIG. 8, the vertical axis corresponds to the position of the door and the horizontal axis corresponds to the time t. The lower side of the vertical axis corresponds to the fully closed state, and the upper side of the vertical axis corresponds to the fully open state. In the graph 53, for comparison, the operation of the door 10 in the mode D is shown by a solid line, and the operation of the door 10 in the modes A to C is shown by a broken line.

The door 10 in the fully closed state starts the opening operation at time t = 0. In mode D, since the electric lock 18 is not locked, the electric lock 18 is not unlocked at the start of the opening operation. Further, in the mode D, since the sensor 41 is turned off, the automatic door system 100 cannot start the opening operation when a passerby or the like is detected. Therefore, the automatic door system 100 instead starts the opening operation when the touch operation on the switch 17 is detected. Further, the automatic door system 100 may start the opening operation under conditions other than the detection of the touch operation on the switch 17. When the automatic door system includes a plurality of sensors, some of the sensors may be turned off to reduce power consumption.

Since the starting torque st _C of mode D is set to a value smaller than that of mode C, the time required for the door 10 to reach a predetermined opening speed (here, _{vo D} smaller than vo _{C) is longer than that of mode C.} It's getting longer. Then, the door 10 is fully opened at the time t = t1 _{D, which is later than the time t = t2 C.} In mode D, when the door 10 is in the fully open state, no pressing force is applied to the first door 10L and the second door 10R.

In the graph 53, the door 10 is in the fully open state after the _{time t = t1 D.} Here, for example, the remaining amount of the battery 31 is smaller than a predetermined value, or the elapsed time from the start of power supply by the battery 31 is longer than the predetermined time, so that the adjusting unit 25 is fully opened from the battery 31. It is assumed that it was stopped at. In this case, the above-mentioned value (threshold value) can be determined so that the battery 31 secures a remaining amount sufficient for the door 10 to perform at least one closing operation or opening operation. In such an operation, sufficient power is not supplied to the automatic door system 100 due to a decrease in the remaining amount of the battery 31, and the automatic door is stopped in an undesired state (for example, stopped during the open operation or the closed operation). Prevent it from happening. Depending on the location where the automatic door system 100 is installed and the conditions of use, it is possible to decide whether to stop the automatic door in the fully open state or in the fully closed state.

Although not shown in FIG. 8, even in mode D, when the remaining amount of the battery 31 is sufficient or the elapsed time from the start of power supply by the battery 31 is short, the time t = t1 _The closing operation of the door 10 may be started after a time equal to the set number of seconds ot _{D of the open timer has elapsed from D.}

FIG. 9 shows a first example of mode switching according to the remaining battery level. In the graph 54 of FIG. 9, the vertical axis corresponds to the remaining amount of the battery 31, and the horizontal axis corresponds to the time t.

At time t1, a power failure occurs in the power system, and the supply of AC power to the UPS 30 is cut off. Therefore, the control unit 32 starts discharging from the battery 31. Therefore, the battery 31 starts supplying electric power to the open / close control device 21 and the sensor 41 at time t1, and the automatic door system 100 operates using the electric power of the battery 31. In the graph 54, the open / close control device 21 continues the operation according to the control setting of the mode A even after the time t1. Therefore, the automatic door system 100 can maintain its original functions (for example, convenience and comfort) even after a power failure. At time t1, the remaining amount of the battery 31, which was 100%, decreases with the passage of time.

At time t2, the monitoring unit 23 detects that the remaining amount of the battery 31 has reached 40%. For example, the remaining amount of the battery 31 can be set to 40% as the first condition (threshold value) for determining that the mode needs to be changed. For example, the remaining amount of the battery 31 expected at the timing when the operation of the private power generation facility starts can be set as a threshold value, and the mode can be switched. When the adjusting unit 25 changes the control setting of the open / close control device 21 based on the elapsed time from the start of power supply from the battery 31, the control setting is made at the time when the private power generation facility is expected to operate. (For example, switching the mode) may be performed. As a result, when the private power generation facility cannot operate, the open / close control device 21 can shift to a control setting that gives priority to suppressing power consumption.

At time t2, the adjusting unit 25 changes the control setting of the open / close control device 21 to mode B or mode C. As a result, it is possible to reduce the power consumption per hour as compared with the mode A while continuing the operation of the automatic door system 100. As shown in the graph 54, after the time t2, the rate of decrease of the remaining amount of the battery 31 per hour becomes gradual. Therefore, even after the time t2, when the operation in the mode A is performed, the operation of the automatic door system 100 can be continued even at the time te when the remaining amount of the battery 31 becomes 0%.

Here, a case where either mode B or mode C control setting is used between time t2 and time t3 will be described as an example. However, the mode A is switched to the mode B at time t2, another threshold value is set for the remaining amount of the battery 31, and the mode B is changed to the mode C when the remaining amount becomes smaller than the threshold value. May be switched.

At time t3, the monitoring unit 23 detects that the remaining amount of the battery 31 has reached 10%. For example, when the remaining amount of the battery 31 is 10%, it can be set as a second condition (threshold value) for determining that the mode needs to be changed. At time t3, the adjusting unit 25 changes the control setting of the open / close control device 21 to mode D. As a result, it is possible to reduce the power consumption per hour as compared with the mode B or the mode C while continuing the operation of the automatic door system 100. As shown in the graph 54, after the time t3, the rate of decrease of the remaining amount of the battery 31 per hour becomes more gradual.

At time t4, the monitoring unit 23 detects that the remaining amount of the battery 31 has reached 5%. For example, the remaining amount of the battery 31 can be set to 5% as a condition (threshold value) for stopping the operation of the door 10 (automatic door). At time t4, the adjusting unit 25 stops the door 10 in the fully open state. As described above, depending on the installation location of the automatic door system 100 and the conditions of use, the door 10 may be stopped in the fully closed state instead. Further, it is not necessary to specify the state of the door 10 when the automatic door system 100 stops operating.

FIG. 10 is a graph showing a second example of mode switching according to the remaining battery level. In the graph 55 of FIG. 10, the vertical axis corresponds to the remaining amount of the battery 31, and the horizontal axis corresponds to the time t.

In the graph 55 of FIG. 10, the mode of the control setting used in each time zone after the power failure is different from that of the graph 54 of FIG. At time t1, the control setting of the open / close control device 21 may be changed from mode A to mode B at the timing when the automatic door system 100 starts to operate using the electric power of the battery 31. Then, when the remaining amount of the battery 31 reaches 40% at time t2, the control setting of the open / close control device 21 may be changed from mode B to mode C. Further, the control setting of the open / close control device 21 may be changed from mode C to mode D when the remaining amount of the battery 31 reaches 10% at time t3. In this way, by starting to use the control setting that prioritizes the suppression of power consumption at the timing when the power supply from the battery 31 starts, the operating time of the automatic door system 100 by the power of the battery 31 can be further extended. ..

In the examples of FIGS. 9 and 10, the remaining amount of the battery 31 was compared with different threshold values, and the mode was switched a plurality of times. However, the mode may be switched based on conditions different from those described above. For example, the mode may be switched using a threshold value different from that shown in FIGS. 9 and 10. Further, the output voltage of the battery 31 may be compared with the threshold value. Further, the mode may be switched when it is determined that the elapsed time from the time when the battery 31 starts supplying power is larger than the threshold value. Further, the mode may be switched when it is determined that the total number of opening / closing operations that can be executed in the current mode (control setting) estimated by the estimation unit 26 is smaller than the threshold value. Further, the number of times the mode is switched is not limited.

FIG. 11 is a flowchart showing an example of processing executed by the adjusting device 27. Hereinafter, the process will be described with reference to the flowchart of FIG.

The automatic door system 100 is operated by the electric power of the AC power source 2. Then, the control unit 32 of the UPS 30 determines whether or not the supply of AC power from the AC power source 2 is stopped (step S101). When the supply of AC power from the AC power source 2 is not stopped (NO in step S101), the UPS 30 charges the battery 31 using the AC power supplied from the AC power source 2 (step S102). The determination in step S101 may be executed periodically, for example, or may be executed triggered by a notification by a detector or the like.

When the supply of AC power from the AC power source 2 is stopped (YES in step S101), the discharge of the battery 31 is started, and the automatic door system 100 is driven by the power of the battery 31 (step S103). Then, the monitoring unit 23 of the controller 20 determines whether or not it is the monitoring timing of the state of the battery 31 (step S104). When it is the monitoring timing of the state of the battery 31 (YES in step S104), the monitoring unit 23 determines whether or not the remaining amount of the battery 31 is less than a predetermined value (step S105). On the other hand, when it is not the monitoring timing of the state of the battery 31 (NO in step S104), the monitoring unit 23 executes step S104 again after waiting. The determination in step S104 may be executed periodically, for example, or may be executed at a date and time specified by the user. At the timing of step S105, the monitoring unit 23 may acquire the operation information of the open / close control device 21.

When the remaining amount of the battery 31 is less than a predetermined value (YES in step S105), the adjusting unit 25 changes the control setting of the open / close control device 21 (step S106). After that, the processes after step S101 are performed again at a predetermined timing. In step S105, the remaining battery level of the battery 31 may be compared to a plurality of thresholds. Then, the changed control setting may be selected according to the comparison result with a plurality of threshold values. As described above, the change of the control setting in step S106 may be a change of the mode (combination of the set values of the control parameters) of the open / close control device 21. Further, the adjusting unit 25 may adjust individual control parameters in step S106. That is, in step S106, the adjusting unit 25 may execute the process of selecting the control parameter to be changed and the process of determining the set value after the change at the same time. When the remaining amount of the battery 31 is not less than a predetermined value (NO in step S105), the monitoring unit 23 executes step S104 again after waiting.

The processing described by the flowchart of FIG. 11 has been described above. In the flowchart of FIG. 11, it is determined whether or not to change the control setting of the open / close control device 21 based on the remaining amount of the battery 31. The remaining amount of the battery 31 is only an example of the state of the battery 31 that can be used for the determination. Therefore, it may be determined whether or not to change the control setting of the open / close control device 21 based on other criteria such as the output voltage of the battery 31. Hereinafter, an example of processing in the case where it is determined whether or not to change the control setting of the open / close control device 21 will be described based on the elapsed time from the start of discharging the battery 31 (FIG. 11).

FIG. 12 is a flowchart showing an example of processing executed by the adjusting device 27. Hereinafter, the process will be described with reference to the flowchart of FIG.

The automatic door system 100 is operated by the electric power of the AC power source 2. Then, the control unit 32 of the UPS 30 determines whether or not the supply of AC power from the AC power source 2 is stopped (step S111). When the supply of AC power from the AC power source 2 is not stopped (NO in step S111), the UPS 30 charges the battery 31 using the AC power supplied from the AC power source 2 (step S112). The determination in step S112 may be executed periodically, for example, or may be executed triggered by a notification by a detector or the like.

When the supply of AC power from the AC power supply 2 is stopped (YES in step S111), the monitoring unit 23 of the controller 20 acquires the time when the discharge of the battery 31 is started (step S113). By discharging the battery 31, the automatic door system 100 is driven by the electric power of the battery 31 (step S114). Then, the monitoring unit 23 determines whether or not a predetermined time has elapsed from the time when the discharge of the battery 31 is started (step S115). When a predetermined time has elapsed from the time when the discharge of the battery 31 is started (YES in step S115), the adjusting unit 25 changes the control setting of the open / close control device 21 (step S116). After that, the processing after step S111 is performed again at a predetermined timing.

On the other hand, if a predetermined time has not elapsed from the time when the discharge of the battery 31 is started, the processes of steps S115 and 116 are executed again. The determination in step S115 is executed, for example, periodically. However, the determination in step S115 may be performed at the date and time specified by the user. The change of the control setting in step S116 may be a mode change or an individual control parameter adjustment, as in step S106 described above.

The processing described by the flowchart of FIG. 12 has been described above. It should be noted that a plurality of conditions may be combined to determine whether or not to change the control setting of the open / close control device 21. For example, it opens and closes when at least one of the conditions that the remaining amount of the battery 31 is less than the threshold value and the condition that the time elapsed from the start of discharging the battery 31 is larger than the threshold value is satisfied. The control setting of the control device 21 may be changed. Here, the output voltage of the battery 31 may be used instead of the remaining amount of the battery 31.

In the above description, mainly, the case where the change of the control setting of the open / close control device 21 is a mode switching which is a combination of the set values of the control parameters has been described as an example. In this method, since the set values of a plurality of control parameters are changed to predetermined values at the same time, it is possible to simplify the processing contents and implementation and reduce the cost. However, the control setting of the open / close control device 21 may be changed by a method different from this.

For example, the adjusting unit 25 may select the control parameter to be changed based on the “degree of influence” on the convenience and comfort of the user. Further, the adjusting unit 25 may determine the set value after changing the control parameter based on the degree of influence on the convenience and comfort of the user. The influence value may be set at the time of manufacture or may be adjusted after the installation of the automatic door system 100. For example, in an environment where many passersby walk fast, if it is not desired that the opening speed and closing speed of the door 10 decrease, the influence of the opening speed and closing speed can be set to a large value. Further, in an environment where many passersby walk slowly, the values of the influence of the opening speed and the closing speed may be set to small values. The adjusting unit 25 can preferentially change the control parameter having a small influence. Further, the adjusting unit 25 can increase the amount of change in the set value of the control parameter having a small degree of influence and decrease the amount of change in the set value of the control parameter having a large degree of influence.

Further, the control parameter that most effectively contributes to the reduction of power consumption per hour may be estimated and the set value of the control parameter may be adjusted according to the environment and usage conditions in which the automatic door system 100 is installed. .. For example, the usage environment of the automatic door system 100 (for example, there are many passersby or the passing speed of passersby is fast) is estimated by machine learning, and a mode that has little effect on functional aspects such as convenience and safety is selected. can do. Examples of machine learning include various regression methods and neural networks. However, the estimation unit 26 may use any machine learning method. For example, when developing the automatic door system 100, the coefficient of contribution to power consumption can be calculated for each set value of the control parameter. Then, the automatic door system 100 can change the set value of the control parameter to be used based on the determined usage environment and the coefficient.

In this case, the adjustment unit 25 can select the control parameter to be changed based on the contribution calculated by the estimation unit 26. Further, the adjusting unit 25 may determine the amount of change of the set value of the control parameter based on the degree of contribution. For example, the amount of change of the control parameter having a large contribution can be increased, and the amount of change of the control parameter having a small contribution can be made small.

The adjusting unit 25 selects the control parameter to be changed and / or determines the set value of the changed control parameter by properly using the above-mentioned influence degree and contribution degree according to the remaining amount of the battery 31. May be good. For example, when the remaining amount of the battery 31 is relatively large, the adjusting unit 25 can preferentially select a control parameter having a small influence as a change target. Then, when the remaining amount of the battery 31 becomes low, the adjusting unit 25 can preferentially select a control parameter having a large contribution as a change target. Here, the output voltage of the battery 31 or the elapsed time from the time when the battery 31 starts supplying power may be used instead of the remaining amount of the battery 31 as described above.

Further, the adjusting unit 25 selects the control parameter to be changed and / or determines the set value of the changed control parameter by using the index calculated by weighting the above-mentioned influence degree and the contribution degree, respectively. May be done. The value of the first coefficient that weights the degree of influence and the value of the second coefficient that weights the degree of contribution can be adjusted based on the user's policy. For example, when the convenience and comfort of the automatic door system 100 are emphasized, the value of the first coefficient can be increased. On the other hand, when it is necessary to secure a long operating time of the automatic door system 100 by the electric power of the battery 31, the value of the second coefficient can be increased.

By using the adjusting device 27, the automatic door device 1, the opening / closing control adjusting method, and the opening / closing control method of the automatic door 10 according to the present disclosure, power can be supplied to peripheral devices including a sensor even when a power failure occurs in the power system. While continuing, it is possible to reduce the power consumption per hour without significantly reducing the opening / closing speed of the door. Therefore, when the battery operates, it is possible to extend the power supply time of the battery while maintaining the passability and safety. With a simple implementation, it is possible to change the control settings of the open / close control device 21 at low cost. Further, by dynamically selecting the control parameter to be changed and / or determining the amount of change of the set value of the control parameter, the installation environment and the usage status can be flexibly reflected.

Aspects of the present invention are not limited to the individual embodiments described above, but also include various modifications that can be conceived by those skilled in the art, and the effects of the present invention are not limited to the contents described above. That is, various additions, changes and partial deletions are possible without departing from the conceptual idea and purpose of the present invention derived from the contents defined in the claims and their equivalents.

It is also possible to combine or replace a part of the configuration described in the embodiment including the above-described modification. Further, it is also possible to apply only a part of the configuration described in the embodiment including the above-described modification. In these cases, in addition to those specified herein, they have unique configurations derived from their respective configurations.

1 Automatic door device 2 AC power supply 10 door 10L 1st door 10R 2nd door 11L, 11R, 12L, 12R Door hanger 11 Motor 13 Rail 14L, 14R Door stopper 15 Belt 16L Driven pulley 16R Drive pulley 17 Switch 18 Electric lock 20 Controller 21 Open / close control device 22, 33 Communication unit 23 Monitoring unit 24 Storage unit 25 Adjustment unit 26 Estimating unit 30 UPS (non-disruptive power supply)
31 Battery 32 Control unit 40 Peripheral equipment 41 Sensor 50, 51, 52, 53, 54 Graph 100 Automatic door system

Claims (15)

An open / close control device that controls the opening / closing of the door,
A monitoring unit that monitors the status of the battery that supplies power to the open / close control device, and
It includes an adjustment unit that changes the control setting of the open / close control device based on the state of the battery.
Automatic door device. The automatic door device according to claim 1, wherein the state of the battery includes at least one of the elapsed time from the start of power supply of the battery and the remaining amount of the battery. The adjusting unit changes the control setting of the opening / closing control device by at least one of changing the control parameter for controlling the door and stopping the power supply to the target controlled by the opening / closing control device. Item 2. The automatic door device according to item 1 or 2. The monitoring unit acquires the remaining amount of the battery and
The adjusting unit changes the control setting when the remaining amount of the battery acquired by the monitoring unit is smaller than a predetermined value.
The automatic door device according to claim 3. The monitoring unit acquires the remaining amount of the battery and the elapsed time since the battery started supplying power.
The adjusting unit changes the control setting when the remaining amount acquired by the monitoring unit is larger than a predetermined value and the elapsed time acquired by the monitoring unit is larger than a predetermined time.
The automatic door device according to claim 3. Based on the state of the battery and the control information of the open / close control device, the power consumption per hour of the open / close control device and the remaining number of open / close operations that can be executed by the open / close control device based on the remaining amount of the battery. Equipped with an estimation unit that estimates at least one of
The automatic door device according to any one of claims 1 to 5. The adjusting unit changes the control setting when the remaining number of times estimated by the estimating unit is smaller than a predetermined value.
The automatic door device according to claim 6. The monitoring unit acquires the elapsed time, the remaining amount of the battery, and the number of opening / closing operations performed after the battery starts supplying power.
The estimation unit estimates the amount of reduction in power consumption due to the change in the control setting based on the amount of decrease in the remaining amount of the battery per hour.
The automatic door device according to claim 6 or 7. The control setting includes a plurality of control parameters for controlling the door.
The adjusting unit selects the control parameter to be changed in the control setting based on the reduction amount estimated by the estimation unit, and determines the value of the changed control parameter.
The automatic door device according to claim 8. The adjusting unit changes the control setting a plurality of times based on the information acquired by the monitoring unit.
The automatic door device according to any one of claims 1 to 9. The adjusting unit changes the control setting to make the door fully open time longer.
The automatic door device according to any one of claims 1 to 10. The adjusting unit changes the control setting for stopping the door in a fully open state when the remaining amount of the battery acquired by the monitoring unit is smaller than a predetermined value.
The automatic door device according to any one of claims 1 to 11. A monitoring unit that monitors the status of the battery that supplies power to the open / close control device,
It includes an adjustment unit that changes the control setting of the open / close control device based on the state of the battery.
Adjuster. Steps to monitor the status of the battery that powers the open / close controller,
Including a step of changing the control setting of the open / close control device based on the state of the battery.
Open / close control adjustment method. Steps to monitor the status of the battery that powers the door open / close controller,
Including a step of changing the control setting of the open / close control device based on the state of the battery.
Automatic door opening / closing control method.

Images