JP2023155747A - Automatic door device, automatic door system, and method and program for controlling the automatic door device - Google Patents

Abstract

To provide technique of an automatic door device capable of restraining a detection target from being pulled into a door being under opening operation.SOLUTION: An automatic door device according to an embodiment of the present invention includes an open instruction signal outputting unit 102 for outputting an open instruction signal of a door for opening and closing an opening, a limitation unit 103 for outputting a limitation signal for limiting opening operation of the door when a sensor included in a protection detection area provided within a range of an opening width of the opening in a detection area detects a person or an object in the protection detection area, and a control unit 104 for controlling the opening and closing operation of the door on the basis of the open instruction signal. The control unit 104 limits the opening operation when the open instruction signal is output in a state of receiving the limitation signal.SELECTED DRAWING: Figure 4

Description

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

For example, in Patent Document 1, when the door is in the closed position and the door pocket sensor detects that a person or object is present on the door pocket side of the automatic door and inputs a detection signal to the controller, the door sensor An automatic door device is described in which, when a detection signal is input to a controller, the motor is stopped for a set standby time and the door remains in the closed position. According to the automatic door device of Patent Document 1, since the door waits in the closed position for a set waiting time, a person or object may evacuate from the door pocket side of the automatic door while the door is waiting, and the door may close to the door pocket side. It is possible to prevent collisions with people or objects present in the area.

Japanese Patent Application Publication No. 2012-127152

When an automatic door device opens and closes an opening with a detection target such as a person or object existing in the vicinity of the door, the detection target may be drawn into the opening door. Conventionally, there has been no method for suppressing the detection target from being drawn into the opening door.

In view of the above, an object of the present invention is to provide a technology for an automatic door device that can suppress a detection target from being drawn into an opening door.

In order to solve the above problems, an automatic door device according to an aspect of the present invention includes an open instruction signal output section that outputs a door open instruction signal for opening and closing the opening, and an automatic door device provided within the range of the opening width of the opening. a restriction unit that outputs a restriction signal for restricting the opening operation of the door when a sensor whose detection area includes the protection detection area detects a person or object in the protection detection area; an automatic door device comprising: a control unit that controls opening and closing operations of the door; the control unit limits the opening operation when the opening instruction signal is output in a state in which the restriction signal is received; It is.

An automatic door system according to another aspect of the present invention includes a security release device that outputs a security release signal for permitting an opening operation of a door that opens and closes an opening, and an automatic door device that is provided around the opening. an activation sensor that detects a person or object in an activation detection area; a protection detection sensor that detects a person or object in a protection detection area provided within the opening width of the opening; or an opening instruction signal output unit that outputs an instruction signal to open the door based on at least one of detection of an object and output of the security release signal; a control unit that controls the operation and closing operation; and a restriction unit that outputs a restriction signal for restricting the opening operation of the door when the protection detection sensor detects the person or object in the protection detection area. The automatic door system includes: an automatic door device in which the control unit limits the opening operation when the opening instruction signal is outputted while receiving the restriction signal.

An automatic door device according to still another aspect of the present invention includes an opening instruction signal output unit that outputs an opening instruction signal for opening and closing the door, and a protection detection area provided on the door end side of the door as a detection area. a restriction unit that outputs a restriction signal for restricting the opening operation of the door when a sensor detects a person or object in the protection detection area; and a restriction unit that outputs a restriction signal for restricting the opening operation of the door, and controls the opening operation and closing operation of the door based on the opening instruction signal. a control unit for controlling the door, the control unit opening the door by a predetermined limit distance when the opening instruction signal is output while receiving the limit signal, and then stopping the door. and a control section that limits the opening operation by either closing the door or returning the door to a fully closed state.

An automatic door system according to still another aspect of the present invention includes a security release device that outputs a security release signal for permitting an opening operation of a door that opens and closes an opening, and an automatic door device that is provided around the opening. an activation sensor that detects a person or object in an activation detection area provided within the opening width of the opening; a protection detection sensor that detects a person or object in a protection detection area provided within the opening width of the opening; an opening instruction signal output unit that outputs an opening instruction signal for the door based on at least one of detection of a person or object and output of the security release signal; a control unit that controls opening and closing operations; and a restriction unit that outputs a restriction signal that limits the opening operation of the door when the protection detection sensor detects a person or object in the protection detection area. In this case, when the opening instruction signal is output while the limit signal is received, the control unit operates to open the door by a predetermined limit distance, and then stops the door and closes the door. The automatic door system includes an automatic door device that limits the opening operation by either operating the door and returning it to a fully closed state.

An automatic door device according to still another aspect of the present invention includes an opening instruction signal output unit that outputs an opening instruction signal for opening and closing the door, and a protection detection area provided on the door end side of the door as a detection area. a restriction unit that outputs a restriction signal for restricting the opening operation of the door when a sensor detects a person or object in the protection detection area; and a restriction unit that outputs a restriction signal for restricting the opening operation of the door, and controls the opening operation and closing operation of the door based on the opening instruction signal. a control unit for controlling the opening operation at a first low speed that is slower than a normal opening operation of the door when the opening instruction signal is output while the restriction signal is received. a control unit that limits the opening operation by alternately performing a first low-speed operation and a second low-speed operation at a second low speed lower than the normal opening operation and different from the first low speed; This is an automatic door device.

An automatic door system according to still another aspect of the present invention includes a security release device that outputs a security release signal for permitting the opening operation of a door that opens and closes an opening, and an automatic door device that is provided around the opening. an activation sensor that detects a person or object in an activation detection area; a protection detection sensor that detects a person or object in a protection detection area provided within the opening width of the opening; or an opening instruction signal output unit that outputs an instruction signal to open the door based on at least one of detection of an object and output of the security release signal; a control unit that controls the operation and closing operation; and a restriction unit that outputs a restriction signal that restricts the opening operation of the door when the sensor detects a person or object in the protection detection area, and the control unit a first low-speed operation that is slower than the normal opening operation of the door and a lower speed than the normal opening operation when the opening instruction signal is outputted while the limit signal is received; and an automatic door device that limits the opening operation by alternately performing a second low speed operation at a second low speed different from the first low speed.

In a method for controlling an automatic door device according to still another aspect of the present invention, when a sensor whose detection area includes a protection detection area provided within the range of the opening width of an opening detects a person or an object in the protection detection area. a step in which a restriction unit outputs a restriction signal for restricting the opening operation of a door that opens and closes the opening, outputting the restriction signal; and an opening instruction from an opening instruction signal output unit that outputs an opening instruction signal for the door. an automatic door, comprising the step of: limiting the opening operation when the opening instruction signal is output in a state where a control unit that controls the opening and closing operations of the door based on the signal receives the restriction signal; This is a method of controlling the device.

A control program for an automatic door device according to still another aspect of the present invention includes a computer detecting a sensor whose detection area includes a protection detection area provided within an opening width of an opening detects a person or an object in the protection detection area. a limiting section outputting a limiting signal for limiting the opening operation of the door that opens and closes the opening when the door opens and closes; and an opening instruction signal output section outputting an opening instruction signal for the door. A control unit that controls the opening and closing operations of the door based on the opening instruction signal limits the opening operation when the opening instruction signal is output while receiving the restriction signal. This is an automatic door device control program.

In a method for controlling an automatic door device according to still another aspect of the present invention, a sensor whose detection area includes a protection detection area provided on the bottom side of a door that opens and closes an opening detects a person or an object in the protection detection area. a step in which a restriction section outputs a restriction signal for restricting the opening operation of a door that opens and closes the opening, outputs the restriction signal; and an opening instruction signal output section outputs an opening instruction signal for the door. A control unit that controls the opening and closing operations of the door based on the opening instruction signal opens the door by a predetermined limit distance when the opening instruction signal is output while receiving the limit signal. and then limiting the opening operation by either stopping the door or closing the door and returning it to a fully closed state.

A control program for an automatic door device according to still another aspect of the present invention includes a computer that detects a sensor whose detection area includes a protection detection area provided on the bottom side of a door that opens and closes an opening, and detects a person or object in the protection detection area. a limiting unit outputting a limiting signal for limiting the opening operation of the door that opens and closes the opening when detecting the opening, and an opening instruction signal outputting unit outputting an opening instruction signal for the door; A control unit that controls the opening and closing operations of the door based on the opening instruction signal from the controller opens the door by a predetermined limit distance when the opening instruction signal is output while receiving the limit signal. A control program for an automatic door device, which executes the step of limiting the opening operation by either stopping the door or operating the door to return to a fully closed state after operating the door. be.

In a method for controlling an automatic door device according to still another aspect of the present invention, a sensor whose detection area includes a protection detection area provided on the bottom side of a door that opens and closes an opening detects a person or an object in the protection detection area. a step in which a restriction section outputs a restriction signal for restricting the opening operation of a door that opens and closes the opening, outputs the restriction signal; and an opening instruction signal output section outputs an opening instruction signal for the door. When the control unit that controls the opening and closing operations of the door based on the opening instruction signal receives the limit signal and the opening instruction signal is output, the control section controls the opening operation and closing operation of the door at a slower speed than the normal opening operation of the door. Limiting the opening operation by alternately performing a first low-speed operation at a first low speed and a second low-speed operation at a second low speed lower than the normal opening operation and different from the first low speed. A method for controlling an automatic door device, comprising the steps of:

A control program for an automatic door device according to still another aspect of the present invention includes a computer that detects a sensor whose detection area includes a protection detection area provided on the bottom side of a door that opens and closes an opening, and detects a person or object in the protection detection area. a limiting unit outputting a limiting signal for limiting the opening operation of the door that opens and closes the opening when detecting the opening, and an opening instruction signal outputting unit outputting an opening instruction signal for the door; If the control unit that controls the opening and closing operations of the door based on the opening instruction signal from the controller receives the restriction signal and the opening instruction signal is output, the control unit controls the opening operation and closing operation of the door. The opening operation is performed by alternately performing a first low-speed operation at a low speed and a second low-speed operation at a second low speed lower than the normal opening operation and different from the first low speed. This is a control program for an automatic door device that executes steps for restricting.

Furthermore, any combination of the above, or mutual substitution of the components and expressions of the present invention among methods, apparatuses, programs, temporary or non-temporary storage media recording programs, systems, etc. This is effective as an aspect of the present invention.

According to the present invention, it is possible to provide a technology for an automatic door device that can suppress a detection target from being drawn into an opening door.

FIG. 2 is a front view schematically showing an automatic door device. FIG. 2 is a diagram illustrating a hardware configuration of an automatic door device. FIG. 3 is a schematic diagram showing an activation detection area and a protection detection area of the first embodiment when viewed from above. It is a functional block diagram of a door controller of a 1st embodiment. It is a flowchart which shows the process of the door controller of 1st Embodiment. FIG. 3 is a functional block diagram of a door controller according to a second embodiment. It is a flow chart which shows processing of a door controller of a 2nd embodiment. It is a schematic diagram which shows the activation detection area and protection detection area of 3rd Embodiment when seen from above.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and redundant explanations will be omitted as appropriate. Further, the dimensions of members in each drawing are shown enlarged or reduced as appropriate to facilitate understanding. Further, in each drawing, some members that are not important for explaining the embodiments are omitted.

In addition, separate components that have something in common are distinguished by adding "first, second," etc. to the beginning of their names, and these are omitted when they are referred to collectively. Also, although ordinal terms such as first, second, etc. are used to describe various components, these terms are used only to distinguish one component from another; The components are not limited by this.

First Embodiment FIG. 1 is a front view schematically showing an automatic door device 100. The automatic door device 100 shown in FIG. 1 is a double-drawing door type, and the two doors 9 automatically open and close left and right. The doors 9 are a pair of left and right, and are configured to be movable back and forth along fixes 22 that are fixedly arranged with an interval left and right with the opening 23 in between, and open and close the opening 23. The fix 22 of this embodiment faces the fully open door 9 when the door 9 is viewed from the front, and is fixedly arranged alongside the door 9 with respect to the expected direction when the door 9 is viewed from the front. As an example, the automatic door device 100 is a device that opens and closes a door for opening and closing an opening 23 provided in a wall or the like that partitions a space in various facilities such as an apartment, a hotel, and a research laboratory. The automatic door device 100 of this embodiment is installed at the entrance of an apartment. The fix 22 of this embodiment is an example of a fixing part.

Hereinafter, the direction along the opening/closing direction of the automatic door device 100 will be referred to as the left-right direction. As shown in FIG. 1, when the automatic door device 100 is viewed from the front, the left side is called "left" or "left side", and the right side when facing the door is called "right" or "right side". Further, the direction along the direction of the automatic door device 100 is referred to as the front-rear direction. The side away from the automatic door device 100 is referred to as the "front" or "front", and the side approaching the automatic door device 100 in the front-rear direction is referred to as the "rear" or "rear". Further, the direction in which the automatic door device 100 is found is referred to as the "up and down direction." The notation of such directions does not limit the posture of the automatic door device 100, and the automatic door device 100 can be used in any posture.

The door 9 is in a fully closed state in which the left and right door tips are brought into contact with each other so that the opening 23 is closed. The door 9 moves so that the door tip moves away, and the door tip moves to near the end of the fixing 22 on the opening 23 side and stops, and the door 9 is in a fully open state with the opening 23 open. Note that the automatic door device 100 may be of a double sliding door type, a single sliding door type, a folding door type, or the like.

FIG. 2 is a block diagram schematically showing the hardware configuration of the automatic door device 100 according to the present invention.

As shown in FIG. 2, the automatic door device 100 includes an automatic door sensor 10 and an automatic door drive device 90 that drives the door 9 to open and close. The automatic door device 100 is configured to be able to communicate with an authentication device 51 and a permission device 52 of a security release system 50 provided outside the automatic door device 100.

The automatic door sensor 10 detects a person or object (hereinafter referred to as a "detection target") within the activation detection area 70 and the protection detection area 71 of the automatic door device 100. The automatic door sensor 10 includes an outdoor activation sensor 4A, an indoor activation sensor 4B, and an auxiliary photoelectric sensor 30.

The outdoor activation sensor 4A detects a detection target in an outdoor activation detection area 70A arranged around the outdoor side of the opening 23. Moreover, the outdoor activation sensor 4A detects a detection target in a protection detection area 71 arranged to protect the detection target from contact with the door 9 when the door 9 is in an opening operation. The outdoor activation sensor 4A is arranged, for example, at the center in the left-right direction of the outdoor-side outer surface of the blind 16 above the opening 23.

The indoor activation sensor 4B detects a detection target in an indoor activation detection area 70B arranged around the indoor side of the opening 23. The indoor activation sensor 4B is arranged, for example, at the center in the left-right direction of the indoor-side outer surface of the blind 16 above the opening 23.

FIG. 3 is a schematic diagram showing the activation detection area 70 and the protection detection area 71 of the first embodiment when viewed from above, and shows the activation detection area 70 and the protection detection area 71 on the floor surface. As shown in FIG. 3, the outdoor activation detection area 70A is provided on the outdoor side of the fully closed door 9. The indoor activation detection area 70B is provided on the opposite side of the outdoor activation detection area 70A with the opening 23 in between. In addition, the door 9 shown by the solid line in FIG. 3 illustrates the door 9 in a fully closed state, and the door 9 shown by the dotted line illustrates the door 9 in the fully open state.

The protection detection area 71 is provided within the width of the opening 23 (see FIG. 3). The protection detection area 71 of this embodiment is provided between the fixings 22 on both the left and right sides, and is provided on the opening 23 side from the track of the door 9. Moreover, the protection detection area 71 of this embodiment is provided along the door surface of the door 9 on the fix 22 side with respect to the door 9 in the forward direction. The protection sensing area 71 may or may not include an area on the trajectory of the door 9.

The outdoor activation sensor 4A and the indoor activation sensor 4B are infrared reflective sensors that emit and receive infrared light diagonally downward from the position in the blind 16, and detect a detection target entering the door 9. do. When the outdoor activation sensor 4A detects a detection target, it transmits an outdoor activation signal to the door controller 91. When the indoor activation sensor 4B detects a detection target, it transmits an indoor activation signal to the door controller 91. Hereinafter, the outdoor activation sensor 4A and the indoor activation sensor 4B may be collectively referred to as the activation sensor 4. Further, the outdoor start signal and the indoor start signal may be collectively referred to as a start signal. The outdoor activation detection area 70A and the indoor activation detection area 70B constitute the activation detection area 70 of the automatic door device 100.

In this embodiment, the outdoor activation sensor 4A sequentially acquires the amount of infrared light received in the outdoor activation detection area 70A. In addition, the indoor activation sensor 4B sequentially acquires the amount of infrared light received in the indoor activation detection area 70B. For example, the outdoor activation sensor 4A and the indoor activation sensor 4B each determine the presence or absence of a detection target in the area based on the obtained result of the amount of received light. For example, when the detection level of the amount of light received in the activation detection areas 70A and 70B exceeds a predetermined level, the outdoor activation sensor 4A and the indoor activation sensor 4B indicate that a detection target exists in the activation detection areas 70A and 70B, respectively. It determines that it is, and generates an activation signal. Hereinafter, a state in which it is determined that a detection target exists in the activation detection area 70 will be referred to as a detection state, and a state in which it is not in a detection state will be referred to as a non-detection state. For example, when the detection level of the amount of light received in the protection detection area 71 exceeds a predetermined level, the outdoor activation sensor 4A determines that a detection target exists in the protection detection area 71, and generates a protection detection signal. do. Note that the shapes of the activation detection area 70 and the protection detection area 71 may be a circle, an ellipse, a rectangle, or a polygon other than a rectangle. The number and size of the activation detection area 70 and the protection detection area 71 are not limited to the example shown in FIG. 3, and may be set arbitrarily.

The auxiliary photoelectric sensor 30 is a photoelectric detection device, and includes a light emitter 301 and a light receiver 302 arranged near the opening 23 of the fixing 22. The auxiliary photoelectric sensor 30 detects that the light beam passing between the emitter 301 and the light receiver 302 is interrupted, and sends detection information indicating that a person or object is present on the path of the door 9 to the door controller. Send to 91. In addition to the photoelectric sensor, the auxiliary photoelectric sensor 30 may be a light reflection sensor, an ultrasonic sensor, or the like that is attached to the blind 16.

Automatic door drive device 90 includes a door controller 91 and a door engine 92. The door controller 91 controls the door engine 92 to open and close the door 9 based on an activation signal, detection information, and a security release signal to be described later. Although there is no limitation on the transmission path 96 that transmits the activation signal, detection information, and a security release signal to be described later, the transmission path 96 in this example includes an internal bus (for example, CAN: Controller Area Network). The door engine 92 rotates a motor (not shown) to open and close the door 9 under the control of the door controller 91 .

When the door controller 91 receives the indoor activation signal, it operates the motor (not shown) of the door engine 92 to open the door 9 until it is fully opened. On the other hand, in the present embodiment, from the viewpoint of improving the security inside the building by suppressing suspicious persons from entering the building from outside, for example, the door controller 91 is set in a state in which it does not receive a security release signal, which will be described later. Even if an outdoor activation signal is received, the door 9 is not driven to open, but when an outdoor activation signal is received in a state in which a security release signal, which will be described later, is received, the door 9 is driven to open until it is fully opened.

After the door 9 changes to the fully open state, the door controller 91 maintains the fully open state for a certain period of time, and operates the door engine 92 in the reverse direction until the door 9 becomes fully closed. When the door controller 91 receives the detection information from the auxiliary photoelectric sensor 30 while the door 9 is being driven to close, the door controller 91 reverses the direction in which the door 9 is driven by the door engine 92 and brings the door 9 into a fully open state.

The door controller 91 limits the opening operation of the door 9 when an open instruction signal is output from an open instruction signal output section 102 (described later) while receiving a limit signal from a limit section 103 (described later). The method will be described later.

The security release system 50 includes an authentication device 51, a permission device 52, an external intercom 53 provided near the automatic door device 100, and an internal intercom 54 provided in the rooms of residents, managers, etc. of the condominium. ,including. The authentication device 51 and the permission device 52 each cancel the security of the automatic door device 100 and perform the opening operation of the door 9 so as to permit the passage of a person (passerby) who attempts to pass through the opening 23 in a predetermined case. A security release signal for permission is output to the door controller 91. For example, upon receiving the security release signal, the door controller 91 enters a state in which the security release signal is accepted for a predetermined period of time.

The authentication device 51 outputs a security release signal based on the passerby's authentication. The authentication device 51 is provided near the door 9, for example. In this embodiment, the authentication device 51 is installed outdoors of a building in which the automatic door device 100 is installed. The authentication device 51 may be, for example, a key operation device that authenticates a passerby based on the operation of a predetermined key, a password input device for inputting a password, or a biometric authentication device.

The permission device 52 outputs a security release signal based on input from a user (resident, manager, etc.) in the living room. The permission device 52 of this embodiment is provided in each living room. For example, when a passerby interacts with a user in the room by communicating with the external intercom 53 and the internal intercom 54, the permission device 52 receives a user input for permitting the passerby to pass during the communication. In response to this, a security release signal is output.

FIG. 4 is a functional block diagram of the door controller 91 of the first embodiment. Each block shown in each figure below can be realized in terms of hardware by elements such as a computer processor, CPU, and memory, electronic circuits, and mechanical devices, and in terms of software, it can be realized by computer programs, etc. , Here we depict the functional blocks realized by their cooperation. Therefore, those skilled in the art will understand that these functional blocks can be realized in various ways by combining hardware and software.

As shown in FIG. 4, the door controller 91 includes an acquisition section 101, an opening instruction signal output section 102, a restriction section 103, and a control section 104.

The acquisition unit 101 acquires each activation signal and protection detection signal of the outdoor activation sensor 4A and the indoor activation sensor 4B, detection information from the auxiliary photoelectric sensor 30, a security release signal, and the like.

The opening instruction signal output unit 102 outputs an opening instruction signal for the door 9. The automatic door device 100 of this embodiment is set so that the activation sensor 4 is enabled when a security release signal is received, and the opening instruction signal output unit 102 is configured to activate the activation sensor 4 when the activation signal of the activation sensor 4 is output. Outputs an open instruction signal.

The restriction unit 103 outputs a restriction signal for restricting the opening operation of the door 9 when the outdoor activation sensor 4A detects a detection target in the protection detection area 71.

The control unit 104 controls the opening and closing operations of the door 9 based on the opening instruction signal. The control unit 104 opens the door 9 based on the opening instruction signal, and performs the opening operation in order to protect the detection target from the door 9 that opens when the opening instruction signal is output while the restriction signal is received. Restrict. Hereinafter, the operation of the door 9 when the opening operation is restricted may be referred to as an opening protection operation.

In the present embodiment, the restriction unit 103 causes the door 9 to perform an opening protection operation when a protection detection signal is acquired when the door 9 is fully closed or when the opening operation of the door 9 (described later) is restricted. By outputting the restriction signal, the control unit 104 executes an operation to protect the door 9 from opening. On the other hand, if the protection detection signal is acquired in a state other than the fully closed state and the state in which the opening operation of the door 9 described below is restricted, the restriction unit 103 does not output the restriction signal and the control unit 104 performs a predetermined closing protection operation of the door 9 (for example, closing operation at a slower speed than usual, stopping, or reversing to an opening operation) in order to protect the detection target from the closing operation of the door 9.

FIG. 5 is a flowchart showing processing S100 of the door controller 91 of the first embodiment.

In step S101, the open instruction signal output unit 102 determines whether the open instruction signal output condition is satisfied. For example, the opening instruction signal output unit 102 determines, as the opening instruction signal output conditions, whether an indoor activation signal has been acquired and whether an outdoor activation signal has been acquired while a security release signal has been received. If the open instruction signal output condition is not satisfied (N in step S101), processing S100 returns to the beginning of step S101, and step S101 is repeated. If the open instruction signal output condition is satisfied (Y in step S101), the process S100 proceeds to step S102.

In step S102, the open instruction signal output section 102 outputs an open instruction signal to the control section 104.

In step S103, the control unit 104 determines whether or not a restriction signal is accepted in response to receiving the opening instruction signal. Here, the restriction signal is generated by the restriction unit 103 when the restriction unit 103 acquires, via the acquisition unit 101, a protection detection signal output from the outdoor activation sensor 4A by detecting a detection target within the protection detection area 71. is output to the control unit 104. When the control unit 104 acquires the restriction signal, it enters a state in which the restriction signal is accepted. This state in which the limit signal is accepted continues from the time the limit signal is received until a limit termination condition, which will be described later, is satisfied. Further, the state in which the restriction signal is received may end after a predetermined period of time has elapsed since the reception of the restriction signal. If the restriction signal is not accepted (N in step S103), the process S100 proceeds to step S104.

When the restriction signal is not received, there is no detection target in the protection detection area 71, so even if the door 9 is opened, the detection target's hand or the like may be dragged by the door 9, causing the detection target to fall down or the detection target to open. It is unlikely that a finger or the like will be drawn between the door 9 and the fixing 22. Therefore, in step S104, the control unit 104 operates to open the door 9. After step S104, the process S100 ends.

If the restriction signal has been accepted (Y in step S103), the process S100 proceeds to step S105. Here, in the state where the restriction signal is received, the detection target exists within the protection detection area 71, so the hand of the detection target is dragged by the door 9 due to the opening operation of the door 9, and the detection target falls down. There is a risk that the target's fingers or the like may be drawn between the door 9 and the fixing 22. Therefore, in step S105, the control unit 104 limits the opening operation of the door 9 and causes the door 9 to perform an opening protection operation.

In this embodiment, the control unit 104 limits the opening operation of the door 9 by opening the door 9 by a predetermined limit distance and then stopping the opening operation. The predetermined limit distance here may be any distance (for example, several centimeters) that is smaller than the distance from the fully closed position to the fully open position of the door 9. For example, the control unit 104 can move the door 9 by a predetermined limit distance based on the detected value of the encoder of the motor of the door engine 92 or the limit switch. Note that such an operation of opening the door 9 by a predetermined limited distance and then stopping the door 9 may be repeatedly performed at regular time intervals.

In step S106, the control unit 104 determines whether the restriction end condition is satisfied. The restriction end condition of this embodiment is, for example, when the outdoor activation sensor 4A no longer detects a detection target within the protection detection area 71. Specifically, for example, this is the case when the detection target that had been present in the protection detection area 71 leaves the protection detection area 71 and the door controller 91 no longer receives the protection detection signal. If the restriction termination condition is satisfied (Y in step S106), the process S100 proceeds to step S107. If the restriction end condition is not satisfied (N in step S106), the process S100 returns to step S106, and step S106 is repeated until the restriction end condition is satisfied (Y in step S106).

In step S107, the control unit 104 ends the restriction on the opening operation of the door 9 and brings the door 9 into a fully closed state.

After step S107, the process S100 ends.

Here, for example, in the automatic door device 100 operated with security specifications such as an apartment (in a fully closed state, automatic activation in the outdoor activation detection area 70A is disabled), the protection detection area within the range of the opening width of the opening 23 If the detection target present at 71 has his/her hand on the door 9 during the opening operation, there is a risk that the detection target's finger or the like may be drawn into the gap between the door 9 and the fixing during the opening operation. In addition to structural measures such as making this gap smaller (for example, 5 mm or less), increasing this gap (for example, 25 mm or more), and providing protective materials, there are measures to prevent fingers from being drawn into this gap. Measures include installing an edge switch (made of rubber, etc.) in a dangerous area near the gap, or monitoring the dangerous area locally with a sensor (infrared rays, etc.) and stopping the door 9 when the sensor detects it. . However, implementing structural measures such as those mentioned above has its limits when it comes to fittings, and may be avoided from a design standpoint. The above-described measures using edge switches and sensors also require the addition of equipment, which is disadvantageous in terms of cost and the like.

Further, for example, in the automatic door device 100 operated according to the above-mentioned security specifications, if a detection target existing in the protection detection area 71 within the range of the opening width of the opening 23 touches the door 9 during the opening operation, There is a risk that the detection target's hand or the like may be dragged by the door 9 and the detection target may fall down.

In this embodiment, the restriction unit 103 outputs a restriction signal for restricting the opening operation of the door 9 when the outdoor activation sensor 4A detects a detection target in the protection detection area 71, and the control unit 104 outputs a restriction signal for restricting the opening operation of the door 9. The opening operation of the door 9 is restricted when the opening instruction signal is output in a state where the door 9 is received. According to this configuration, it is possible to suppress a part of the detection target's body from being dragged by the opening door 9 or being drawn between the door 9 and the fixing 22 in the protection detection area 71 .

In this embodiment, the protection detection area 71 is provided along the door surface of the door 9 on the fixture 22 side with respect to the door 9 in the forward direction. According to this configuration, it is possible to prevent a person's hand or the like from being drawn in and caught between the door 9 and a fixed part such as the fix 22.

In the present embodiment, the control unit 104 controls the opening operation of the door 9 by opening the door 9 by a predetermined limit distance smaller than the distance from the fully closed position of the door 9 to the fully open position of the door 9 and then stopping the opening operation. Restrict. According to this configuration, by opening the door 9 in a manner different from normal, the door 9 is opened while alerting people who are in the vicinity of the automatic door device 100, such as those in the protection detection area 71. becomes possible.

In this embodiment, the control unit 104 ends the restriction on the opening operation of the door 9 when the outdoor activation sensor 4A no longer detects a detection target within the protection detection area 71 before the door 9 reaches the fully open position. According to this configuration, it is possible to quickly return the automatic door device 100 to normal operation when the detection target leaves the protection detection area 71 and the possibility of being dragged or drawn into the door 9 becomes extremely low. becomes.

Modifications will be described below.

In the present embodiment, the control unit 104 stops the door 9 after opening the door 9 by a predetermined limit distance; however, the control unit 104 is not limited to this, and after opening the door 9 by a predetermined limit distance. The opening operation of the door 9 may be restricted by performing the closing operation and returning to the fully closed state. According to this configuration, by opening the door 9 in a manner different from normal, it is possible to call attention to the detection target within the protection detection area 71, thereby suppressing the detection target from being drawn into the door 9. It becomes possible. Note that the operation of opening the door 9 by a predetermined limited distance and then closing the door 9 to return to the fully closed state may be repeatedly performed at regular time intervals.

Further, the control unit 104 may limit the opening operation of the door 9 by opening the door at a slower speed than the normal opening operation. According to this configuration, while ensuring the passability of the automatic door device 100, by opening the door 9 in a manner different from normal, the detection target within the protection detection area 71 is alerted, and thereby the detection target This makes it possible to prevent the door 9 from being drawn into the door 9. Further, the control unit 104 alternately performs the first low speed operation at the first low speed and the second low speed operation at the second low speed when the open instruction signal is outputted while the limit signal is received. Accordingly, the opening operation of the door 9 may be restricted. Here, the first low speed is slower than the normal opening operation of the door 9, and the second low speed is slower than the normal opening operation of the door 9 and different from the first low speed.

Further, the control unit 104 may limit the opening operation of the door 9 by not driving the door 9. According to this configuration, since the door 9 does not move in the opening direction in the first place, it is possible to suppress the detection target from being dragged or drawn into the door 9.

Further, the control unit 104 may limit the opening operation of the door 9 by driving the door 9 in the closing direction. According to this configuration, since the door 9 is pressed against the opposing object in the closing direction, the door tip rubber (not shown) provided at the tip of the door 9 is deformed, causing damage to people near the automatic door device 100. By making the user feel that something is wrong with the automatic door device 100, it is possible to alert the user. Note that this limiting operation may be repeatedly executed at regular time intervals.

The restriction termination condition is not limited to the above example. For example, the restriction end condition may be a case where the door 9 opens by a predetermined restriction end distance after the restriction of the opening action of the door 9 is started. The predetermined limit end distance here may be a distance smaller than the distance from the fully closed position of the door 9 to the fully open position (for example, 1/2 distance of the distance from the fully closed position to the fully open position of the door 9). Bye. According to this configuration, in combination with the opening protection operation for opening the door 9, it becomes possible to quickly return the automatic door device 100 to normal operation. Further, the restriction end condition may be a case where the door 9 reaches the fully open position after the restriction of the opening operation of the door 9 is started. According to this configuration, it is possible to open the door 9 while suppressing the object to be detected from being dragged by the opening door 9 or being drawn between the door 9 and the fixing 22 in the protection detection area 71 . Further, for example, the restriction end condition may be a case where a predetermined period of time has elapsed since the restriction of the opening operation of the door 9 was started. The control unit 104 may determine whether at least one of the above-mentioned restriction termination conditions is satisfied.

In the present embodiment, when the restriction on the opening operation is finished in step S107, the control unit 104 returns the door 9 to the fully closed state, but the present invention is not limited to this, and the door 9 may be opened.

In the present embodiment, an example is shown in which the two activation sensors 4 are placed outdoors and indoors, but the invention is not limited to this, and both of the two activation sensors 4 may be placed indoors, or both of the activation sensors 4 may be placed indoors. It may also be placed outdoors.

In this embodiment, the outdoor activation sensor 4A sets the protection detection area 71, but the invention is not limited to this, and other sensors such as the indoor activation sensor 4B and the auxiliary photoelectric sensor 30 may set the protection detection area 71. However, a protection detection sensor that detects a detection target in the protection detection area 71 may be used separately. Further, the protection detection area 71 may be set both outdoors and indoors.

In this embodiment, the protection detection area 71 is provided with the fixing 22 on the front side of the door 9 when the door 9 is viewed from the front on the outdoor side, but when the door 9 is viewed from the front on the outdoor side, It may be provided on the rear side of 9. According to this configuration, it is possible to suppress the detection target whose hand is on the door 9 from falling due to being dragged during the opening operation.

In the present embodiment, the door controller 91 opens the door 9 for a passerby from indoors based on the acquisition of the indoor activation signal, but the invention is not limited to this, and the door controller 91 opens the door 9 based on the acquisition of the indoor activation signal. The door 9 may be opened based on the acquired information. Further, in the present embodiment, the door controller 91 operates the door 9 to open the door 9 based on the acquisition of the security release signal and the outdoor activation signal for a passerby from outdoors, but the door controller 91 is not limited to this, and the outdoor activation signal is not limited to this. The door 9 may be opened based on the acquisition of the signal. Further, the door controller 91 may open the door 9 based on receiving the security release signal, regardless of the activation signal of the automatic door sensor 10. Further, the door controller 91 may open the door 9 based only on the activation signal without requiring the security release signal.

In this embodiment, the authentication device 51 is installed outdoors of the building where the automatic door device 100 is installed, but the invention is not limited thereto. The authentication device 51 may be provided indoors, or may be provided outdoors and indoors.

In the present embodiment, the door controller 91 determines whether to perform the opening protection operation or the closing protection operation of the door 9 based on whether the door 9 is fully closed or not, but the present invention is not limited thereto. For example, the automatic door sensor 10 outputs a signal for operating the door 9 to protect it from opening and a signal for operating the door 9 to protect it for closing, based on whether the door 9 is fully closed or not. , it may be determined whether to perform an opening protection operation or a closing protection operation for the door 9.

In the present embodiment, the fixing part 22 is used as the fixing part, but the fixing part is not limited to this, and a wall of a building may be used as the fixing part.

Second Embodiment A second embodiment of the present invention will be described below. In the drawings and description of the second embodiment, components and members that are the same or equivalent to those of the first embodiment are given the same reference numerals. Descriptions that overlap with those of the first embodiment will be omitted as appropriate, and configurations that are different from the first embodiment will be mainly described.

FIG. 6 is a functional block diagram of the automatic door device 100 of the second embodiment. As shown in FIG. 6, the automatic door device 100 of the second embodiment further includes a notification section 105 that notifies that the opening operation of the door 9 is restricted.

FIG. 7 is a flowchart showing processing S200 of the automatic door device 100 of the second embodiment. Steps S201 to S205, S207, and S208 in FIG. 7 are basically the same as steps S101 to S107 in FIG. 5 except for the points mentioned above, so the description thereof will be omitted.

After steps S201 to S204, when the control unit 104 restricts the opening operation of the door 9 in step S205, the control unit 104 supplies a notification instruction to the notification unit 105. In step S206, the notification unit 105 notifies that the opening operation of the door 9 is restricted. The notification unit 105 can notify that the opening operation of the door 9 is restricted, for example, through the sound of a speaker provided in the automatic door device 100, the blinking of an LED lamp, the display on a liquid crystal display, etc.

After steps S207 and S208, in step S209, the notification unit 105 notifies that the restriction on the opening operation of the door 9 has ended. For example, the notification unit 105 may notify that the opening operation of the door 9 has been restricted until a predetermined time has elapsed after the restriction has ended, or may notify the restriction until the above-mentioned predetermined signal is obtained in step S201. It's okay. After step S209, the process S200 ends.

In the second embodiment, it is notified that the opening operation of the door 9 is restricted. According to this configuration, a person present in the protection detection area 71 can understand that the opening operation of the door 9 is restricted, so that it becomes easier for the person to take actions such as leaving the protection detection area 71.

Third Embodiment A third embodiment of the present invention will be described below. In the drawings and description of the third embodiment, components and members that are the same or equivalent to those of the first embodiment are given the same reference numerals. Descriptions that overlap with those of the first embodiment will be omitted as appropriate, and configurations that are different from the first embodiment will be mainly described.

FIG. 8 is a schematic diagram showing the activation detection area 70 and protection detection area 71 of the second embodiment when viewed from above. As shown in FIG. 8, in the third embodiment, the protection detection area 71 is provided on the door end side of the door 9. The protection detection area 71 is provided outside the range of the opening width of the opening 23. In FIG. 8, the protection sensing area 71 includes the area on the trajectory of the door 9, but it may not include this area.

Here, if there is a detection target near the door end side of the door 9 as shown in FIG. 8, for example, when the door 9 is opened, the detection target collides with the door end of the door 9 There is a risk that it will be drawn into the gap with the fixing 22. Even if the measures described above are implemented to deal with such risks, unless the detection target leaves the dangerous area near the door end of the door 9, the above-mentioned collision with the door end of the door 9 may occur. or being drawn between the door 9 and the fixing 22 cannot be effectively suppressed.

In the third embodiment, the restriction unit 103 outputs a restriction signal when a detection target is detected within the protection detection area 71 provided at the end of the door 9, and the control unit 104 receives the restriction signal. When the opening instruction signal is output in this state, the opening operation of the door 9 is restricted by opening the door 9 by a predetermined limit distance and then stopping the door 9. According to this configuration, by opening the door 9 in a manner different from normal, the door 9 is opened while calling attention to the detection target in the protection detection area 71 provided at the end of the door 9. It becomes possible to do so. As a result, it is possible to prompt the detection target to leave the protection detection area 71 provided at the end of the door 9, thereby preventing the detection target from colliding with the door 9 that is opening, and preventing the door 9 from colliding with the door 9 and It is possible to prevent being drawn in between.

When the opening instruction signal is output while the control unit 104 receives the limit signal, the control unit 104 controls the opening operation of the door 9 by opening the door 9 by a predetermined limit distance and then closing the door 9 to return to the fully closed state. may be restricted. Therefore, the control unit 104 operates to open the door 9 by a predetermined limit distance when the open instruction signal is output while receiving the limit signal, and then to stop the door 9 and to close the door 9. The opening operation of the door 9 can be restricted by either returning the door to the fully closed state. Such an operation of opening the door 9 by a predetermined limited distance and then closing the door 9 to return to the fully closed state may be repeatedly performed at regular time intervals.

In addition to the end side of the door 9, the protection detection area 71 may be provided within the width of the opening 23 (see FIG. 3) as in the first embodiment.

Fourth Embodiment A fourth embodiment of the present invention will be described below. In the drawings and description of the fourth embodiment, components and members that are the same or equivalent to those of the third embodiment are given the same reference numerals. Descriptions that overlap with those of the third embodiment will be omitted as appropriate, and configurations that are different from the third embodiment will be mainly described.

In the fourth embodiment, the restriction unit 103 outputs a restriction signal when a detection target is detected within the protection detection area 71 provided at the end of the door 9, and the control unit 104 receives the restriction signal. The opening operation of the door 9 is restricted by alternately executing the first low-speed operation and the second low-speed operation when the opening instruction signal is output in the state. According to this configuration, by opening the door 9 in a manner different from normal while ensuring the passability of the automatic door device 100, the object to be detected in the protection detection area 71 provided at the door end side of the door 9 is detected. It is possible to call attention to the object and thereby prevent the object to be detected from being drawn into the door 9.

Any combination of the embodiments and modifications described above is also useful as an embodiment of the present invention. A new embodiment resulting from a combination has the effects of each of the combined embodiments and modified examples.

4A outdoor activation sensor, 4B indoor activation sensor, 9 door, 10 automatic door sensor, 20 automatic door drive device, 22 fix, 23 opening, 50 security release system, 51 authentication device, 52 permission device, 70 activation detection area, 71 protection detection area, 100 automatic door device, 101 acquisition unit, 102 opening instruction signal output unit, 103 restriction unit, 104 control unit, 105 notification unit.

Claims (22)

an opening instruction signal output unit that outputs an opening instruction signal for a door that opens and closes the opening;
When a sensor whose detection area includes a protection detection area provided within the range of the opening width of the opening detects a person or object in the protection detection area, outputs a restriction signal for limiting the opening operation of the door. a restriction part;
a control unit that controls opening and closing operations of the door based on the opening instruction signal;
The control unit limits the opening operation when the opening instruction signal is output while receiving the restriction signal.
Automatic door device. A fixed part facing the door in a fully open state when the door is viewed from the front is fixedly arranged in line with the door with respect to the expected direction when the door is viewed from the front, and the protection detection area is located at the door of the door. provided on the fixed part side with respect to the prospective direction with respect to the door along the surface;
The automatic door device according to claim 1. The control unit limits the opening operation by opening the door by a predetermined limit distance smaller than the distance from the fully closed position of the door to the fully open position of the door, and then stopping the opening operation.
The automatic door device according to claim 1 or 2. The control unit opens the door by a predetermined limit distance smaller than the distance from the fully closed position of the door to the fully open position of the door, and then closes the door to return to the fully closed state. Restrict,
The automatic door device according to claim 1 or 2. The control unit limits the opening operation by causing the door to open at a slower speed than a normal opening operation.
The automatic door device according to claim 1 or 2. the control unit limits the opening operation by not driving the door;
The automatic door device according to claim 1 or 2. the control unit limits the opening operation by driving the door in a closing direction;
The automatic door device according to claim 1 or 2. The control unit ends the restriction of the opening operation when the sensor no longer detects the person or object within the protection detection area by the time the door reaches a fully open position.
The automatic door device according to claim 1 or 2. The control unit controls the opening operation when the door opens by a predetermined limit end distance that is smaller than the distance from the fully closed position of the door to the fully open position of the door after starting the restriction of the opening operation. end the restriction,
The automatic door device according to claim 1 or 2. The control unit ends the restriction of the opening operation when the door reaches a fully open position after starting the restriction of the opening operation.
The automatic door device according to claim 1 or 2. comprising a notification unit that notifies that the opening operation is restricted;
The automatic door device according to claim 1 or 2. a security release device that outputs a security release signal for permitting an opening operation of a door that opens and closes an opening;
An automatic door device,
an activation sensor that detects a person or object in an activation detection area provided around the opening;
a protection detection sensor that detects a person or object in a protection detection area provided within the opening width of the opening;
an opening instruction signal output unit that outputs an opening instruction signal for the door based on at least one of the detection of the person or object in the activation detection area and the output of the security release signal;
a control unit that controls opening and closing operations of the door based on the opening instruction signal;
a restriction unit that outputs a restriction signal for restricting the opening operation of the door when the protection detection sensor detects the person or object in the protection detection area;
The control unit limits the opening operation when the opening instruction signal is output while receiving the restriction signal.
automatic door device,
Automatic door system equipped with an opening instruction signal output unit that outputs an opening instruction signal for a door that opens and closes the opening;
a restriction unit that outputs a restriction signal for restricting the opening operation of the door when a sensor whose detection area includes a protection detection area provided on the door end side of the door detects a person or object in the protection detection area; and,
a control unit that controls opening and closing operations of the door based on the opening instruction signal,
The control unit is configured to operate the door to open by a predetermined limit distance when the opening instruction signal is output while receiving the limit signal, and then to stop the door and close the door. a control unit that limits the opening operation by either returning the opening operation to a fully closed state;
Equipped with
Automatic door device. a security release device that outputs a security release signal for permitting an opening operation of a door that opens and closes an opening;
An automatic door device,
an activation sensor that detects a person or object in an activation detection area provided around the opening;
a protection detection sensor that detects a person or object in a protection detection area provided within the opening width of the opening;
an opening instruction signal output unit that outputs an opening instruction signal for the door based on at least one of the detection of the person or object in the activation detection area and the output of the security release signal;
a control unit that controls opening and closing operations of the door based on the opening instruction signal;
a restriction unit that outputs a restriction signal that restricts the opening operation of the door when the protection detection sensor detects a person or object in the protection detection area;
Equipped with
The control unit is configured to operate the door to open by a predetermined limit distance when the opening instruction signal is output while receiving the limit signal, and then to stop the door and close the door. limiting the opening operation by either returning the opening to the fully closed state;
automatic door device,
Automatic door system equipped with an opening instruction signal output unit that outputs an opening instruction signal for a door that opens and closes the opening;
a restriction unit that outputs a restriction signal for restricting the opening operation of the door when a sensor whose detection area includes a protection detection area provided on the door end side of the door detects a person or object in the protection detection area; and,
a control unit that controls opening and closing operations of the door based on the opening instruction signal,
The control unit is configured to perform a first low-speed operation at a first low speed that is slower than a normal opening operation of the door and the normal opening operation when the opening instruction signal is output in a state in which the limit signal is received. a control unit that limits the opening operation by alternately performing a second low speed operation at a second low speed lower than the first low speed and different from the first low speed;
Equipped with
Automatic door device. a security release device that outputs a security release signal for permitting an opening operation of a door that opens and closes an opening;
An automatic door device,
an activation sensor that detects a person or object in an activation detection area provided around the opening;
a protection detection sensor that detects a person or object in a protection detection area provided within the opening width of the opening;
an opening instruction signal output unit that outputs an opening instruction signal for the door based on at least one of the detection of the person or object in the activation detection area and the output of the security release signal;
a control unit that controls opening and closing operations of the door based on the opening instruction signal;
a restriction unit that outputs a restriction signal that restricts the opening operation of the door when the sensor detects a person or object in the protection detection area;
Equipped with
The control unit is configured to perform a first low speed operation at a first low speed that is slower than the normal opening operation of the door and a lower speed than the normal opening operation when the opening instruction signal is outputted while receiving the limit signal. limiting the opening operation by alternately performing a second low speed operation at a second low speed different from the first low speed;
automatic door device,
Automatic door system equipped with A restriction signal for restricting the opening operation of a door that opens and closes the opening when a sensor whose detection area includes a protection detection area provided within the range of the opening width of the opening detects a person or object in the protection detection area. a limiting section outputting the limiting signal;
The opening instruction signal is output in a state in which a control section that controls the opening and closing operations of the door based on the opening instruction signal from the opening instruction signal output section that outputs the door opening instruction signal receives the restriction signal. limiting the opening operation when the opening operation is output;
Equipped with
How to control automatic door equipment. to the computer,
A restriction signal for restricting the opening operation of a door that opens and closes the opening when a sensor whose detection area includes a protection detection area provided within the range of the opening width of the opening detects a person or object in the protection detection area. a limiting section outputting the limiting signal;
The opening instruction signal is output in a state in which a control section that controls the opening and closing operations of the door based on the opening instruction signal from the opening instruction signal output section that outputs the door opening instruction signal receives the restriction signal. limiting the opening operation when the opening operation is output;
Automatic door device control program to run. for restricting the opening operation of the door that opens and closes the opening when a sensor whose detection area includes a protection detection area provided at the end side of the door that opens and closes the opening detects a person or object in the protection detection area; a step in which a limiting section that outputs a limiting signal outputs the limiting signal;
The opening instruction signal is output in a state in which a control section that controls the opening and closing operations of the door based on the opening instruction signal from the opening instruction signal output section that outputs the door opening instruction signal receives the restriction signal. When the door is output, the door is opened by a predetermined limit distance, and then the opening operation is limited by either stopping the door or closing the door to return to the fully closed state. step and
Equipped with
How to control automatic door equipment. to the computer,
for restricting the opening operation of the door that opens and closes the opening when a sensor whose detection area includes a protection detection area provided at the end side of the door that opens and closes the opening detects a person or object in the protection detection area; a step in which a limiting section that outputs a limiting signal outputs the limiting signal;
The opening instruction signal is output in a state in which a control section that controls the opening and closing operations of the door based on the opening instruction signal from the opening instruction signal output section that outputs the door opening instruction signal receives the restriction signal. When the door is output, the door is opened by a predetermined limit distance, and then the opening operation is limited by either stopping the door or closing the door to return to the fully closed state. step and
to execute,
Automatic door device control program. for restricting the opening operation of the door that opens and closes the opening when a sensor whose detection area includes a protection detection area provided at the end side of the door that opens and closes the opening detects a person or object in the protection detection area; a step in which a limiting section that outputs a limiting signal outputs the limiting signal;
The opening instruction signal is output in a state in which a control section that controls the opening and closing operations of the door based on the opening instruction signal from the opening instruction signal output section that outputs the door opening instruction signal receives the restriction signal. a first low speed operation that is slower than the normal opening operation of the door when outputted; and a second low speed operation that is slower than the normal opening operation and different from the first low speed. limiting the opening operation by alternately performing two low-speed operations;
Equipped with
How to control automatic door equipment. to the computer,
for restricting the opening operation of the door that opens and closes the opening when a sensor whose detection area includes a protection detection area provided at the end side of the door that opens and closes the opening detects a person or object in the protection detection area; a step in which a limiting section that outputs a limiting signal outputs the limiting signal;
The opening instruction signal is output in a state in which a control section that controls the opening and closing operations of the door based on the opening instruction signal from the opening instruction signal output section that outputs the door opening instruction signal receives the restriction signal. a first low speed operation that is slower than the normal opening operation of the door when outputted; and a second low speed operation that is slower than the normal opening operation and different from the first low speed. limiting the opening operation by alternately performing two low-speed operations;
to execute,
Automatic door device control program.

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