JP2611926B2 - Driving emergency safety control method for automatic door - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic opening / closing door, wherein when the door collides with a human body or the like, the door being opened / closed is stopped or opened urgently to prevent the human body from opening. The present invention relates to an emergency safety control method for ensuring safety and the like.

[0002]

2. Description of the Related Art As is well known, in an automatic opening / closing door in which the entrance of a human body is detected and a motor is automatically operated to open and close the door, the door is in the process of being opened and closed and the human body or the like is not opened. If the motor collides with an obstacle, if the motor is not stopped or opened urgently, it may cause danger or damage. Therefore, an emergency safety measure corresponding to this is required.

[0003] However, the conventional countermeasure described above detects that the door opening / closing speed is reduced by the above-mentioned collision,
As shown in FIG. 3, a speed reduction detection reference value B is determined in advance, and when the door opening / closing speed becomes lower than this, the safety control such as stopping the motor as described above is activated. It has contents.

[0004] However, in the automatic opening and closing doors of this type, as shown in ibid Figure 3, and so can be variably adjusted from the minimum speed V _min per door closing speed to the maximum speed V _max In addition, the customer selects and uses various door opening / closing speeds as needed. Therefore, if the automatic door is operated at the minimum speed V _min ,
The speed drop detection reference value B is reached only by a slight speed drop amount a with respect to the speed V _{min in the} figure.
The impact stopping energy in the case of _min is Ea = 1 / 2m
{(1.5B) ² −B ² } (where m indicates the weight of the door, and V _min is B × 1.5 with respect to the speed drop detection reference value B)
It is).

On the other hand, when the door opening / closing speed is the maximum speed V _max
Considering per If set to, for not reaching the speed reduction detection reference value B Without deceleration only large speed decrease amount A made variable from V _max, strikes stop energy when its V _max, i.e. impinges Impact on humans, etc.
= 1 / 2m ｛(5B) ² −B ² 、, and as a result, EA / Ea = 1 / 2m ｛(5B) ² −B ² ｝ / 1/2 ｛(1.5B) ² −B
² ｝ = 19.2 (times), and in the case of V _max , humans or the like receive about 20 times as much energy as the impact received at the time of V _min , and a very dangerous situation is expected. .

[0006]

SUMMARY OF THE INVENTION Claim 1 according to the present invention
In view of the above-mentioned defects of the prior art, in consideration of the door opening and closing speed from the lowest speed to the highest speed, no matter what speed is selected, even if the door that opens and closes hits the human body, it is excessively large. Eliminates the danger that a serious danger will occur by applying an impact, and aims to provide a method for emergency safety control of automatic opening / closing door drive without any worries even if the selected door opening / closing speed is increased. It is.

Further, when the door opening / closing speed is selected as the minimum speed, the speed lowering detection reference value for the speed lower than the minimum speed set to be lower than the minimum speed is set to zero. In the period during which the door is opened and closed and gradually accelerated, and thereafter, during the entire period in which the door runs at a predetermined speed, even if a speed abnormality such as the collision of the door with the human body occurs, the speed over the entire area it possible to check the abnormal and, doors or the wind pressure, even when such increased is mechanically resistance, trying to avoid such results have been made involuntarily emergency stop of the door.

[0008]

In order to achieve the above object, according to the present invention, when a door is opened and closed by operating a motor upon detection of a human body, the opening and closing speed of the door is set to a minimum speed (V). ₀ ) to the maximum speed (V ₃ ) at the required intermediate speed (V ₁ ) (V ₂ ) at the automatic opening / closing door, and by using an electric control device, the maximum speed (V ₃ ) speed reduction detection reference value (B _4), the maximum speed following stage intermediate speed between a speed reduction detection reference value (B _3), the
The intermediate speed (V ₁ ) (V ₂ ) corresponding to the required intermediate speed (V ₂ ), the intermediate speed lower speed detection reference value (B ₂ ), the lower intermediate speed minimum speed lower speed detection reference value (B ₁ ), and the minimum Set the speed drop detection reference value (B ₀ ) for speed below,
When the door is opened and closed, the door opening and closing speed is measured at predetermined intervals, the current door opening and closing speed (M ₁ ) at the present time is stored in the first memory, and the previously measured front door opening and closing speed (M ₁ ) is stored. M
₂₎ is stored in the second memory, when was slow than the current door opening and closing speeds (M ₁₎ is the front door closing speed (M _2), the front door opening and closing speeds (M ₂₎ is the maximum velocity (V _{If the} speed is higher than ₃ ) and the current door opening / closing speed (M ₁ ) is equal to or less than the maximum speed (V ₃ ) speed reduction detection reference value (B ₄ ), the motor is stopped or opened urgently. Front door opening / closing speed (M ₂ )
Is lower than the maximum speed (V ₃ ) and the current door opening / closing speed (M
₁₎ is the maximum speed following stage intermediate speed between a speed reduction detection reference value (if B ₃₎ or less, the motor was an emergency stop or an emergency opening, the plants above the front door closing speed (M ₂₎ is set
Medium speed of a main stage (V ₂₎ (V ₁₎ or less, and Gentobira closing rate (M ₁₎ is respectively the intermediate speed between a speed reduction detection reference value (B _2), for between the lower stage intermediate speed minimum speed Speed drop detection
If it is equal to or less than the output reference value (B ₁ ), the motor is emergency stopped or opened, and the front door opening / closing speed (M ₂ ) is equal to or less than the set minimum speed (V ₀ ) and the current door opening / closing speed. (M
_{If 1} ) is equal to or less than the speed lowering detection reference value (B ₀ ) for the minimum speed or less, an attempt is made to provide an emergency opening / closing door drive emergency safety control method characterized in that the motor is emergency stopped or opened. I have.

Next, according to a second aspect, a speed drop detection reference value (B ₀ ) for the lowest speed (V ₀ ) or less in the first aspect.
Is zero.

[0010]

When [action] human body door is detected are opened and closed, the door closing speed is Hakachi every predetermined time, the door before being Hakachi currently Hakachi been the current door opening and closing speed M ₁ immediately before an opening and closing speed M ₂ are both stored, and both M _1, M ₂ are compared, it will be the magnitude of the respective speed is determined, detected that the time has become M ₁ <M ₂ When the operation is performed, that is, when the door collides with a human body or other obstacle and it is confirmed that the opening / closing speed of the door is slowed, the following operation proceeds.

First, it is determined which rank the front door opening / closing speed M ₂ before the current door opening / closing speed M ₁ is in the slow state belongs to. speed M ₂ is compared with the maximum speed V ₃ which can be adjusted as the automatic door, M _2> if V ₃ results were obtained, then the current door opening and closing speed M ₁ and the maximum speed for speed reduction detection reference value the magnitude of the B ₄ are compared. Here B ₄
Considers the impact stop energy received by the human body etc. by hitting the human body etc. when the door is opening and closing at the maximum speed V ₃ , and considers the safety that this does not involve danger to the human body etc. It will be set in consideration of it.

Accordingly, by comparing the M ₁ and B ₄ above, the current door opening and closing speed M ₁ is, the extent to reach the maximum speed for speed reduction detection reference value B _4, it does not involve quite dangerous Therefore, when M ₁ <B ₄ , the motor of the automatic opening / closing door is urgently stopped or the emergency opening state of the door is obtained.

However, if the front door opening / closing speed M ₂ is not equal to the above-mentioned speed rank but is the rank equal to or lower than the maximum speed V ₃ , in this case, the current door opening / closing speed M ₁ and the above-mentioned speed rank M ₁ rather than the magnitude of the B _4, and than the M ₁ and the maximum velocity following stage intermediate speed between a speed reduction detection reference value B ₃ are compared, if it reached this time M ₁ <B _3, dangerous Therefore, emergency safety measures for the door by stopping the motor or the like are activated.

[0014] Not intermediate speed only V ₂ above, it than can also be set to an intermediate speed V ₁ of the slow, than this, if case such is possible further selection of the minimum speed V ₀ is slow , The speed rank is the intermediate speed V ₂
When was the case in the following, is compared to the current door opening and closing speed M ₁ is an intermediate speed between a speed reduction detection reference value B _2, if M ₁ <B _2, will be same as above emergency measures against the door will fire further, in the same manner as described above, if M ₂ is less intermediate velocity V _1, M ₁ is compared with the intermediate speed minimum speed between a speed reduction detection reference value B _1, before the confirmation of the M ₁ <B ₁ The safety emergency measures will be taken.

When the front door opening / closing speed M ₂ is equal to the minimum speed V ₀
When a it was the following, to compare the minimum speed slowdowns detection reference value B ₀ for the following which are set as M ₁ in the same manner as M ₁ <B ₀
In such a case, measures for emergency safety are taken. Therefore, even if the door opening / closing speed is high or slow, or even if the opening / closing operation is performed at an intermediate speed, danger to the human body, etc. Disappears.

[0016] The above is an operational according to claim 1, since In the claim 2 and the minimum speed slowdowns detection reference value B ₀ for the following in claim 1 of the set to zero, the door is opened and closed An abnormality such as a collision can be detected in all of the acceleration traveling period and the constant speed traveling period from when the vehicle reaches the predetermined speed until the vehicle reaches the predetermined speed, and an emergency measure corresponding to the abnormality can be taken. In particular, when B ₀ = 0, when the door is slow due to wind pressure, or when the automatic opening / closing door shows considerable resistance to the running of the door due to aging, such a case is considered. It is possible to reliably prevent the opening and closing movement of the door from being unintentionally stopped due to the cause.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail with reference to FIGS.
As shown in (A), an electric control device 2 may be attached to the automatic opening / closing door 1, and the automatic opening / closing door 1 is located in the driving engine 1a as is known, and when the motor 1b is operated, As a result, the driving vehicle 1c rotates, and the rotating member 1e engaged with the driven vehicle 1d rotates. As a result, the door 1g, which is connected and suspended via the connecting member 1f, moves in the direction of the arrow. It is configured to open and close.

In FIG. 1 (A), 1h and 1i are also known components of the driving engine unit 1a, the former being a door opening limit switch, the latter being a door closing limit switch, and 1j being a door 1g. And a switch for detecting when a human body or the like comes close to the motor, the motor 1b, the two limit switches 1h, 1i, and the detector 1j are connected to the electrical control device 2 and the electric control device 2 as described later. Connected.

The electric control device 2 includes a detector 1j connected to a detector 1a, and a control operation unit 2b connected to the detector 1j. The control operation unit 2b includes the open circuit. The door limit switch 1h and the door closing limit switch 1i are connected, and the control operation unit 2b is connected to the motor 1b via a drive unit 2c to detect the rotation speed of the motor 1b.
Is controlled by the control operation unit 2 via the pulse counter unit 2e.
b.

Further, the control operation unit 2b stores a door opening / closing speed counting timer 2f described later, a timer unit 2h using a door opening state holding timer 2g, and the like, and a door opening / closing speed measurement result described later. And a volume switch circuit 2j for adjustment. This adjustment volume switch circuit 2
j adjusts the door opening / closing speed in the automatic opening / closing door to a desired speed, or pertains to the door opening / closing speed counting timer 2f,
It is used to set an interval for measuring the door opening / closing speed, that is, a desired time t seconds, or to adjust the opening time of the above-described door opening state holding timer 2g.

The automatic opening / closing door 1 is operated by using the electric control device 2 as described above, and in the course of the operation, the driving emergency safety control method according to the present invention is implemented.
Hereinafter, all the above operations will be sequentially described. First, as is known, when a detection signal from a detector 1j that detects the proximity of a human body or the like is input to a control effect unit 2b via a detection unit 2a, the output is transmitted to a motor 1b via a drive unit 2c.
Drive.

By this driving, the door 1g starts receiving the force in the order of the motor 1b, the driving wheel 1c, the rotating member 1e, and the connecting member 1f to start the door opening movement as is known.
Here, the door opening / closing speed of the door 1g can be controlled by the control calculation unit 2b of the electric control device 2, and the automatic opening / closing door 1 has the minimum speed V as shown in FIG. there from ₀ within the door opening and closing speed variable range of the maximum speed V ₃ is to be able to adjust the door opening and closing speed, V ₂ in the supra view the next step the intermediate velocity, V ₁ represents a lower stage intermediate speed ing.

Then, immediately before or immediately before the door opening signal is given to the motor 1b as described above,
Is set to zero in the second memory m ₂ in FIG. 2, and as shown by the flowchart of the operation according to FIG. 2, in order to measure the door opening / closing speed, a predetermined time t seconds, which is an interval to be measured, is set in the timer unit 2h. The door opening / closing speed counting timer 2f is set. As a result, the door opening / closing speed becomes
The number of pulses counted every t seconds by the encoder 2d attached to the motor 1b via the pulse counter unit 2e is input to the control calculation unit 2b, whereby the door opening / closing speed can be measured one after another. .

Next, whether or not the door 1g has reached the brake position at the time of opening the door is detected by the above-described door opening limit switch 1h. It is checked whether or not the detection has been performed. If it has reached the brake position, the brake is applied and the low-speed door opening operation to the full-open stop operation is performed, and the driving unit 2c From the control calculation unit 2b to the motor 1b via
A rotation command in the closing direction is issued, whereby the closing operation is started.

When it is determined that the brake position has not been reached as described above, it is checked whether or not a predetermined time t seconds has elapsed from the door opening / closing speed counting timer 2f. If there is, the check of the brake position is repeated, and if t seconds have elapsed, the number of generated pulses in the t seconds is stored in the memory unit 2.
stored as door opening and closing speed in the first memory m ₁ in i.

Here, when the number of generated pulses is P and the door opening / closing speed corresponding to P is V (mm / sec), the relationship between the two is as follows. Would be, hence V / P = 1/2, and the storage from the Thus V = 1 / 2P (mm / sec), it is possible to obtain the V from P, the first memory m ₁ as the measurement values of the door opening and closing speed at the present time, i.e. the current door opening and closing speeds and M _1.

If the previous door opening / closing speed M ₁ is set to the front door opening / closing speed M ₂ measured the previous time, that is, t seconds ago, M ₁ is compared with M ₂ to obtain M _1. > M ₂ , that is, if the current door opening / closing speed is equal to or higher than the previous door opening / closing speed, the current door opening / closing speed M ₁ of the first memory m ₁ is stored in the second memory m ₂ as the front door opening / closing speed. After that, the process is returned to the step of setting the elapsed time t seconds of the timer 2f for counting the door opening / closing speed, and the repetitive processing is performed.

However, if the door 1g collides with the human body or the like occurs, M ₁ <M ₂ instead of M ₁ > M _{2 as} described above. if it is detected that the door opening and closing speed M ₁ is in the slow condition than before door opening and closing speed M _2, as follows wherein the V ₃ is the M ₂ and the door opening and closing velocity, V _2, V ₁ , V ₀
Are sequentially compared.

Therefore, if M ₂ > V ₃ , that is, if the front door opening / closing speed M ₂ is higher than the maximum speed V ₃ of the door 1g, the current door opening / closing speed M ₁ is increased as shown in FIG.
Smaller than the maximum speed for speed reduction detection reference value B ₄ as (B), the namely of being detected whether or not it is slow, such as to stop the motor 1b if was M ₁ <B ₄ By means, emergency stop of door 1g,
It is urgently released. Of course, if M ₁ > B ₄ , the process returns to the process from the stage of setting the predetermined time t seconds as shown in FIG.

Here, the speed lowering detection reference value B ₄ for the maximum speed and B ₃ , B ₂ , B ₁ , and B ₀ described below.
The speed drop detection reference value (m / sec) can be obtained as follows. That is, the weight of the door is now m (kg
w), door opening / closing speed is V (m / sec), door opening / closing speed is V to B
While drops to, the energy supplied from the motor 1b and E _M, if the set minimum collision energy and _{E S, E S = 1 /} 2mV 2 -1 / 2mB 2 + E M Thus, B = (V ² + 2E _M · 1 / m−2E _S · 1 / m) ^1/2 (m / sec).

Next, when the rank of the door opening / closing speed is M ₂ <V ₃ , M ₂ > V ₂ (next stage intermediate speed), and the current door opening / closing speed M ₁ is between the maximum speed and the next stage intermediate speed. If the use speed drop detection reference value B ₃ or less, that is, if M ₁ <B ₃ , emergency stop or opening of the door 1g is taken as described above, and otherwise M ₁ < B
If it is ₃ , it will return to the setting stage of time t seconds as described above.

Next, when the front door opening and closing speed M ₂ is less than the next step the intermediate speed V ₂ is compared and the M ₂ and the lower-stage middle velocity V _1, when an M _2> V ₁ is the current door opening and closing Speed M
₁ and is compared with the intermediate speed slowdowns detection reference value for between B ₂ is <if B _2, emergency measures last is taken, M _1> Thus M ₁ wherein as if was B ₂ Time t
Return to the seconds setting phase.

Similarly, when the door opening / closing speed is lower than the lower intermediate speed V ₁ , M ₂ is compared with the minimum speed V ₀ , and M ₂
> V ₀ , and if M ₁ <B ₁ (the lower speed intermediate speed minimum speed reference value B ₁ for lower intermediate speed), emergency action is taken,
Conversely, if M ₁ > B ₁ , the same repetitive processing by reversing is performed.

When M ₂ is equal to or lower than the minimum speed V ₀ , emergency measures are taken when M ₁ <B ₀ (speed lowering detection reference value B ₀ for minimum speed or lower). the first M ₁ <B ₀ state, without than to immediately activate the emergency measures, when the n-th M ₁ <B ₀ condition occurs, may be controlled to be activated of the same,
Of course, if M ₁ does not reach B ₀ , the same repetitive processing is performed.

In this case, the value of B ₀ can be set to zero as in the second aspect. By doing so, the acceleration period T of the door 1g is reduced as shown in FIG. In addition to the constant speed period, it is possible to check for abnormalities such as the door hitting the human body over the entire period. In the same figure, when the door 1g is opened in an acceleration state as indicated by a straight line OA,
Or not opening motion in the door 1g is sufficient acceleration in wind pressure, automatic opening and closing door, in the like when became poor mechanical motion due to aging, by leaving the B ₀ to zero, external As a result, the door does not stop immediately, and safety can be ensured.

[0036]

As described above, the present invention can be implemented as described above. Therefore, no matter how fast the user sets the opening and closing speed of the automatic opening and closing door, the door can be used by a human body. The impact at the time of the equal impact does not become so large as to cause danger, and it is possible to secure a necessary and sufficient degree of safety in conformity with the above-mentioned speed.

Further, in claim 2 according to claim 1,
Since the speed drop detection reference value for the speed below the minimum speed is set to zero, safety during the acceleration period of the door can be secured, and the trouble of the door being unintentionally stopped due to wind pressure etc. is also eliminated. Can be.

[Brief description of the drawings]

FIG. 1 (A) is an overall configuration explanatory view showing an automatic opening / closing door having an electric control device capable of implementing an automatic opening / closing door driving emergency safety control method according to the present invention, and FIG. 4 is a table showing the relationship between various door opening / closing speeds and various speed reduction detection reference values corresponding to each door opening / closing speed.

FIG. 2 is a flowchart showing an operation order of the same method according to the present invention.

FIG. 3 is a table showing a relationship between a door opening / closing speed and a speed reduction detection reference value in a conventional driving emergency safety control method for an automatic opening / closing door.

[Explanation of symbols]

1 Automatic opening / closing door 1b Motor 1g Door 2 Electric control device B ₀ Speed drop detection reference value for minimum speed or lower B ₁ Speed drop detection reference value for lower intermediate speed minimum speed B ₂ Speed drop detection reference value for intermediate speed B ₃ maximum speed following stage intermediate speed reduction detection reference value for between speed B ₄ maximum speed for speed reduction detection reference value m ₁ first memory m ₂ second memory M ₁ current door opening and closing speed M ₂ before door opening and closing speeds t predetermined time V ₀ the minimum speed V ₁ lower stage intermediate speed V ₂ primary stage intermediate velocity V ₃ maximum speed

Claims (2)

(57) [Claims] When a door is opened and closed by operating a motor upon detection of a human body, the opening and closing speed of the door is set to a minimum speed (V
₀ ) to the maximum speed (V ₃ ) in the required intermediate speed (V
₁ ) In an automatic door that is variable with (V ₂ ),
By using an electrical control, the maximum speed (V
₃ ) Speed drop detection reference value (B ₄ ) for maximum speed next stage intermediate speed speed drop detection reference value (B ₃ ), required stage above
Of intermediate speeds (V ₁ ) and (V ₂ ) corresponding to intermediate speeds (B ₂ ), lower speed intermediate speed minimum speed reference values (B ₁ ) for lower intermediate speeds, and below the minimum speed A speed reduction reference value (B ₀ ) is set in advance, and when the door is opened and closed, the door opening and closing speed is measured every predetermined time, and
Stores the current door opening and closing speed at the present time the (M ₁₎ in the first memory, the previous Hakachi the front door closing speed (M ₂₎ is stored in the second memory, the current door opening and closing speeds (M ₁₎ is When the front door opening / closing speed (M ₂ ) is slower than the front door opening / closing speed (M ₂ ), the front door opening / closing speed (M ₂ ) is higher than the maximum speed (V ₃ ), and the current door opening / closing speed (M ₁ ) is the highest. If the speed (V ₃ ) is equal to or less than the speed drop detection reference value (B ₄ ), the motor is emergency stopped or opened, and the front door opening / closing speed (M ₂ ) is equal to or less than the maximum speed (V ₃ ). And the current door opening / closing speed (M ₁ ) is the maximum speed next speed intermediate speed speed drop detection reference value (B ₃ )
If less, the motor was emergency stop or emergency opening, <br/> medium speed (V ₂₎ of said required step of the front door opening and closing speeds (M ₂₎ is set in the (V ₁₎ or less, and Gentobira closing rate (M ₁₎ is respectively the intermediate speed between a speed reduction detection reference value (B
₂ ) If the lower speed is below the lower intermediate speed minimum speed detection reference value (B ₁ ), the motor is emergency stopped or opened and the minimum speed at which the front door opening / closing speed (M ₂ ) is set (V ₀ ) or less and if the current door opening / closing speed (M ₁ ) is equal to or less than the minimum speed lower speed detection reference value (B ₀ ), the motor is emergency stopped or opened. Emergency safety control method of automatic door opening and closing. 2. The emergency emergency drive control method for an automatic opening / closing door according to claim 1, wherein the speed reduction detection reference value (B ₀ ) for the minimum speed (V ₀ ) or less is zero.