JP3425722B2 - Automatic door manual control method - Google Patents

Description

Detailed Description of the Invention

[0001]

The present invention is either known fully automatic door BACKGROUND OF THE INVENTION, is then manually prior In the manual prior automatic door to perform the automatic door operation, drive rotation or linear
Pulse signal is sent from the built-in magnetic pole detection sensor
Brushless DC motor or brushless DC linear
By properly using a specific motor as a motor , not only when the door is stopped at the closed position but also when it is stopped at the open position, the door is still in motion and the stopped state occurs, and Even if a person tries to come in and out, the human body detector fails, and even if the human body detector is not equipped like the manual preceding automatic door, if the manual door opening or the manual door closing is performed, The present invention relates to a manual door control method for an automatic door, which allows the door to move according to a predetermined opening / closing door operation pattern of the automatic door.

[0002]

2. Description of the Related Art A predetermined open / close door operation pattern P of a general automatic door currently in use is, when a human body detection signal is input to an automatic door controller as shown in FIG. First, the closing position P1
The higher-speed door closing movement D1 is started as shown by a virtual line, the low-speed door opening movement D2 is started next to the control from the high-speed door opening brake starting position P2, and in the illustrated example, the braking is started from the low-speed brake starting position P3. The door is stopped at the door opening position P4. Further, this door is in the above-mentioned door opening position P4, and starts the high-speed door closing motion D3 after the lapse of the door-opening state setting time, then applies the braking from the high-speed door closing brake starting position P5, and the low-speed door closing motion D4. After that, the vehicle returns to the door closing position P1. Based on this predetermined opening / closing door operation pattern P, the total door movement distance L from the door closing position P1 to the door opening position P4 when the power is first turned on is measured and stored in the automatic door controller, and based on this. Is set.

Further, in the case of the known manual preceding automatic door, which is also known, a human body detector is not provided as disclosed in FIG. 7 above, and the door at the closed position P1 is manually opened by the door displacement length reference value m1. By making the door H, the high-speed door closing motion D1 in the predetermined opening / closing door operation pattern P is started from the manual door opening reaching point T as shown by the solid line, and thereafter, the automatic door opening motion and the automatic door closing motion are performed in the same manner as described above. Is performed so that it can function as an automatic door.

[0004]

When the conventional fully automatic door is used, and if the human body detector fails, if the door is stopped in a closed state, it is possible to get close to a passerby. Without automatic door opening, this will hinder traffic. Therefore, passersby will try to open the door manually, but at this time, moving the door with a stronger force than necessary will force the door to collide with the door stop on the opening side. This has caused accidents such as the destruction of doors, fittings and automatic door devices. At this time, when a brushless DC motor is used as a known motor for the drive unit of the fully automatic door, power is transmitted to the door through a winding transmission member such as a speed reducer or a timing belt. Because
The manual resistance is about 3000 g, which will alleviate the occurrence of the above-mentioned breakdown accident to some extent. However, when the known brushless DC linear motor is used, it is suspended on the mover via a connecting metal fitting. Since it is only a door, the manual resistance is extremely small, around 50 to 100 g, and therefore even if the force is not so strong, the possibility of breakage due to the manual opening of the door is quite high.

In addition, when the door is in the open position and stopped due to a failure of the human body detector, the door does not move automatically, or even during high-speed door closing D3, obstacles such as pedestrians and articles are detected. in the case the door is such as running of the door and strike are limited, the feed speed open Tobirado signal is detected by an automatic controller that door becomes stopped or substantially stopped state, whereby said The high-speed door opening motion D1 is started by the drive unit having the specified motor, and the door moves from the door opening position to the door closing position after the door opening state setting time as described above. However, at this time, if the obstacle is not removed, the door may stop on the spot after repeating the opening / closing door movement several times. Therefore, in such a case, the human body detector It is possible that the door will stop in the middle of the opening and closing of the door due to the failure of the above, and this may result in inability to pass through. You will get it.

Further, in the case of the manual preceding automatic door, the human body detector is not provided as explained with reference to FIG. 7, but the door at the closed position P1 has a predetermined length, that is, the door displacement length reference value m1. If the door is manually opened until the above, the automatic opening / closing operation according to the predetermined opening / closing operation pattern P starts, but when the door is in the open position or in the middle of the opening / closing operation and is stopped as described above. The automatic opening / closing operation of the door is not started even if the door is manually opened or closed, and the door in the stopped state is first manually closed to the closing position, and then manually opened by the door displacement length reference value m1 as described above. Therefore, even in such a case, the doors and fittings will be destroyed.

[0007] The present invention seeks to solve the above-mentioned defects, when the control method according to claim 1, Bra
A series DC linear motor or a brushless DC motor
To use a particular motor that, by the door transition detector which is established in the automatic door, the door is opened Tobirado manually Pal
In addition to being able to count the amount of door displacement as a traffic signal ,
When the door is stopped, the door displacement amount is controlled to be reset to zero. In this way, the manual preceding automatic door without a human body detector, or even when the human body detector in the fully automatic door is broken, from the above-mentioned stop position where the door is in the closed position or the opening and closing door, If only the door displacement length reference value is manually opened, the automatic opening / closing door operation will be performed according to the predetermined opening / closing operation pattern, so that this will not hinder the passage of traffic and passers-by When the door is manually moved to open, it causes the door to hit the door stop at the open position with a strong force,
Its purpose is to prevent the occurrence of accidents such as the destruction of doors, fittings and automatic door devices.

Next, in the control method of claim 2, in addition to the structure of claim 1, when the door is stopped by returning to a predetermined opening / closing operation pattern, the door is closed by an automatic door controller. The holding and pressing signal is used to apply the required closing force to this door, and unless it is manually opened manually, the door will be moved by unintentional external force such as wind or vibration. An attempt is made to prevent a trouble that the automatic door opening is unintentionally started due to the door displacement amount reaching the door displacement length reference value.

Further, in the third aspect, this is also a bra.
A series DC linear motor or a brushless DC motor
If a specific motor is adopted and the door is in the open position or in the middle of opening and closing the door and the door is in the stopped state as described above, the door is manually operated by the door displacement length reference value. By simply closing the door, after the fact, the automatic door closing according to the predetermined opening / closing operation pattern is realized. Therefore, in claim 3 as well, as in claim 1, the door shift detection unit can count the door shift amount as a pulse signal , and can reset the door shift amount to zero depending on the stopped state of the door. As a result, even if a stop state occurs at a position other than the closed position of the manual preceding automatic door or the fully automatic door in the same manner as in claim 1, the automatic door closing is performed by manually closing the door displacement length reference value which is slight as described above. In order to prevent damage to the door and fittings due to impact, there is no obstacle to traffic. In the fourth aspect, similar to the relationship between the first aspect and the second aspect described above, the automatic control of the involuntary door is performed by controlling so as to apply the closing force to the door at the closing position with respect to the third aspect. It is designed to prevent movement of the door.

Further, when the control method according to claim 5 is used, the same specific motor as described above is used .
When the door is in the open position or in the stopped state while the door is moving, the door is first closed manually.When the door is already in the stopped state, the motor of the drive unit is automatically controlled by the automatic door controller. When the door is manually closed against this braking force, it is possible to prevent the door from unintentionally hitting the door in the closed position, and at this time, the door is closed. Even if the door is manually closed by the shift length reference value or more, it is controlled so that the automatic door closing operation according to the predetermined opening / closing door operation pattern does not start from there. Then, when the manual closing of the door is stopped, the door displacement amount by the door displacement detection unit counted from the door stop position to the manual stop position is erased, and then the manual door opening is performed from the manual stop position. When the above-mentioned braking action is continued, the braking action is canceled and the motor is automatically opened by the automatic door controller when the manual door opening reaches the door displacement length reference value. The door is controlled to move, and thereafter, the automatic opening and closing based on the predetermined opening / closing door operation pattern is controlled.

Thus, according to the fifth aspect of the invention, since the braking action is exerted by the above-described control both when the door is manually stopped and when the door is manually opened, the door is unintentionally opened. It is possible to reliably avoid a collision with the door stop at the door position and the closed position, and by manually moving the door, the door is moved by a small reference value for the door displacement length, which automatically opens and closes according to a predetermined opening and closing operation pattern. It can be put into operation. Thus, even if the door is stopped due to a failure of the human body detector in the manual preceding automatic door or the fully automatic door, the purpose is to be able to start the automatic opening / closing door movement promptly and safely. According to claim 6, the control method according to claim 5 is:
As in claims 2 and 4 of the preceding paragraph, the door is in the closed position and the closing holding force is applied to the door so that the unintentional automatic opening / closing operation is not started.

[0012]

According to a first aspect of the present invention , in order to achieve the above object, a drive unit having the specific motor, and a drive displacement detection signal from the drive unit are input. The automatic door controller, and a door driven by a predetermined opening and closing door operation pattern by the drive unit controlled by the automatic door controller, the automatic door controller, the drive transition detection signal Directional position detection unit, speed detection unit, door displacement detection unit input respectively, and control arithmetic unit to which direction position signal, speed detection signal, door displacement amount respectively output from these are input, and this control arithmetic unit The automatic door has a human body detector or a failure, which has a motor speed control unit for receiving a motor drive control signal to the drive unit in response to a signal from When the door is in a stopped state at the closing position or the opening and closing Tobirado developing, when the door opening is the door to door displacement length reference value beforehand in the storage to the control arithmetic unit, drive from the drive unit
The specific motor stops or almost stops the motion change detection signal.
When the status is reached, the door is stopped by being reset to zero.
Hold the door in the stopped state and store the door in the above control calculation unit.
When the door is manually opened to the transfer length reference value, the drive displacement detection signal from the drive unit is reset to zero when the specific motor is stopped or substantially stopped. When the door shift amount counted from the stopped state and the door shift length reference value match, the control operation unit sends a door open motion signal to the motor speed control unit, whereby the predetermined opening / closing door operation pattern The door displacement detection unit is reset to zero by the opening movement to the door opening position based on the Accordingly, an attempt is made to provide a door manual control method for an automatic door, which is characterized in that the front door displacement detection unit is reset to zero.

According to a second aspect of the present invention, in contrast to the first aspect of the present invention, when the door is stopped at the door closing position, a control signal for closing the door is input to the motor speed control section from the control calculation section, so that the door is operated. The addition of the fact that the closing door holding force is added is the content.

Next, the third aspect of the present invention is different from the above-mentioned first aspect in that when the door is in the open position or is in a stopped state while the door is moving, the door is stored in the control calculation unit. By manually closing the displacement length reference value, the drive displacement detection signal from the drive unit is reset to zero when the specific motor is stopped or substantially stopped. According to a fourth aspect of the present invention, similarly to the second aspect of the present invention, when the door reaches the closed position due to the arrival of the door, the control calculation unit inputs a closing-holding hold signal to the motor speed control unit. By doing so, it is added that the required door closing holding force is applied to the door.

Further, the fifth aspect is different from the above-mentioned first aspect in that when the door is in a stopped state at the open position or while the open / close door is moving, the motor speed is changed from the control calculation unit at the stop position. by the braking signal to the control unit in advance by applying a braking action to a particular motor <br/> over motor drive unit, is manually closing against the door to the control action, the rest of the manual closing, the
The door displacement detection unit, which is reset to zero when the specific motor is stopped or nearly stopped, erases the door displacement amount counted from the above stopped state to the manual rest position, and the door at the manual rest position. By manually opening the door under the braking action described above, the door displacement amount counted from the manual rest position by the door displacement detection unit and the door displacement length reference value match, so that the braking By stopping the signal transmission and transmitting the door opening movement from the control calculation unit to the motor speed control unit, the door movement detection unit is made zero by the door opening movement based on the predetermined opening / closing door operation pattern. The door is reset and then, after the door open state setting time according to the above predetermined opening / closing door operation pattern elapses, it is returned to the door closing position by the door closing motion by the drive unit, whereby the front door transition detection unit is reset to zero. It is that it was Unishi. Further, in the sixth aspect, similarly to the second and fourth aspects, with respect to the configuration of the fifth aspect, the stop due to the arrival of the door to the closed position causes the control calculation unit to output the door closing and holding signal to control the motor speed. The content is that the required door-closing holding force is applied to the door by inputting into the section.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Prior to a detailed description of a manual door control method for an automatic door according to the present invention, the structure of an automatic door 1 which can be used for carrying out the control method will be described with reference to FIGS. 5, a known brushless DC linear motor 3 is used as the specific motor 3 included in the drive unit 2.
A is used, which is composed of a mover 3a and a stator 3c in which fixed magnets 3b of N poles and S poles are alternately arranged in a row. The mover 3a has a drive coil 3d and And a magnetic pole sensor 3e for detecting the magnetic pole of the fixed magnet 3b. Also, as is known, by energizing the drive coil 3d facing the fixed magnet 3b, a thrust force according to Fleming's left-hand rule is generated, and the thrust force causes the mover 3a to have a connecting fitting 3f.
It is configured to be automatically opened and closed Tobirado door 4 which is suspended from twin through, thus in the case of the brush-les scan DC linear motor. 3A, particularly the manual resistance is extremely small as former opinion Has become.

The movement of the mover 3a causes the magnetic pole sensor 3e to detect changes in the magnetic poles of the N pole and the S pole of the fixed magnet 3b, and the drive displacement detection signal S1 as a magnetic pole detection signal obtained from this detects the drive coil. Three
Automatic door controller 5
The motor driving brake signal S2 from the motor speed control section 5 A of, so that the brushless DC linear motor 3A is controlled. Further, the above-mentioned drive shift detection signal S1
Not only drives the brushless DC linear motor 3A as described above, but is also generated as a pulse proportional to the moving distance of the door 4 and the opening / closing door speed. Therefore, the azimuth position detecting unit in the automatic door controller 5 shown in the figure. At 5a, pulses are added to the drive shift detection signal S1 when the door 4 travels in the door opening movement direction OP, and pulses are counted by subtraction when the door 4 travels in the door closing movement direction CL. As a result, it is also utilized as the direction position signal S3 of the door 4 for performing the automatic opening / closing operation.

Further, 5b shown in FIG. 4 shows a speed detecting section to which the drive displacement detecting signal S1 is inputted, and its output is sent to the control calculating section 5B in the automatic door controller 5 by the speed detecting signal S4. Is transmitted, and the operation of the known speed detecting unit 5b will be described in detail later. Reference numerals 6a and 6b denote human body detectors inside and outside the room, respectively. Of course, in the case of the manual preceding automatic door as described above, this is not provided, and the human body detection signal S5 due to this is not detected. It is input to the control calculator 5B. And 5c is a non-volatile storage means,
The above-mentioned total door movement distance L is stored therein, and based on this, the automatic opening / closing operation of the door according to the predetermined opening / closing operation pattern P as explained with reference to FIG. 7 is executed. The configuration so far is no different from general manual preceding automatic doors and fully automatic doors.

In order to implement the control method in the present invention,
As shown in FIG. 4, the door displacement detection unit 5 as a new component member
d is provided in the automatic door controller 5. The door shift detection unit 5d also counts the drive shift detection signal S1 to determine the door shift amount m by the control calculation unit 5 described above.
In the illustrated example of the drive unit 2, when the specific motor 3 which is the brushless DC linear motor 3A is stopped or is in a substantially stopped state, it is transmitted to the B. , The counted door displacement amount m is reset to zero. Therefore, the reset signal S6 from the control calculation unit 5B is set.
Is input to the door shift detection unit 5d.

[0020] The present invention is of the rotating or linear drive rather above如
Therefore, the pulse signal from the built-in magnetic pole detection sensor 3e is transmitted.
The above brushless DC linear motor 3A,
Example brushless DC motor 3B according to FIG.
1 is a control method performed by the automatic door 1 using the specific motor 3 of FIG. 1. First , referring to FIG. 1 and FIG. 4 , the manual preceding automatic door without the human body detectors 6a and 6b will be described. or is in fully automatic door, the provided is a human body detector 6a, 6b is if is faulty, yet stop be in either the door 4 is closing position P1 or closing Tobirado developing in Figure 1 The present invention relates to a control method when in a state. Of course, door 4 is closed position P1 with manual preceding automatic door
In case it is stopped, but can without hindrance traffic begins the automatic door operation when caused to manually open the door H only door displacement length reference value m1 street door former opinion by 7, the opening and closing Tobirado developing Therefore, when the door 4 is stopped, the automatic opening / closing of the door does not start even if the door is manually opened, and the door cannot be closed. When the door is fully automatic, the door is in the closed position P1 or the opening / closing door is moving. Even if the door 4 is stopped, the door 4 remains stopped without being automatically moved by the manual opening operation. Therefore, in the present invention, since the door displacement detection unit 5d is reset to zero when the door 4 is stopped or substantially stopped, the door 4 is at the stop positions E1, E2, E3 in FIG. Sometimes
The door displacement detection unit 5d indicates that the door displacement amount m counted up to that point is zero, so that the door 4 is stopped at the stop positions E1 and E3.
By manually opening the doors 01 and 03, respectively, the door displacement length reference value m1 stored in advance in the storage unit of the control calculation unit 5B.
If it is moved so as to reach, the door displacement amount m counted by the door displacement detection unit 5d from the stop positions E1 and E3 reaches the door displacement length reference value m1.

Therefore, the above-mentioned coincidence causes the control arithmetic unit 5B.
Judges that the prescribed movement has been performed from the stop positions E1 and E3 in the door opening movement direction OP, and sends the door opening movement signal OPS as shown in FIG. By the signal S2, the motor 3 travels based on the predetermined opening / closing door operation pattern P, that is, the high-speed door opening movement D1 goes through the low-speed door opening movement D2 to the door opening position P4, or the low-speed door opening movement immediately. By opening the door at D2, the door displacement detection unit 5d is reset to zero, and after the opening state setting time according to the predetermined opening / closing door operation pattern P has elapsed,
By the door closing motion by the drive unit 2, the door is returned to the door closing position P1 through the high speed door closing motion D3 and the low speed door closing motion D4, whereby the front door displacement detecting unit 5d is reset to zero. In the case of the door 4 at the stop position E2 illustrated in FIG. 1 , the door is manually opened as described above, and the new distance before the manual door opening reaches the door displacement length reference value m1. It has stopped at the stop position F1. Therefore, since in such cases it is impossible to return to a predetermined door operating pattern P, the state of the m ≧ m1 by performing a manual door opening O2 again, the stop position in this manner beginning E1, E 3 Similarly, by returning to the high-speed door opening motion D1 in the predetermined opening / closing door operation pattern P, the automatic opening / closing operation that enables the passage of a passerby is performed.

Next, the claim 2 will be explained with reference to FIGS . 1 and 4 above. Here, the following control means is further added to the control method of the claim 1. That is, the end opening and closing door operation of the door 4 by如rather at a constant opening and closing door operation pattern P described above, when the door 4 is stopped by reaching the closing position P1, the velocity detection unit 5b to the control operation unit 5B The speed detection signal S 4 that has been input disappears, and the drive unit 2 is controlled by the motor speed control unit 5A which receives the door closing holding and holding signal CLP from the control calculation unit 5B, and the door 4 is closed as required. The holding force is given by the set value in the rated range of the motor 3, and of course, as described above, the door displacement amount m is reset to zero. Therefore, according to the second aspect, it is possible to prevent the malfunction of the automatic opening / closing door operation being started due to the wind force or the unintentional external force of the door 4 at the closed door position P1.

The control method according to claim 3 is such that the manual doors 01 to 03 are opened in the above-mentioned claim 1, whereas the manually closed doors C1, C2 and C3 are used to automatically stop the door 4. It is intended to move the door. That is, the difference from claim 1 as disclosed in FIG. 2 is the control method when the door 4 is in the stopped state at the open position P4 or the stop positions E4, E5, E6 while the door is moving. Therefore, whether the door is a manual preceding automatic door or a fully automatic door, the door 4 cannot pass through the entire door movement distance L unless the door is manually opened and closed. A destruction accident such as will occur. Therefore, according to claim 3, the human body detector 6a,
If there is no automatic door 6b or there is a malfunction, the door 4 is moved from the stop positions E4 and E6 in the direction opposite to that shown in FIG.
By doing so, the door 4 is moved so as to reach the stored door displacement length reference value m1 in the control calculation unit 5B as described in claim 1. As a result , when the brushless DC linear motor 3A, which is the specific motor 3, is stopped or substantially stopped, the door displacement detector 5d is reset to zero, and the door displacement amount m counted from the stopped state and the door When the transition length reference value m1 matches, the control calculation unit 5
It transmits a closing motion signal CLS to the motor speed control unit 5A from B, by at the operation of the constant-door operation pattern based on the P driver 2 of former opinion Thus, it is started closing movement of the door 4 in the closing position P1 As a result, the door shift detector 5d is reset to zero. Therefore, if the control method according to the first aspect and the control method according to the third aspect are combined, it is natural that more desirable total operational effects can be exhibited. When the door is manually closed from the stop position E5 to the new stop position F2 in FIG.
If <m1, in the present invention, m ≧ m1 by the manual door closing C2 from the new stop position F2 without returning to the state of the automatic door closing motion similarly to the case of the new stop position F1 in FIG. 1 described above. By doing so, thereafter, the high-speed door closing movement D3 according to the predetermined opening / closing door operation pattern P is performed, and the door closing position P1 is reached as described above.

Next, in claim 4, as in claim 2 with respect to claim 1, with respect to claim 3, the door 4
The door displacement detection unit 5d is reset to zero by returning to the door closing position P1 and the door operation control unit 5B inputs the door closing holding / holding signal CLP to the motor speed control unit 5A so that the door 4 is required. The content of the addition is that the door holding force is added.

Next, the fifth aspect will be described in detail. Even in this case, as in the case of FIG. 2 according to the third aspect, the door is in the closed position P4 or in the stopped state while the door is moving. However, unlike the case of the above claims 1 to 5, at the stop positions E7, E8, E9 shown in FIG. 3, the manual doors 01 to 03 are simply opened. , The control calculation unit 5B when the doors are at the stop positions E7, E8, and E9 instead of manually closing the doors C1 to C3.
The braking signal BRS is applied to the motor speed control unit 5A from this, and the braking action is applied to the specific motor 3 of the drive unit 2 by this. That is, when the brushless DC linear motor 3A is adopted as shown in FIG. 4, a control signal BRS such as a short brake signal is transmitted from the control calculation unit 5B to the motor speed control unit 5A in order to apply the above braking action. However, by this means, a braking action is exerted against the movement of the door 4 by the brushless DC linear motor 3A by means such as short-circuiting the terminals of the drive coil 3d in the mover 3a.

Therefore, as shown in FIG. 3, when the doors 4 are manually closed C4, C5, C6 for the braking work from the stop positions E7, E8, E9, the braking action is exerted during the operation. Therefore, the door 4 is closed at the position P1.
It is possible to completely prevent the occurrence of accidents such as hitting the door stop of a person. When the manual closing doors C4, C5, C6 are stopped, the doors 4 reach the manual stop positions G1, G2, G3, but when the motor 3 is stopped or substantially stopped, the doors are reset to zero. The door displacement detection unit 5d of the
The door displacement amount m counted from 8, E9 to the manual rest positions G1, G2, G3 is erased.

Here, the manual rest positions G1, G2, G3.
The door 4 under the braking action is now reversely opened manually to open the doors O4, O5, O6, so that the doors detected from the manual rest positions G1, G2, G3 by the door displacement detection unit 5d. When the shift amount m and the door shift length reference value m1 match, the control signal BR that has been continued until then.
The transmission of S is stopped, and the door operation signal OPS is transmitted from the control calculation unit 5B to the motor speed control unit 5A. Thus, after that, the predetermined opening / closing door operation pattern P described above
By the door opening movement to the door opening position P4 based on the above, the door displacement detection unit 5d is reset to zero by the reset signal S6 from the control operation unit 5B in the same manner as before, and then the door opening detection pattern P is opened according to the predetermined opening / closing door operation pattern P as described above. After the lapse of the door state setting time, the driving unit 2 returns the door to the closing position P1 by the closing movement, and of course, the control is performed so that the front door shift detection unit 5d is reset to zero. In the sixth aspect, similarly to the second and fourth aspects with respect to the first and third aspects, the door holding force is applied to the door 4 at the door closing position P1 as described above in the configuration of the fifth aspect. It is added to control so as to be performed.

The above description is for the case where the brushless DC linear motor 3A is used as the specific motor 3, but the present invention is not limited to this, and the specification in the drive unit 2 as in the automatic door 1 disclosed in FIG. As the motor 3
The illustrated brushless DC motor 3B may be used. Here, the brushless which is the specific motor 3 in FIG.
In the direct current motor 3B, 3g is the magnet rotor Der
Ri, 3h drive coil and 3i is the magnet rotor 3
magnetic pole detection sensor using a Hall IC for detecting the magnetic poles of the g
Are shown, the rotating shaft 3j is transmitting rotation to the drive pulley 2b which is attached to the output shaft through the speed reducer 2a, the transmission of the timing belt or the like which is wound the driving pulley 2b and the driven pulley 2c and wound The door 4 is connected and suspended to the member 2d via the connecting metal fitting 3f.
By the forward and reverse rotation of B, the door 4 can be opened and closed freely in the opening movement direction OP and the closing movement direction CL. Then, by the rotation of the magnet rotor 3g, changes in the magnetic poles of the N pole and the S pole are detected by the magnetic pole detection sensor 3i, and by the drive displacement detection signal S1 as the magnetic pole detection signal obtained by this,
Current direction switching to flow in the actuating coil 3h, and a motor driving brake signal S2 from the motor speed control section 5A in the automatic door controller 5, so that the rotationally driving the brushless DC motor 3B without commutator.

Therefore, as can be understood from FIG. 6 , this brushless DC motor 3B has a brushless DC linear motor shown in FIG.
As in the case of A motor 3A, it can be used in the practice of the present invention therefore additionally magnetic pole detection sensor Toka Takoji
Etc. without using E Nereta and encoder,
The control method according to the present invention can be implemented.

[0030]

Since the present invention can be implemented as described above, in the control methods of claims 1 and 3, the door is stopped at the closed position, the open position, or the opening / closing door moving. cage, and even in case of failure there are no human body detector, in the manual doors and fully automatic door by'll the door by only manual door opening or the manual closing door or door displacement length reference value, a predetermined opening Since the automatic opening / closing door movement of the door operation pattern can be started, there is no concern that it will obstruct the passage of pedestrians. Accidents such as damage to fittings such as sashes or automatic door devices can be prevented. Further, as described above, in the present invention, the door is manually operated.
You can count the amount of door movement that has been opened or closed.
Not only do you
Control the door displacement so that it is reset to zero.
As a result, the door is closed or opened, or the open / closed door
When you are stopped while moving
Even if it receives an excessively small transition, the door transition length reference value is reached.
Unless the specified opening / closing door operation pattern is unintentionally started,
Safety is ensured without being lost. Moreover, the above start
Even when trying to realize
Since the amount of door displacement due to
Depending on the specified opening / closing door operation pattern,
A given door displacement amount is always maintained without the door opening motion starting.
Unexpected automatic opening / closing operation unless the door is manually operated at once
It is solved that is done.

Further, in claims 2 and 4, in addition to the control methods in claims 1 and 2, respectively, the door holding force is applied to the door in the door closing position, so that an artificial manual operation is performed. Unless there is a door open, the door will open unintentionally,
Accordingly, it is possible to prevent the automatic opening / closing door movement of the predetermined opening / closing door operation pattern from being started.

In the fifth aspect, the door is stopped at a position other than the fully closed position, so that the braking action is exerted on the manually closed door when the automatic opening / closing door operation is not performed. Therefore, even if a strong force is applied at this time, the destruction of doors and fittings can be reliably prevented and danger can be avoided, and even when the door is manually opened from the manual rest position, the braking action is also performed. In this case as well, it is possible to prevent an accident in which the door is in the open position and collide with the door stop, and moreover, the manual opening of the door transition length reference value is performed from the manual rest position. By doing so, since it returns to the predetermined opening / closing door movement pattern that automatically closes after the automatic door is opened, the effect of preventing the occurrence of the above-mentioned accident can be further improved by supporting the braking action as compared with the first and third aspects. . Further, in the sixth aspect, since the door holding force is further applied to the door, it is possible to suppress the unintended automatic opening / closing door movement.

[Brief description of drawings]

FIG. 1 relates to a control method according to claim 1 and claim 2 according to the present invention, wherein a door is manually opened by a door displacement length reference value in a state where the door is stopped at a closed position or in the middle of opening and closing the door. It is a chart which shows the opening / closing door operation pattern of the door which was made to be able to perform normal automatic opening / closing door operation by making a door open.

FIG. 2 relates to the control method according to claim 3 and claim 4 of the present invention, wherein the door is manually operated by the door displacement length reference value in a state where the door is stopped at the open position or while the open / close door is moving. 6 is a table showing an opening / closing door operation pattern of a door that can be made to perform a normal automatic door closing operation by closing the door.

FIG. 3 relates to the control method according to claim 5 and claim 6 according to the present invention, wherein the door is manually closed or further manually operated in a state where the door is stopped at the open position or in the middle of opening and closing the door. When the door is opened, a braking action is applied to apply a resistance force to the manual, and when the manual door reaches the door displacement length reference value, a normal automatic door opening operation is performed. 3 is a diagram showing an opening / closing door operation pattern of FIG.

FIG. 4 is an overall schematic configuration explanatory view illustrating a fully automatic door using a brushless DC linear motor that can be used for implementing the control method according to the present invention.

5 is a configuration explanatory view showing a main part of the brushless DC linear motor in FIG.

Figure 6 is an overall substantially diagrammatic configuration diagram fully automatic doors shows exemplary brushless DC motor used that can be used to implement the control method according to the present invention.

FIG. 7 is a view showing a conventional control method for a manual preceding automatic door,
It is a diagram showing a normal opening and closing door operation pattern by the motor of the door.

[Explanation of symbols]

2 Drive unit 3 Specific motor 3A Brushless DC linear motor 3B Brushless DC motor 3e Magnetic pole detection sensor 4 Door 5 Automatic door controller 5A Motor speed control unit 5B Control calculation unit 5a Directional position detection unit 5b Speed detection unit 5d Door transition detection unit 6a Human body Detector 6b Human body detector C1 Manual door C2 Manual door C3 Manual door C4 Manual door C5 Manual door C6 Manual door E1 Stop position E2 Stop position E3 Stop position E4 Stop position E5 Stop position E6 Stop position E7 Stop position E8 Stop position E9 Stop Position G1 Manual rest position G2 Manual rest position G3 Manual rest position m Door shift amount m1 Door shift length reference value O1 Manual door O2 Manual open door O3 Manual open door O4 Manual open door O5 Manual open door O6 Manual open door P predetermined open / close Door operation pattern P1 Door closing position P4 Door opening position S1 Drive displacement detection signal S2 Motor drive Control signal S3 direction position signal S4 speed detection signal BRS brake signal CLP closing holding 押止 signal CLS closing motion signal OPS Hirakitobirado signal

─────────────────────────────────────────────────── ─── Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) E05F 15/14

Claims (6)

(57) [Claims] 1. A built-in magnetic pole detector for rotation or linear drive.
Output signal from the output sensor is a brushless DC motor or a specific motor as a brushless DC linear motor.
A drive unit having an over data, and automatic door controller driving transition detection signal is input from the driving unit, by the drive unit which is controlled by the automatic door controller, and a door which is driven by a predetermined door movement pattern Be equipped with
The automatic door controller includes a directional position detection unit, a speed detection unit, and a door displacement detection unit to which the drive displacement detection signals are respectively input, and a directional position signal, a speed detection signal, and a door output from these units. It has a control arithmetic unit for inputting a displacement amount and a motor speed control unit for receiving a signal from the control arithmetic unit and the drive displacement detection signal and inputting a motor drive control signal to the drive unit. If the automatic door is missing or has failed, and the door is in the closed position or in the stopped state while the opening / closing door is moving, the door is not opened until it is stored in the control calculation unit . Sometimes the drive
The drive displacement detection signal from the
Is reset to zero when it is almost stopped.
The door is held in a stopped state, and the door is recorded in the control calculation unit above.
When the door is manually opened to the storage door displacement length reference value, the drive displacement detection signal from the drive unit is reset to zero when the specific motor is stopped or substantially stopped. According to the fact that the door displacement amount counted from the stopped state and the door displacement length reference value match, the control operation unit transmits a door opening motion signal to the motor speed control unit, whereby the predetermined opening / closing operation is performed. The door movement detection unit is reset to zero by the opening movement to the opening position based on the door operation pattern, and then the door closing position is set by the closing movement by the drive unit after the opening time setting time according to the predetermined opening / closing door operation pattern elapses. A door manual control method for an automatic door, characterized in that the front door displacement detection unit is reset to zero. 2. A built-in magnetic pole detector for rotation or linear drive.
Output signal from the output sensor is a brushless DC motor or a specific motor as a brushless DC linear motor.
A drive unit having an over data, and automatic door controller driving transition detection signal is input from the driving unit, by the drive unit which is controlled by the automatic door controller, and a door which is driven by a predetermined door movement pattern Be equipped with
The automatic door controller includes a directional position detection unit, a speed detection unit, and a door displacement detection unit to which the drive displacement detection signals are respectively input, and a directional position signal, a speed detection signal, and a door output from these units. It has a control arithmetic unit for inputting a displacement amount and a motor speed control unit for receiving a signal from the control arithmetic unit and the drive displacement detection signal and inputting a motor drive control signal to the drive unit. If the automatic door is missing or has failed, and the door is in the closed position or in the stopped state while the opening / closing door is moving, the door is not opened until it is stored in the control calculation unit . Sometimes the drive
The drive displacement detection signal from the
Is reset to zero when it is almost stopped.
The door is held in a stopped state, and the door is recorded in the control calculation unit above.
When the door is manually opened to the storage door displacement length reference value, the drive displacement detection signal from the drive unit is reset to zero when the specific motor is stopped or substantially stopped. According to the fact that the door displacement amount counted from the stopped state and the door displacement length reference value match, the control operation unit transmits a door opening motion signal to the motor speed control unit, whereby the predetermined opening / closing operation is performed. The door movement detection unit is reset to zero by the opening movement to the opening position based on the door operation pattern, and then the door closing position is set by the closing movement by the drive unit after the opening time setting time according to the predetermined opening / closing door operation pattern elapses. To the front door displacement detection section, and the stop of the door due to the arrival of the door at the door closing position causes the control operation section to output a door closing hold signal. By entering the over motor speed controller,
A door manual control method for an automatic door, characterized in that a required closing force is applied to the door. 3. A built-in magnetic pole detector for rotation or linear drive.
Output signal from the output sensor is a brushless DC motor or a specific motor as a brushless DC linear motor.
A drive unit having an over data, and automatic door controller driving transition detection signal is input from the driving unit, by the drive unit which is controlled by the automatic door controller, and a door which is driven by a predetermined door movement pattern Be equipped with
The automatic door controller includes a directional position detection unit, a speed detection unit, and a door displacement detection unit to which the drive displacement detection signals are respectively input, and a directional position signal, a speed detection signal, and a door output from these units. It has a control arithmetic unit for inputting a displacement amount and a motor speed control unit for receiving a signal from the control arithmetic unit and the drive displacement detection signal and inputting a motor drive control signal to the drive unit. If the automatic door is missing or has failed, and the door is in the open position or stopped while the door is moving, the door is stored in the control calculation unit until the reference value of the door transition length is closed. Sometimes the drive
The drive displacement detection signal from the
Is reset to zero when the
By holding the door in the stopped state, the door is controlled as above.
When manually closing the door displacement length reference value stored in the calculation unit
To the driving transition detection signal from the drive unit, by the door transition detector which is reset to zero when Id specific <br/> motor becomes stopped or substantially stopped, counting from the stopped state When the door displacement amount and the door displacement length reference value match, the control operation unit transmits a door closing motion signal to the motor speed control unit, thereby closing the door by the drive unit based on the predetermined opening / closing door operation pattern. A method for manually controlling a door of an automatic door, characterized in that the door is automatically returned to the closed position, whereby the front door displacement detection unit is reset to zero. 4. A built-in magnetic pole detector for rotation or linear drive.
Output signal from the output sensor is a brushless DC motor or a specific motor as a brushless DC linear motor.
A drive unit having an over data, and automatic door controller driving transition detection signal is input from the driving unit, by the drive unit which is controlled by the automatic door controller, and a door which is driven by a predetermined door movement pattern Be equipped with
The automatic door controller includes a directional position detection unit, a speed detection unit, and a door displacement detection unit to which the drive displacement detection signals are respectively input, and a directional position signal, a speed detection signal, and a door output from these units. It has a control arithmetic unit for inputting a displacement amount and a motor speed control unit for receiving a signal from the control arithmetic unit and the drive displacement detection signal and inputting a motor drive control signal to the drive unit. If the automatic door is missing or has failed, and the door is in the open position or stopped while the door is moving, the door is stored in the control calculation unit until the reference value of the door transition length is closed. Sometimes the drive
The drive displacement detection signal from the
Is reset to zero when it is almost stopped.
The door is held in a stopped state, and the door is recorded in the control calculation unit above.
When the door is manually closed up to the storage door displacement length reference value, the drive displacement detection signal from the drive unit is reset to zero when the specific motor is stopped or substantially stopped by the door displacement detection unit. When the door displacement amount counted from the stopped state and the door displacement length reference value match, the control operation unit transmits a door closing motion signal to the motor speed control unit to perform the predetermined opening / closing door operation. When the door is moved back to the closed position by the closing motion of the drive unit based on the pattern, the front door transition detection unit is reset to zero, and when the door reaches the closed position, the control calculation unit is stopped. A door manual control method for an automatic door, characterized in that a desired door closing holding force is applied to the door by inputting a door closing hold signal from the motor speed control unit. . 5. A built-in magnetic pole detector for rotation or linear drive.
Output signal from the output sensor is a brushless DC motor or a specific motor as a brushless DC linear motor.
A drive unit having an over data, and automatic door controller driving transition detection signal is input from the driving unit, by the drive unit which is controlled by the automatic door controller, and a door which is driven by a predetermined door movement pattern Be equipped with
The automatic door controller includes a directional position detection unit, a speed detection unit, and a door displacement detection unit to which the drive displacement detection signals are respectively input, and a directional position signal, a speed detection signal, and a door output from these units. It has a control arithmetic unit for inputting a displacement amount and a motor speed control unit for receiving a signal from the control arithmetic unit and the drive displacement detection signal and inputting a motor drive control signal to the drive unit. If there is no automatic device or there is a failure in the automatic door, and the door is in the open position or in the stopped state while the door is moving, the braking signal from the control calculation unit to the motor speed control unit is in the stopped position. Drive
Leave applying braking forces to the specific motor, reset the door is manually closing against the dynamic braking action, the rest of the manual closing, to zero when Id particular motor becomes stopped or substantially stopped state By the door displacement detection unit is erased the door displacement amount counted from the stopped state to the manual rest position, by manually opening the door at the manual rest position under the braking action, When the door shift amount counted from the manual rest position by the door shift detection unit and the door shift length reference value match, the transmission of the braking signal is stopped and the motor speed control is performed from the control calculation unit. To the door opening motion, the door movement detection unit is reset to zero by the door opening motion based on the predetermined opening / closing door operation pattern, and then the door opening state according to the above predetermined opening / closing door operation pattern. After a certain time, it is fed back to the closing position by the closing motion by the driving unit, the door manually controlling method of an automatic door, characterized in that thereby the previous same door transition detecting unit and to be reset to zero. 6. A built-in magnetic pole detector for rotation or linear drive.
Output signal from the output sensor is a brushless DC motor or a specific motor as a brushless DC linear motor.
A drive unit having an over data, and automatic door controller driving transition detection signal is input from the driving unit, by the drive unit which is controlled by the automatic door controller, and a door which is driven by a predetermined door movement pattern Be equipped with
The automatic door controller includes a directional position detection unit, a speed detection unit, and a door displacement detection unit to which the drive displacement detection signals are respectively input, and a directional position signal, a speed detection signal, and a door output from these units. It has a control arithmetic unit for inputting a displacement amount and a motor speed control unit for receiving a signal from the control arithmetic unit and the drive displacement detection signal and inputting a motor drive control signal to the drive unit. If there is no automatic device or there is a failure in the automatic door, and the door is in the open position or in the stopped state while the door is moving, it is driven by the braking signal from the control calculation unit to the motor speed control unit in the stopped state. Part of the above
A braking action is applied to a specific motor and this door is
Against the dynamic effect is manually closing, the rest of the manual closing, the door transition detector of the the same as above specified motor is reset to zero when it stopped or substantially stopped state, the manual pause from the stopped state The door displacement amount counted up to the position is erased, and the door at the manual rest position is manually opened under the above braking action, so that the door displacement amount counted from the manual rest position by the door displacement detection unit. When the door displacement length reference value matches, the transmission of the braking signal is stopped and the control operation unit transmits the door opening motion to the motor speed control unit so that the predetermined opening / closing door operation pattern is obtained. The door movement detection unit is reset to zero by the opening movement to the door opening position based on The front door displacement detection unit is reset to zero by this, and a stop due to the arrival of the door at the door closing position causes a closing door holding push signal from the control calculation unit to the motor speed control unit. A door manual control method for an automatic door, characterized in that a desired closing holding force is applied to the door by inputting.