JP4958620B2 - Automatic door opening / closing control device, automatic door opening / closing control method, and automatic door device - Google Patents

Description

  The present invention relates to an automatic door opening / closing control apparatus and control method for controlling opening / closing of a door.

Some conventional automatic door opening / closing control devices calculate predetermined parameters necessary for door opening / closing control based on the door weight. More specifically, a predetermined current is applied to the motor that drives the door to detect the motor driving speed, the door weight is calculated based on the detected motor driving speed, and the door weight is calculated based on the calculated door weight. Parameters such as the opening / closing acceleration, the time for holding the opening / closing acceleration, and the speed control gain are calculated (for example, see Patent Document 1).
According to this apparatus, since the force for driving the door varies depending on the door weight, the opening and closing of the door can be accurately controlled by evaluating the door weight by the above method.
JP 2000-303740 A

However, with this device, for example, even if the door weight is evaluated to be the same, if the frictional force between the side of the door and the wall of the building where the door is installed is large, the door will spring up when the door is accelerated or decelerated, Also, when the frictional force is small, the distance until the door stops may be long.
This is considered to be because the running resistance acting on the door includes a component independent of the door weight in addition to the component related to the door weight.

  The present invention has been made in view of the above-described circumstances, and it is possible to control the door by calculating the traveling resistance separately into a component related to the door weight and a component independent of the door weight. An automatic door opening / closing control device, an automatic door opening / closing control method, and an automatic door device are provided.

In order to solve the above problems, the present invention proposes the following means.
The apparatus of the present invention includes a motor that drives the door by applying a driving force to the door according to a current value ,
A first detection means for setting the current value to be input to the motor and causing the door to travel at a constant acceleration or a constant speed , and detecting a current value applied to the motor at that time as a travel condition parameter; and the motor by stopping the input of a current to, and a second detecting means for detecting a stopped operating condition parameters the distance or time to stop the deceleration start of the door during travel at a constant speed, said detected traveling condition based parameter and the stop operation status parameter, constituting the running resistance of the door, separating the door weight change in the first component that changes with it, and a second component that does not change even if the door weight is changed And calculating means for calculating the running resistance.

Further, the method of the present invention is an automatic door opening / closing control method in which a driving force is applied to a door by a motor according to a current value to drive the door, and the current value input to the motor is set to accelerate the door. When driving at a constant speed or a constant speed, the current value loaded on the motor at that time is detected as a driving condition parameter, the input of current to the motor is stopped, and the deceleration of the door while driving at a constant speed is started. the distance or time before shutdown is detected as stopped operating condition parameter, based on the traveling condition sensed parameter and said stop operating condition parameter, constituting the running resistance, the first varying with it the door weight changes be varied ingredients and the door weight does not change the second is separated into the component calculates the running resistance, based on said first and second components It is characterized by controlling the travel of the door Te.

According to the automatic door opening / closing control device and the automatic door opening / closing control method according to the present invention, for example, the first detection means detects the traveling condition parameter when the door is traveling at a constant acceleration or a constant speed, The distance from the start of deceleration to the stop when the door is decelerated by the detecting means 2 is detected as a stop operation status parameter.
Here, the detected driving condition parameter shows a large value when the first component related to the door weight of the running resistance becomes large, and a large value even when the second component independent of the door weight becomes large. Show. On the other hand, the detected distance shows a small value when the second component becomes large, but shows a large value when the first component becomes large. This is because as the first component related to the door weight increases, the inertia force of the door increases accordingly.
Therefore, the calculation means can calculate the driving resistance separately from the relationship between the driving condition parameter and the distance into the first component related to the door weight and the second component independent of the door weight. Thereby, based on the 1st component and 2nd component which the calculation means calculated, driving | running | working of a door can be controlled correctly.
The same tendency is shown when the time is detected instead of the distance from the start of deceleration to the stop when the door is decelerated by the second detection means. That is, the detected time shows a small value when the second component becomes large, but shows a large value when the first component becomes large.

  Further, in the automatic door opening / closing control apparatus, the first detection means detects the travel situation parameter a plurality of times, the second detection means detects the stop operation situation parameter a plurality of times, and The calculating means calculates an average travel condition parameter that is an average value of the travel condition parameters and an average stop operation condition parameter that is an average value of the stop operation condition parameters, and calculates the calculated average travel condition parameter and the average stop operation. It is more preferable to calculate the first component and the second component using situation parameters.

  According to the automatic door opening and closing control device according to the present invention, the calculating means detects the average running situation parameter from the running situation parameters detected a plurality of times by the first detecting means, and the second detecting means detects a plurality of times. The average stop operation status parameters are calculated from the stop operation status parameters, and the first component and the second component are calculated based on the average stop operation status parameters. For this reason, it is possible to accurately calculate the first component and the second component while suppressing the influence of the variation of the door installation state and the variation of the output due to the operation error of the driving means.

  In the automatic door opening and closing control device, the calculating means calculates the running resistance from the relationship between the driving condition parameter and the input value of the driving means and the driving force, and the running resistance and the It is more preferable to calculate the first component and the second component using a table stored in advance showing the relationship between the distance and the first component.

  According to the automatic door opening / closing control apparatus according to the present invention, the calculating means can calculate the running resistance from the relationship between the running condition parameter, the input value of the driving means, and the driving force. In addition, a table representing the relationship between these parameters is stored in the calculation means by measuring the distance from the start of deceleration to the stop when the running resistance and the first component are changed. Yes. The calculating means can calculate the first component and the second component using the calculated running resistance, the detected distance, and this table.

  The automatic door device according to the present invention preferably includes the automatic door opening / closing control device described above.

  According to the automatic door device according to the present invention, since the automatic door opening / closing control device that can suitably control the acceleration and deceleration of the door is provided, the traveling of the door is accurately controlled according to the door and the door installation state. be able to.

According to the automatic door opening and closing control device of the present invention, the first detection means and the second detection means are provided, and the running resistance parameter is detected based on the detection of the running situation parameter and the stop operation situation parameter. The travel resistance can be calculated by separating the first component related to the door weight constituting the second component and the second component independent of the door weight.
Further, according to the automatic door opening / closing control method of the present invention, the door is caused to travel at a constant acceleration or a constant speed, the door traveling state parameter is detected, the door is decelerated, and the stop operation state from the start of deceleration to the stop is detected. By detecting the parameters, based on these, the driving resistance is calculated by the calculation means separately from the first component related to the door weight constituting the driving resistance and the second component independent of the door weight. Can do. Further, the traveling of the door can be accurately controlled based on the calculated first component and second component.
In addition, according to the automatic door device of the present invention, since it has an automatic door opening and closing control device that can suitably control the acceleration and deceleration of the door, the traveling of the door is accurately controlled according to the door and the door installation state. can do.

FIG. 1 is a front view of an automatic door device 1 provided in a building according to the present embodiment. The automatic door device 1 of the present invention is installed at an entrance of a building B, and includes an outer frame body 12, a door 10 that slides inside the outer frame body 12, and an opening / closing control device 20 provided above the door 10. The fixed plate 13 that does not slide is generally constituted.
When the door 10 slides in the door opening direction D1 and one side 10a of the door reaches the door opening position 11a, the door is opened. Further, when the door 10 slides in the door closing direction D2 and one side 10a of the door reaches the door closing position 11b, the door is closed.

The opening / closing control device 20 includes a motor 25 serving as a driving unit, a driving assist unit 30 that transmits a driving force of the motor 25, a control unit 40 that controls each component, an encoder 26 that outputs the rotation speed of the motor 25, and a door. And a position detection sensor 28 for detecting 10 positions.
The drive assisting means 30 includes a base 31 fixedly attached to the wall B1 of the building B, a suspension rail 32 extending over the range of sliding movement of the door 10 provided at the lower portion of the base 31, and A driving pulley 34a provided directly on the rotating shaft of the motor 25, a driven pulley 34b provided on the other end of the base 31, a timing belt 35 wound around the driving pulley 34a and the driven pulley 34b, and further a timing A suspension vehicle 36 and an auxiliary suspension vehicle 37 to which the belt 35 is connected are provided.

  A suspension vehicle 36 is connected to the upper portion of the door 10, and the suspension vehicle 36 can move on the suspension rail 32 while suspending the door 10 by an appropriate wheel 36 a provided on the suspension rail 32. By the movement of the suspension vehicle 36, the door 10 slides so that one side 10a of the door reciprocates between the door opening position 11a and the door closing position 11b. The auxiliary suspension vehicle 37 in the figure has a function of supporting the suspension vehicle 36 and suspending the door 10, and is connected to the upper portion of the door 10 and includes wheels 37 a and moves on the suspension rail 32.

The motor 25 is provided with an encoder 26 that detects the number of rotations of the motor as a pulse signal, and a position detection sensor 28 that detects the position of the door 10 is provided above the outer frame 12. A Hall IC may be used instead of the encoder 26 to detect the motor rotation speed.
A guide portion 15 is provided below the door 10 so as to protrude downward from the door 10 so that the sliding movement of the door 10 is stable. The guide portion 15 is fitted in a guide groove 16 provided in the floor F so as to extend in the door slide movement direction D with play. A lock mechanism 18 is provided above the door 10 to lock the door 10 when the door 10 is in the door closed state.

  In this way, the drive pulley 34a rotates according to the drive of the motor 25, and the timing belt 35 moves in the door slide movement direction D as the drive pulley 34a rotates. Further, the door 10 connected to the timing belt 35 via the suspension vehicle 36 slides on the suspension rail 32 in the door opening direction D1 or the door closing direction D2 at a traveling speed corresponding to the rotational speed of the motor. Therefore, the door 10 slides on the suspension rail 32 at a traveling speed proportional to the rotational speed of the motor 25.

  Next, the detailed configuration of the control means 40 will be described with reference to FIG. FIG. 3 is a block diagram showing the configuration of the control means 40 according to the embodiment of the present invention. The control means 40 is driven by the power from the power source 60 that performs rectification and the like by inputting a single-phase AC 100 [V] or 200 [V] power, and the power from the power source 60 that is input via the switching transformer 50. And a control unit 70 that controls the opening and closing of the door 10.

  The power supply unit 60 has a noise filter 61 for removing noise from the power supply and external noise, a rectifier circuit unit 62 for full-wave rectification of current from the power supply input via the noise filter 61, and a switching transformer 50. A switching unit 63 that performs switching at a frequency (for example, 100 [kHz]), a high / low voltage detection circuit unit 64 that detects whether or not the output voltage of the rectifier circuit unit 62 is at a predetermined voltage level, and a rectifier circuit unit 62 A power failure detection circuit unit 65 that monitors the output voltage and detects whether or not a power failure has occurred.

  The high / low voltage detection circuit unit 64 continuously detects (high voltage detection) that the output voltage of the rectification circuit unit 62 is equal to or higher than a predetermined voltage (for example, 183 [V]), and the rectification circuit. When it is detected that the output voltage of the unit 62 has become equal to or lower than a predetermined voltage (for example, 98 [V]) for 1 second or longer (low voltage detection), it is determined that the power supply voltage is abnormal, a buzzer, etc. The warning sound is output.

  When the power failure detection circuit unit 65 monitors the output voltage of the rectifier circuit unit 62 with a photocoupler or the like and detects that a power failure has occurred, the power failure detection circuit unit 65 drives a battery supply circuit described later to replace the power source. The switching transformer 50 transforms the output voltage of the rectifier circuit unit 62 to a predetermined voltage by switching of the switching unit 63.

  The control unit 70 includes rectifier circuit units 71 and 72 that rectify current from the switching transformer 50, a regulator 74 that transforms the output voltage of the rectifier circuit unit 72 to a predetermined voltage (for example, 5 [V]), and a microcomputer 90. A power module 73 that drives the motor 25 under the control of the microcomputer 90, a battery charging circuit unit 75, a light receiving unit 76 that receives an infrared signal from the external remote controller 110, and a light receiving signal from the light receiving unit 76. Modulation / demodulation circuit unit 77, RS232C level conversion circuit unit 78 that can be connected to a signal line that communicates with remote controller 110 via a signal line, driver 79 that drives solenoid drive unit 120 under the control of microcomputer 90, and an alarm. And an alarm generation unit 82 for generating the alarm.

  The rectifier circuit unit 71 rectifies the current transformed to the first predetermined voltage (for example, 140 [V]) by the switching transformer 50, loads a part of the rectified current to the motor 25, and the rectifier circuit unit 72 The current transformed to the second predetermined voltage (for example, 24 [V]) by the switching transformer 50 is rectified.

  The power module 73 is driven by the electric power from the rectifier circuit unit 71 and controls the current supplied to the motor 25 under the control of the microcomputer 90 to drive the motor 25. The motor 25 drives the door 10 through the drive pulley 34a. Let it run. The power module 73 is provided with a current detector 81 that detects a load current value loaded on the motor 25. The current detector 81 detects a load current value detected by the microcomputer 90 via the buffer 80b. Is output.

  The battery charging circuit unit 75 is charged with the power from the regulator 74 to the battery 100 provided outside during a non-power failure when the power failure detection circuit unit 65 does not detect that the power failure has occurred. When a power failure is detected, the power stored in the battery 100 is supplied to the microcomputer 90.

  The solenoid driving unit 120 drives the lock mechanism 18 for locking the door 10 in the state where the door 10 is in the door closed state, and the driver 79 is controlled by the microcomputer 90 to operate the solenoid driving unit 120. Is driven and the door 10 is locked or unlocked. The microcomputer 90 is driven by the electric power from the regulator 74, and controls a CPU 92 that controls the operation and the entire system based on a predetermined control program, and a ROM 93 that stores a control program of the CPU 92, a table, and the like in a predetermined area, EEPROM 95 for storing predetermined parameters required for driving control of the motor 25, RAM 96 for storing data read from the ROM 93 and the like and calculation results required in the calculation process of the CPU 92, and data input / output with external devices Are connected to each other via a bus 99 which is a signal line for transferring data.

  The interface 98 includes, as external devices, a power module 73, a current detector 81, an encoder 26 provided in the motor 25, a battery charging circuit unit 75, a modulation circuit unit 77, and an RS232C level conversion circuit unit 78. The driver 79 and the position detection sensor 28 are connected. However, the position detection sensor 28 is connected to the interface 98 via the buffer 80a.

The information stored in the ROM 93 includes a motor current detection program, a door movement distance detection program, a door travel resistance component calculation program, a relational expression between the current value and torque of the motor 25, and travel resistance. There is a table showing the relationship between the distance and the first component.
According to the motor current detection program, the microcomputer 90 performs so-called feedback control in which the current value input to the motor 25 is set while taking the rotational speed of the motor 25 that is proportional to the traveling speed of the door 10 from the encoder 26 as a pulse signal. Then, the power value is applied to the motor 25 by the power module 73 so that the speed of the door 10 is constant. When it is determined that the traveling speed of the door 10 has reached the target value, the microcomputer 90 captures the current value applied to the motor 25 from the current detector 81 as a traveling condition parameter representing the condition in which the door 10 is traveling.
That is, the microcomputer 90, the encoder 26, the current detector 81, and the motor current detection program constitute a first detection unit that detects a travel condition parameter.

FIG. 4 is an explanatory diagram showing a door control pattern when detecting the current value of the motor 25 that is the travel condition parameter of the present embodiment and the distance that is the stop operation condition parameter. In FIG. 4, the horizontal axis indicates the elapsed time, the solid line 141 corresponds to the door travel speed on the left vertical axis, and the dotted line 142 corresponds to the motor current value on the right vertical axis. In the section 143, the door 10 is controlled by the microcomputer 90 to travel at a constant speed. At the beginning of this section 143, there is a time when the current changes greatly as before and after the point 149a. However, after a certain period of time, the current value becomes stable as after the point 149b.
The time 146 is a time set with a margin from the start of the section 143 so that the time after the point 149b where the door 10 travels stably at a constant speed is stable. When the microcomputer 90 determines that the traveling speed of the door 10 has reached the target value 147 at time 146, the microcomputer 90 takes in a current value 148 loaded on the motor 25 from the current detector 81.

On the other hand, according to the door movement distance detection program stored in the ROM 93, the microcomputer 90 stops the input of the current value to the motor 25 by the power module 73, and at the same time, the position detection sensor 28 uses the position when the door 10 starts to decelerate. Is detected. Next, when the microcomputer 90 determines that the door 10 is stopped by the motor rotation speed signal from the encoder 26, the microcomputer 90 detects the position when the door 10 is stopped by the position detection sensor 28, and detects the position at the start of deceleration detected earlier. The distance from the start position to the stop position is detected as a stop operation status parameter.
That is, the second detection means for detecting the distance that is the stop operation status parameter from the start of deceleration of the door 10 to the stop by the microcomputer 90, the encoder 26, the position detection sensor 28, and the door movement distance detection program. Is configured.
The position detection sensor may be an ultrasonic sensor. Further, the distance from the start of deceleration of the door 10 to the stop thereof may be a distance calculated from the motor rotation speed taken into the control means 40 as a pulse signal from the encoder 26.

  Here, a section 144 in FIG. 4 shows a state from when the microcomputer 10 stops the input of the current value to the motor 25 to when the door 10 starts to decelerate. In the section 144, the driving force from the motor 25 acting on the door 10 is lost, and the door 10 receives the running resistance and decelerates.

  Further, according to the door running resistance component calculation program stored in the ROM 93, the microcomputer 90 temporarily determines the current value detected a plurality of times by the first detection means and the distance detected a plurality of times by the second detection means. Are stored in the RAM 96, and when it is determined that the preset number of times has been detected, an average current value that is an average value of current values and an average distance that is an average value of distances are calculated. Next, the microcomputer 90 calculates the running resistance from the calculated average current value and the relational expression between the current value of the motor 25 stored in the ROM 93 and the torque.

Here, FIG. 5 is a conceptual diagram showing components of running resistance. The horizontal axis indicates the driving condition parameter, and the vertical axis indicates the driving resistance. As shown in FIG. 5, the running resistance increases as the running condition parameter increases, and the running resistance 151 is composed of a first component 152 and a second component 153. Specific examples of the first component include the weight of the door 10 and frictional resistance caused by the weight of the door 10. Specific examples of the second component include the door side surface and the wall of the building on which the door 10 is installed. There are frictional forces.
Regardless of which of the first component and the second component constituting the running resistance is increased, the current value as the running condition parameter is increased. On the other hand, when the second component increases, the distance decreases. However, when the first component increases, the distance increases due to the inertia of the door 10.

FIG. 6 is an explanatory diagram showing the relationship between the door movement distance and the door travel speed when the second component is different. 6 (a) to 6 (c) compare only the second component when the door 10 decelerates without changing the speed when the door 10 travels at a constant speed, the weight of the door 10, and the like. FIG. 6A shows a case where the second component is moderate, FIG. 6B shows a case where the second component is large, and FIG. 6C shows a case where the second component is small. Show the case. 6A to 6C, the horizontal axis represents the door movement distance, and the vertical axis represents the door travel speed.
When the second component becomes larger than the distance 161 from the start of deceleration of the door 10 to the stop in the case of FIG. 6A, the distance 162 becomes shorter as in the case of FIG. When the second component becomes smaller, the distance 163 becomes longer as in the case of FIG.

The table stored in the ROM 93 described above first determines the relationship between the running resistance and the distance by fixing the first component, and then fixes the relationship between the first component and the distance by fixing the running resistance. It is obtained by performing a measurement of obtaining and determining the relationship between the running resistance, the distance, and the first component.
FIG. 7 is a table showing the value of the corresponding first component with the running resistance on the horizontal axis and the distance on the vertical axis. As can be seen from this table, when the distance is constant, the first component increases as the running resistance increases. When the running resistance is constant, the first component increases as the distance increases. The tendency to become.

Then, the first component is calculated from the calculated average distance and travel resistance, and a table showing the relationship between the travel resistance, distance and the first component stored in the ROM 93. Further, the second component is obtained by subtracting the first component from the running resistance, which is the total value of the first component and the second component.
Thus, the microcomputer 90 and the door running resistance component calculation program constitute a calculation means.

In the present apparatus, detection is performed again when the captured current value does not fall within the range from a predetermined lower limit to an upper limit. If the current value is smaller than the lower limit, it may be considered that the door 10 has been forgotten to be attached to the drive device 30, and if the current value is larger than the upper limit, the door 10 hits any part of the automatic door device 1 and locks. This is because things can be considered.
Further, in the present apparatus, when the captured distance does not fall within a range from a predetermined lower limit to an upper limit, the detection is performed again. If the distance is smaller than the lower limit, it may be inadequate when installing the suspension vehicle wheel 36a on the suspension rail 32, and if the distance is larger than the upper limit, the driver 10 may have forgotten to attach the door 10 to the drive device 30. Because it is.

  The automatic door device 1 configured as described above is processed by the control means 40 as shown in the flowchart of the parameter calculation processing in FIG. However, when power is supplied to the microcomputer 90 for the first time, an initialization process is performed in which the door 10 travels to the door open state. At the start of this flowchart, the door 10 is in the door open state. The contents to be processed will be described below with reference to this flowchart.

  First, in step S10, the microcomputer 90 determines whether or not the automatic door parameter calculation mode is set. That is, when “0” is stored in the area of the EEPROM 95 where the first component is to be stored (Yes), it is determined that the first component and the second component are not stored, and the process proceeds to step S11. . On the other hand, when a numerical value other than “0” is stored in the area of the EEPROM 95 where the first component is to be stored (No), it is determined that the first component and the second component are stored, and a series of End the process and return to the original process.

  Next, in step S11, the microcomputer 90 drives the motor 25 to cause the door 10 to travel in the door closing direction D2, and the motor 26 is captured by the encoder 26. Then, by setting a speed command value so that the traveling speed of the door 10 calculated from the acquired motor rotation speed becomes a predetermined value (for example, 1 [m / s]) and outputting it to the power module 73, the door 10. Is driven at a constant speed, and the process proceeds to step S20.

In step S20, the microcomputer 90 determines whether or not the closed end confirmation is finished. That is, when the door 10 travels in the door closing direction D2 and reaches the door closed state, it cannot continue traveling in the same direction any more, so that the closed end confirmation is not completed, that is, the door closed state is detected. Only when it is not performed (No), the process proceeds to step S30.
On the other hand, when the door closed state is detected in Step S20 (Yes), the values of the first component and the second component temporarily used in Step S21 are used for the door 10 traveling in the door closing direction D2. It is made to travel to the door open state in the door open direction D1. Thereafter, in step S83, the series of processes is terminated and the process returns to the original process. In step S11 and subsequent steps, the door 10 is caused to travel in the door closing direction D2.
As the first component and the second component provisionally used in step S21, values manually input by the remote controller 90 may be used instead of the values stored in the predetermined area of the ROM 93.

  In step S30, the microcomputer 90 determines whether or not the motor 25 that causes the door 10 to travel in the door closing direction D2 has rotated at the set speed for a set time. When it is confirmed that the motor 25 is traveling at the set speed and has rotated for the set time (Yes), the process proceeds to step S31, and the current value 154 loaded on the motor 25 is determined using the current detector 81. Detect and move to step S40.

In step S40, the microcomputer 90 determines whether or not the captured current value is in a range from a predetermined lower limit to an upper limit, and if the captured current value is in a range from a predetermined lower limit to an upper limit. When the determination is made (Yes), the captured current value is stored in the RAM 96, and the process proceeds to step S41. As described above, steps S11 to S40 correspond to the detection procedure by the first detection means.
In step S41, the current applied to the motor 25 is stopped. At the same time as the current is stopped, the position detection sensor 28 performs a motor stop process for taking in the position of the door 10 at the start of deceleration.

In step S50, the microcomputer 90 determines whether the motor 25 has stopped. It is determined whether or not the motor 25 is stopped from the motor rotation speed taken in from the encoder 26. When it is determined that the motor 25 is not stopped (No), Step S50 is repeated again, and when it is determined that the motor 25 is stopped (Yes). ), The process proceeds to step S51. The position detection sensor 28 may detect whether the motor 25 has stopped.
In step S51, the microcomputer 90 captures the position when the door 10 is stopped by the position detection sensor 28, and starts from the deceleration start position and the position when the door 10 is previously captured until the door 10 starts to decelerate until it stops. The distance is detected, and the process proceeds to step S60.

  In step S60, the microcomputer 90 determines whether or not the detected distance is within a range from a predetermined lower limit to an upper limit, and it is determined that the captured distance is within a range from a predetermined lower limit to an upper limit. If (Yes), the fetched distance is stored in the RAM 96, and the process proceeds to step S61. As described above, steps S41 to S60 correspond to the detection procedure by the second detection means.

In step S61, “1” is set to the count value of the number of acquisitions for counting the number of times the current value in the range between the predetermined lower limit and the upper limit range and the distance in the range from the predetermined lower limit to the upper limit range are detected. Add and move to step S70.
This count value of the number of times of capture is initialized to “0” when power is supplied to the microcomputer 90 for the first time.

  In step S70, the microcomputer 90 determines whether or not the capture count value is greater than or equal to a predetermined set count. If it is determined that the capture count count is greater than or equal to a predetermined set count (Yes), the microcomputer 90 proceeds to step S71. Then, the captured data averaging process is performed, and the process proceeds to step S80. In the fetched data averaging process, the microcomputer 90 calculates an average current value from the current value fetched into the RAM 96 by the set number of times, calculates an average distance from the distance fetched the set number of times, and calculates the calculated average current value and average distance in the RAM 96. This is a process of storing in a predetermined area.

In step S80, the microcomputer 90 determines whether or not the difference between the acquired data and the average value is within an allowable range. The difference between each captured current value and the average current value, and the difference between each captured distance and the average distance are calculated, and when it is determined that any difference is within the predetermined allowable range (Yes), step S81 is performed. Migrate to A large difference between the captured data and the average value means that there is a large variation in the data, and the captured value is suspicious.
As described above, when all of Steps S20, S30, S40, S50, S60, S70, and S80 are determined to be Yes, it is determined that accurate detection is possible, and an average current value and an average distance are obtained. become.

  On the other hand, when the difference between the captured current value and the average current value and the difference between the captured distance and the average distance are calculated in step S80, and it is not determined that any difference is within the predetermined allowable range (No). If it is not determined in step S70 that the count value of the number of captures is equal to or greater than a preset number of times (No), it is not determined in step S60 that the captured distance is in the range between the predetermined lower limit and the upper limit. (No), it is determined in step S40 that the captured current value is not in the range between the predetermined lower limit and the upper limit (No), and in step S30, the motor 25 travels at the set speed. When it is not confirmed that the motor is rotating and rotated for the set time (No), it is determined that accurate detection has not been performed. In this case, the process returns to step S11 to perform a constant motor speed drive process.

  Next, in step S81, the microcomputer 90 calculates the running resistance from the relational expression between the calculated average current value, the current value of the motor 25 stored in the ROM 93, and the torque. Then, the first component is calculated from the calculated running resistance and average distance, and a table indicating the relationship between the running resistance and distance stored in the ROM 93 and the first component. Further, the second component is obtained by subtracting the first component from the running resistance, which is the total value of the first component and the second component, and the process proceeds to step S82.

  Here, the calculation method of each component in step S81 using the table shown in FIG. 7 will be specifically described. When the average distance calculated in step S71 is 0.4 m and the running resistance obtained in step S81 is 300 N, the first component is 100 N from the intersection of the horizontal axis 300 N and the vertical axis 0.4 m of this table. Desired. Further, the second component can be calculated as 200 N by subtracting 100 N of the first component from the running resistance 300 N.

In step S82, the microcomputer 90 performs processing for clearing the automatic door parameter calculation mode, and proceeds to step S83. Since the values of the first component and the second component are obtained, this is a process for preventing the automatic door parameter calculation mode from being entered again in step S11.
In step S83, a predetermined parameter necessary for controlling the automatic door is obtained from the calculated first component and second component, the obtained parameter is stored in a predetermined area of the EEPROM 95, and a series of processing is completed to restore the original parameter. Return to processing.

  As described above, the microcomputer 90 causes the door 10 to travel at a constant speed by driving the motor 25, detects the current value applied to the motor 25 by the current detector 81 a plurality of times, and loads the motor 25. The distance from the start of deceleration of the door 10 to the stop is detected by the position detection sensor 28 a plurality of times by stopping the current, the average current value is detected from the current value detected a plurality of times, and the average distance is calculated from the distance detected a plurality of times. calculate. Next, the running resistance is calculated from the relational expression between the calculated average current value, the current value of the motor 25 stored in the ROM 93 and the torque, the calculated running resistance and average distance, the running resistance and distance stored in the ROM 93, The first component is calculated from a table indicating the relationship with the first component. Further, the second component is calculated by subtracting the first component from the running resistance, and a predetermined parameter necessary for controlling the automatic door is obtained from the calculated first component and second component. Can be controlled.

  In the embodiment of the present invention, the microcomputer 90 confirms that the door 10 is in the door closed state in step S20 after the door 10 is in the door open state at the start of the flowchart of FIG. When the closed end is confirmed and it is determined that the door 10 is not in the door closed state, the door 10 is moved in the door closing direction D2 to detect the current value and the distance. Instead, after the door 10 is in the door closed state at the start of the flowchart, the open end is confirmed in step S20 to confirm that the door 10 is in the door open state, and the door 10 is in the door open state. If it is determined that the current value and the distance are not detected, the door 10 may be moved in the door opening direction D1 to detect the current value and the distance.

  In step S40, if the acquired current value does not fall within the range from the predetermined lower limit to the upper limit, an alarm for notifying that the taken current value has not entered the range from the predetermined lower limit to the upper limit is displayed. 82 may be generated. Thereafter, the constant motor speed driving process in step S11 may be resumed, or a series of processes may be terminated and the original process may be restored.

  In step S60, if the captured distance does not fall within the range from the predetermined lower limit to the upper limit, the alarm generation unit 82 issues an alarm notifying that the captured distance has not entered the range from the predetermined lower limit to the upper limit. It may be generated. Thereafter, the constant motor speed driving process in step S11 may be resumed, or a series of processes may be terminated and the original process may be restored.

FIG. 9 shows another control pattern of the door 10 for detecting the travel condition parameter, in which the horizontal axis indicates the elapsed time and the vertical axis indicates the door travel speed. In the above embodiment, the current value applied to the motor 25 when the door 10 is controlled to travel at a constant speed in the section 143 is detected as the travel condition parameter. However, the driving condition parameter is not limited to the above current value, and the following detected value may be used as the driving condition parameter.
In FIG. 9, (a) and (b) show examples in which different detection values measured by different methods are detected as running condition parameters. In the example shown in FIG. 9A, the microcomputer 90 accelerates the door 10 at a constant acceleration, and detects the time 195 until the set speed 194 is reached as a travel condition parameter. This is because the heavier the door 10, the longer it takes to reach the set speed 194.
In the example shown in FIG. 9B, the microcomputer 90 accelerates the door 10 at a constant acceleration for a certain period of time, and detects the current value or the current value and the speed at the set time 196 as a travel condition parameter. A dotted line 197 in the figure indicates a case where the weight of the door 10 is light, and a solid line 198 indicates a case where the weight of the door 10 is heavy. If the weight of the door 10 is light and the set speed 199 has been reached by the set time 196, the load current of the motor 25 becomes small, and the door 10 is heavy and has not reached the set speed 199 by the time 196. In this case, the load current becomes large.

In the embodiment of the present invention, the microcomputer 90 stops the input of the current value to the motor 25 and detects the distance from the start of deceleration of the door 10 to the stop as the stop operation status parameter. Instead of the distance to stop, the time from the start of deceleration to the stop may be detected .

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.

It is a front view of the automatic door device of the embodiment of the present invention. It is an enlarged front view of the automatic door apparatus of embodiment of this invention. It is a block diagram which shows the structure of the control means of embodiment of this invention. It is explanatory drawing which showed the control pattern of the door at the time of detecting the driving | running | working condition parameter and stop operation condition parameter of embodiment of this invention. It is the conceptual diagram which showed the component of running resistance. It is explanatory drawing which showed the relationship between the door movement distance when the 2nd component differs, and door travel speed. It is a table which shows the relationship between the running resistance of the embodiment of this invention, distance, and a 1st component. It is a flowchart which shows the parameter calculation process of embodiment of this invention. It is explanatory drawing which showed the other control pattern of the door at the time of detecting the driving condition parameter of embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Automatic door apparatus 10 Door 20 Opening / closing control apparatus 25 Motor (drive means)
26 Encoder 28 Position detection sensor 40 Control means 81 Current detector 90 Microcomputer

Claims (5)

A motor for driving the door by applying a driving force to the door according to the current value ;
First detection means for setting the current value to be input to the motor and causing the door to travel at a constant acceleration or a constant speed , and detecting a current value applied to the motor at that time as a travel condition parameter ;
Enter by stopping current to the motor, and a second detecting means for detecting a stopped operating condition parameters the distance or time to stop the deceleration start of the door during travel at a constant speed,
Based on the detected traveling condition parameter and the stop operation condition parameter, the first component that constitutes the traveling resistance of the door, changes according to the change of the door weight, and does not change even if the door weight changes . An automatic door opening and closing control device comprising: a calculation unit that calculates the running resistance separately from two components. In the automatic door opening and closing control device according to claim 1,
The first detection means detects the driving situation parameter a plurality of times,
The second detection means detects the stop operation status parameter a plurality of times,
The calculation means calculates an average running situation parameter that is an average value of the running situation parameters, and an average stop operation situation parameter that is an average value of the stop action situation parameters, and calculates the calculated average running situation parameter and the average stop. An automatic door opening / closing control device that calculates the first component and the second component using an operating condition parameter. In the automatic door opening and closing control device according to claim 1 or 2 ,
The calculating means calculates the running resistance from the relationship between the current value of the motor and the driving force, and stores a table stored in advance showing the relationship between the running resistance, the distance, and the first component. An automatic door opening / closing control device using the first component and the second component. An automatic door opening and closing control method for driving the door by applying a driving force to the door by a motor according to a current value ,
The current value to be input to the motor is set and the door is driven at a constant acceleration or constant speed, and a current value loaded on the motor at that time is detected as a running condition parameter ,
By stopping the input current to the motor, it detects the distance or time to stop the deceleration start of the door during travel at a constant speed as the stop operating condition parameters,
Based on the detected travel condition parameter and the detected stop operation condition parameter, a first component that changes when the door weight changes, and a second component that does not change even if the door weight changes, are included in the running resistance. An automatic door opening / closing control method comprising: calculating the running resistance separately and controlling the running of the door based on the first component and the second component. An automatic door device comprising the automatic door opening / closing control device according to any one of claims 1 to 3 .

Images