JP5764284B2 - Automatic door device - Google Patents

Description

  The present invention relates to an automatic door device, and more particularly to an automatic door device capable of detecting a person or an object entering a region where the door moves and changing the opening / closing speed of the door.

  Conventionally, a door body provided at the entrance of a building or the like has been provided with an opening / closing drive unit composed of an electric motor or the like, and the door body is opened by the opening / closing drive unit when a human body or the like enters a predetermined area near the door body. Automatic door devices are known. In such an automatic door device, an automatic door device that detects the approach of a person who passes through the automatic door device to the door body and automatically opens the door is known.

  Here, Patent Document 1 proposes an automatic door device that can change the opening speed of the automatic door. The automatic door device described in Patent Document 1 is provided with a first sensor and a second sensor for detecting a person on at least one side of the automatic door, and the second sensor is provided a [m] away from the automatic door. The first sensor is provided at a distance of b [m] from the second sensor, and measuring means is provided for measuring a time t from when the first sensor detects a person until the second sensor detects the person. , Provided with walking speed calculation means for calculating a walking speed V of the person from the measurement times t and b [m], and the motor is configured to increase the opening speed of the automatic door as the calculated walking speed V increases. An opening / closing means for controlling the speed is provided. According to the automatic door device described in Patent Document 1, the opening / closing speed of the automatic door can be changed in accordance with the walking speed.

JP 2004-263435 A

When a child is in the retracted portion of the door of the automatic door device with the door closed, the door may open when another person tries to pass through the door, and the child may be caught in the opened door. In addition, when a child passing through the door rolls or crouches down on the traveling portion of the door, the sensor of the automatic door device may not detect the child, the door may be closed, and the child may be caught in the door.
However, in the automatic door device described in Patent Document 1, the opening / closing speed of the automatic door is changed only for the movement speed of a person approaching the automatic door device.
Therefore, in order to prevent people and objects from getting caught in the open door, it is conceivable to provide a door pocket or a protective fence at the retracted part of the door, but the construction work for installing these is a major issue. The penetration rate was low due to the situation and the appearance.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to provide an automatic door device capable of detecting a person or an object entering a region where a door moves and changing the opening / closing speed of the door. To do.

In order to achieve the above object, an automatic door device according to the present invention detects a door that can be opened and closed by an opening and closing drive unit and a moving body that enters a predetermined region near the opening of the door when opened. And a control unit that controls opening and closing of the opening and closing drive unit based on a signal from the first detection unit, and a first unit that detects a moving body that enters a predetermined region near a range in which the door is opened and closed. A second switching unit, and the control unit includes a speed switching unit that switches an opening / closing speed of the door based on a signal from the second detection unit, and the speed switching unit includes the second detection unit. When the door opening / closing speed while receiving a signal from the part is accelerated so that the door opening / closing speed immediately before receiving the signal from the second detection part reaches a predetermined speed Or when the predetermined speed is reached The was slower than the predetermined speed, along with if the opening and closing speed of the door just before receiving the signal from the second detection unit has been decelerated can be slow control to it decelerates, the Stop control for stopping the opening / closing operation of the door while receiving a signal from the second detection unit is possible, and an administrator can select and set either the low speed control or the stop control. Ah is, the door, the have been exposed on one surface in a state where the open the opening, the second detection portion is in a range where the door is moved to the one side of the door It is a multi-optical axis photoelectric sensor in which a plurality of optical axes are arranged along the plurality of optical axes and intersect .
In the present invention, the control unit has speed switching means for switching the opening / closing speed of the door based on a signal from the second detection unit, so that a person or an object has entered a predetermined region near the range where the door opens and closes. In this case, the door opening / closing speed can be slowed or the door opening / closing can be stopped.

Also, the speed switching means, second slower than the closing speed of the door while not receiving signals the opening and closing speed from the second detecting portion of the door while receiving a signal from the detection unit When a person or an object enters the area in which the door moves, the door opening / closing speed is switched to a low speed. In the event of a collision, the impact can be reduced.

In addition, the speed switching means stops the door opening / closing operation while receiving a signal from the second detection unit, so that a person or an object has entered a predetermined area near the door opening / closing movement range. At this time, since the door opening / closing operation can be stopped, it is possible to prevent a person or an object from colliding with or being pinched by the door.
Further, the second detection unit is a multi-optical axis photoelectric sensor in which a plurality of optical axes are arranged and the plurality of optical axes intersect with each other, so that the second detection unit enters a predetermined region near the range where the door is opened and closed. It is possible to accurately detect a moving object such as a person or an object.
In the automatic door device according to the present invention, the speed switching means switches the opening / closing speed of the door while receiving the signal from the second detection unit, and the signal from the second detection unit is When no longer received, the door opening / closing speed may be switched to return to the speed before receiving the signal from the second detector.

In the automatic door device according to the present invention, the automatic door device includes an audio unit that emits audio based on a signal from the second detection unit.
In the present invention, by providing a sound unit that emits sound based on a signal from the second detection unit, when a person or an object enters a predetermined area near the range where the door opens and closes, danger is caused by sound. I can inform you.

In the automatic door device according to the present invention, the first detection unit detects the presence or absence of the moving body by detecting reflected light of a light beam irradiated to a predetermined region near the opening of the door when opened. It is an optical sensor.
In the present invention, the first detection unit is an optical sensor that detects the presence or absence of a moving body by detecting reflected light of a light beam irradiated to a predetermined region in the vicinity of the door opening. A moving object that has entered a predetermined area can be detected with high accuracy.

  According to the present invention, the opening / closing speed of the door can be switched when a person or an object enters the predetermined area near the range where the door opens and closes. Time to retreat can be secured, and even if a person or an object collides with the door, the impact can be reduced.

It is a front view which shows an example of the automatic door apparatus by 1st embodiment of this invention. It is the sectional view on the AA line of FIG. It is the BB sectional view taken on the line of FIG. It is a figure explaining the optical axis of a multi-optical axis photoelectric sensor. It is a block diagram which shows the flow of the signal in the automatic door apparatus of 1st embodiment of this invention. It is a figure for demonstrating the movement of the door of an automatic door apparatus. (A), (b), (c) is a figure for demonstrating the movement of the door of an automatic door apparatus at the time of receiving a speed switching signal. It is a flowchart for demonstrating operation | movement of an automatic door apparatus. It is a flowchart for demonstrating operation | movement of the door closing process of an automatic door apparatus. It is a flowchart for demonstrating operation | movement of the process during a door closed end stop of an automatic door apparatus. It is a flowchart for demonstrating operation | movement of the door opening process of an automatic door apparatus. It is a flowchart for demonstrating the operation | movement of the door open end stop process of an automatic door apparatus. It is explanatory drawing for demonstrating operation | movement of an automatic door apparatus. It is explanatory drawing for demonstrating other operation | movement of an automatic door apparatus. It is a figure which shows an example of the automatic door apparatus by 2nd embodiment of this invention.

Hereinafter, an automatic door device according to a first embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, an automatic door device 1 according to the present embodiment includes a frame portion 2 attached to an opening that communicates the inside and outside of a building or a room, and two pieces that are disposed in the frame portion 2 so as to freely advance and retract. Plate-like door 3 and an advance / retreat mechanism 4 for moving the door 3 forward and backward.
The advancing / retreating mechanism 4 includes an opening / closing drive unit 5 that opens and closes the door 3, a detection unit 8 that detects a moving body such as a person or an object that enters a predetermined region 6 near the opening of the door 3 when opened, Based on the opening instruction signal 7 (see FIG. 5) from the detection unit 8, a control unit 9 that controls the opening / closing drive unit 5, and a person or an object that enters a predetermined region 13 in the vicinity of the range in which the door 3 opens and closes The multi-optical axis photoelectric sensor 10 that detects the moving body and transmits the speed switching signal 11 (see FIG. 5) to the control unit 9 and the opening / closing speed of the door 3 corresponding to the speed switching signal 11 transmitted to the control unit 9. And a speed switching means 12 for switching.

As shown in FIG. 1, the door 3 has its end 3a reciprocated between a position 30 and a position 35 by opening and closing. When the door 3 is completely closed and stopped, the end 3a is located at the position 30. And the end 3a is in the position 35 when it is fully open and stopped. The door 3 is controlled so that the door speed becomes zero when the door 3 is stopped.
In addition, although the automatic door apparatus 1 of this Embodiment opens and closes by the two doors 3 moving to a mutually reverse direction, it is good also as an automatic door apparatus to which one door moves.

  The opening / closing drive unit 5 is connected to each of the well-known drive mechanism 14 including an electric motor stored in the frame 2 and the drive mechanism 14 and the door 3 to generate power generated by the drive mechanism 14 in a straight line of the door 3. A connection mechanism (not shown) that converts to motion and a position sensor 17 that measures the relative position of the door 3 and the frame 2 are provided. The opening / closing drive unit 5 is electrically connected to the control unit 9 and its operation is controlled.

As shown in FIGS. 1 to 3, the detection unit 8 includes a light emitting unit that irradiates a light beam L <b> 1 from the frame unit 2 toward a predetermined region 6 near the opening of the door 3 when opened, and the predetermined region 6. And an optical sensor 15 including a light receiving unit that receives the light beam reflected by the optical sensor 15.
Here, the predetermined region 6 in the vicinity of the opening of the door 3 at the time of opening is the same width as the opening when the door 3 is opened or a width 6a longer than the opening, as shown in FIG. For example, the width 6a is a dimension obtained by adding approximately 0.3 m to both sides of the opening, and the depth 6b is 1.0 m.
The optical sensor 15 is electrically connected to the control unit 9 and detects a change in the reflection of the light beam L1 by a moving body that enters the space X from the light emitting unit to the predetermined region 6 to detect the opening instruction signal 7. Is transmitted to the control unit 9.

As shown in FIGS. 2 to 4, the multi-optical axis photoelectric sensor 10 includes a projector 18 in which a number of light projecting elements are arranged in a row and a number of light receiving elements that receive the optical axis L2 from the light projecting elements in a row. The light receiver 19 is disposed, and the light projector 18 is installed at one end of the frame 2 and the light receiver 19 is installed at the other end. The light projector 18 and the light receiver 19 form a curtain having an optical axis L2 in a predetermined region 13 in the vicinity of the range in which the door 3 is opened and closed.
Here, the predetermined area 13 in the vicinity of the range in which the door 3 is opened and closed is an area in front of the surface of the door 3 in the range in which the door 3 is opened and closed, as shown in FIG. This is a range from the upper end portion of the door 3 to the lower end portion (floor surface). The multi-optical axis photoelectric sensor 10 is installed, for example, within a range of about 1 cm to 15 cm in front of the surface of the door 3 to form a curtain of the optical axis L2. The installation position of the multi-optical axis photoelectric sensor 10 is determined by the thickness dimension of the frame part 2 and the door 3 and the like.
The multi-optical axis photoelectric sensor 10 detects light blocking of the optical axis L2 when a moving body enters the curtain of the optical axis L2. A large number of optical axes L2 are arranged so as to cross the height from the lower end portion to the upper end portion of the door 3 in a predetermined region 13 in the vicinity of the range in which the door 3 opens and closes, and the moving body to the curtain of the optical axis L2 Intrusion can be detected with high accuracy.

The multi-optical axis photoelectric sensor 10 is electrically connected to the controller 9 and detects the light blocking of the optical axis L2 by a moving body that enters the curtain of the optical axis L2 formed in the region 13 where the door 3 moves. In this configuration, the switching signal 11 is transmitted to the control unit 9.
The multi-optical axis photoelectric sensor 10 is installed on the side where the door 3 is drawn inside or outside the building or room. Moreover, in addition to the side in which the door 3 is drawn in, you may install in the other side.
In the multi-optical axis photoelectric sensor 10 according to the present embodiment, the plurality of optical axes L2 intersect, but a multi-optical axis photoelectric sensor in which a plurality of optical axes are arranged in parallel may be used.

  As shown in FIG. 5, in the automatic door device 1 having the above configuration, the control unit 9 opens and closes the door 3 based on the opening instruction signal 7 from the detection unit 8 and the speed switching signal 11 from the multi-optical axis photoelectric sensor 10. A drive signal M to be controlled is transmitted to the opening / closing drive unit 5. When the control unit 9 receives the speed switching signal 11, the control unit 9 transmits a drive signal M for controlling the speed switching by the speed switching unit 12 to the opening / closing driving unit 5.

Next, movement control of the door 3 of the automatic door device 1 having the above-described configuration will be described with reference to the drawings.
In the automatic door device 1 according to the present embodiment, the speed at which the door 3 moves from the closed state to the opening direction is defined as a positive speed, and the speed at which the door 3 moves from the open state to the closing direction is defined as the positive speed. -Speed. FIG. 6 shows the relationship between the position of the door 3 and the speed. Between the position 30 and the position 35, positions 31 to 34 are arranged from the position 30 side to the position 35 side as positions for switching the speed at the time of opening. Is set. Positions 36 to 39 are set from the position 35 side to the position 30 side as positions for switching the speed at the time of closing.

The control for opening the door 3 from the fully closed state will be described.
As shown in FIG. 6, first, the door speed is accelerated from 0 to a predetermined opening high speed 26. The door 3 is controlled to be accelerated in the opening acceleration section 40 from the position 30 to the position 31 and reach the opening high speed 26 at the position 31.
Subsequently, the door 3 is controlled to move at a constant opening high speed 26 in the opening high speed section 41 from the position 31 to the position 32.
Subsequently, when the door 3 reaches the position 32, the speed of the door 3 is controlled to be reduced. The door 3 is driven to decelerate in the open high-speed deceleration section 42 from the position 32 to the position 33, and is controlled so as to reach an open fine speed 27 that is lower than the open high speed 26 at the position 33.
Subsequently, the door 3 is controlled so as to move at a constant opening slow speed 27 in the opening slow speed section 43 from the position 33 to the position 34.
Subsequently, when the door 3 reaches the position 34, the door 3 is further subjected to deceleration control. The door 3 is controlled to decelerate in the open end stop section 44 from the position 34 to the position 35 so that the speed of the door 3 becomes zero at the position 35 where the door 3 is completely opened.

Next, the control for closing the door 3 from the fully opened state will be described.
First, the speed of the door 3 is accelerated from 0 to a predetermined closing high speed 28. The door 3 is controlled to be accelerated in the closing acceleration section 45 from the position 35 to the position 36 and reach the closing high speed 28 at the position 36.
Subsequently, the door 3 is controlled to move at a constant closing high speed 28 in the closing high speed section 46 from the position 36 to the position 37.
Subsequently, when the door 3 reaches the position 37, the speed of the door 3 is controlled to be reduced. The door 3 is driven to decelerate in a closed high speed deceleration section 47 from a position 37 to a position 38 and is controlled to reach a closing fine speed 29 that is lower than the closing high speed 28 at the position 38.
Subsequently, the door 3 is controlled so as to move at a constant closing slow speed 29 in the closing slow speed section 48 from the position 38 to the position 39.
Subsequently, when the door 3 reaches the position 39, the door 3 is further subjected to deceleration control. The door 3 is driven to decelerate in the closed end stop section 49 from the position 39 to the position 30 and is controlled so that the speed of the door 3 becomes zero at the position 30 where the door 3 is completely closed.

Here, in the automatic door apparatus 1 according to the present embodiment, when the speed switching signal 11 from the multi-optical axis photoelectric sensor 10 is transmitted to the control unit 9, the control unit 9 performs control to switch the door speed.
In the control for switching the door speed, either the control for reducing the speed of the door 3 or the control for stopping the door can be arbitrarily selected.

In the control for reducing the speed of the door 3, as shown in FIGS. 7A and 7B, the opening speed of the door 3 is lower than the normal opening high speed 26 when opening, and the opening switching speed 26A is lower when closing. The closing speed of the door 3 becomes a closing switching speed 28A which is lower than the normal closing high speed 28. The solid line in the figure indicates the relationship between the position and speed of the door 3 when the control unit 9 receives the speed switching signal 11, and the two-dot chain line indicates the relationship between the position and speed of the door 3 according to FIG.
The control for opening or closing the door 3 at the opening switching speed 26A or the closing switching speed 28A is released when the door 3 is completely opened or completely closed. Returned to high speed 28.

On the other hand, in the control for stopping the door 3, as shown in FIG. 7C, when the speed switching signal 11 is transmitted to the control unit 9, the control unit 9 sets the speed of the door 3 to 0, Stop the closing drive. In addition, it can also be set as control which stops in the open acceleration area 40 and the closed acceleration area 45. FIG. The solid line in the figure indicates the relationship between the position and speed of the door 3 when the control unit 9 receives the speed switching signal 11, and the two-dot chain line indicates the relationship between the position and speed of the door 3 according to FIG.
The control for stopping the opening and closing of the door 3 is performed while the speed switching signal 11 is received by the multi-optical axis photoelectric sensor 10 and after the speed switching signal 11 is not received. When the control unit 9 receives the opening instruction signal 7 at this time, the driving is made open, and when the opening instruction signal 7 is not received, the driving is made the closing drive. The control for stopping the opening and closing of the door 3 may be a control for opening the door 3 after a predetermined time has elapsed after the door 3 stops and the speed switching signal 11 is turned off.

Next, the flow of opening and closing the door 3 of the automatic door device 1 will be described in detail with reference to the flowcharts of FIGS.
First, when the automatic door device 1 is activated, the door 3 opening / closing control (slow-down door control) S10 based on the opening instruction signal 7 and the speed switching signal 11 shown in FIG. 8 is started. When the slow-down door control S10 is started, a conditional branch for calling each process for issuing a drive signal M to the opening / closing drive unit 5 shown in FIG. 5 is started and the process is determined.
In addition, when the automatic door device 1 is activated, when the speed switching signal 11 is received, it is selected whether the control is to reduce the opening / closing speed of the door 3 or the control to stop the opening / closing of the door 3. It is also possible to switch later.

  As shown in FIG. 8, the conditional branch includes a branch step S13 for calling the door closed end stop processing S40, a branch step S14 for calling the door open end processing S60, and a branch step S15 for calling the door open end stop processing S80. Is provided.

  When the automatic door device 1 is activated, it is not in any state of the door closed end stop processing S40, the door open end processing S60, and the door open end stop processing S80, so NO in all conditional branches of the branching steps S13, S14, and S15. Is selected, and the process is determined in the door closing process S20.

  As illustrated in FIG. 9, the door closing process S <b> 20 is a process for closing the door 3, and is responsible for a process from when the door 3 starts to be closed until the door 3 is closed. When the door closing process S20 is started, it is determined whether or not the door 3 is stopped in a closed state based on position information from the position sensor 17 (see FIG. 1) that measures the movement position of the door 3. (Processing S21).

  If it is determined in step S21 that the door 3 is closed and stopped (YES), a door closing signal, which will be described later, is transmitted after a drive signal for setting the moving speed of the door 3 to 0 is transmitted to the opening / closing drive unit 5. The process proceeds to the end stop process S40 (process S31). On the other hand, when it is determined that the door 3 is closed and not stopped (NO), it is subsequently determined whether or not the opening instruction signal 7 is input (processing S22).

  If it is determined in step S22 that the opening instruction signal 7 has been received (YES), a door opening operation described later is performed after transmitting a drive signal for setting the door speed to 0 to the opening / closing drive unit 5 that is being closed. The process proceeds to the intermediate process S60 (process S30). On the other hand, when it is determined that the opening instruction signal 7 has not been received (NO), it is subsequently determined whether or not the position of the door 3 is in the closed acceleration section 45 or the closed high speed section 46 (processing S23).

In the process S23, when it is determined that the position of the door 3 is in the closed acceleration section 45 or the closed high speed section 46 (YES), it is subsequently determined whether the speed switching signal 11 is received (process S24).
If it is determined in process 24 that the speed switching signal 11 has been received (YES), it is determined whether or not stop control is set when the speed switching signal 11 is subsequently received (process 25).

In the process 25, when it is determined that the stop control is set when the speed switching signal 11 is received (YES), the speed of the door 3 is set to 0 and the movement of the door 3 is stopped. Then, after the speed change signal 11 is not received, when the controller 9 receives the opening instruction signal 7, the drive is opened, and when the opening instruction signal 7 is not received, the drive is closed and the slow down door control is performed. The process returns to S10 (process 29).
On the other hand, in the process 25, when it is determined that the stop control is not set when the speed switching signal 11 is received (NO), a drive signal for setting the door 3 speed to the closing switching speed 28A is opened / closed. After transmitting to the unit 5, the process returns to the slow down door control S10 (process S28).

If it is determined in process 24 that the speed switching signal 11 has not been received (NO), a slow down door control S10 is transmitted after a drive signal for setting the speed of the door 3 to the closing high speed 28 is transmitted to the opening / closing drive unit 5. Return to (step S27).
If it is determined in step S23 that the position of the door 3 is not in the closed acceleration section 45 or the closed high speed section 46 (NO), that is, the position of the door 3 is in the closed high speed deceleration section 47 or the closed slow speed section 48. After the drive signal for setting the speed of the door 3 to the closing fine speed 29 is transmitted to the opening / closing drive unit 5, the process returns to the slow-down door control S10 (process S26).

  After returning from the processing S26, S27, S28, S29 to the slow-down door control S10 shown in FIG. 8, NO is selected in all the branching steps S13, S14, S15, and the door closing process S20 is called again. Therefore, the door closing process S20 is repeated until the door 3 is completely closed and the process proceeds to the door closing end stop process S40, or until the door opening process signal S7 is received and the process proceeds to the door opening process S60.

As shown in FIG. 10, the door closed end stop process S <b> 40 is a process in a state where the door 3 is in the closed state and the moving speed of the door 3 is 0. When the door closing end stop process S40 is started, it is determined whether or not the opening instruction signal 7 has been received (process S41).
If it is determined in process S41 that the opening instruction signal 7 has been received (YES), the process returns to the slow-down door control S10 after proceeding to the door opening process S60 for opening the door 3 (process S42). . On the other hand, if it is determined in step S41 that the opening instruction signal 7 has not been received (NO), in order to maintain the door 3 in the closed state, a driving signal for setting the speed of the door 3 to 0 is sent to the opening / closing driving unit 5. After the transmission, the process returns to the slow down door control S10 (S43).

  After returning from the process S43 to the slow-down door control S10 shown in FIG. 8, the door closing end stop process S40 is called again by the branching process S13, so that the opening instruction signal 7 is received and the process proceeds to the door opening process S60. Until the door closed end is stopped, the process S40 is repeated.

As shown in FIG. 11, the door opening process S60 is a process for driving the door 3 to open.
When the door opening process S60 is started, it is determined whether or not the position of the door 3 is in the open end stop section 44 (process S61).
In the process S61, when it is determined that the position of the door 3 is in the open end stop section 44 (YES), a control signal for setting the speed of the door 3 to 0 is transmitted to the opening / closing drive unit 5, and the door 3 is moved to the position 35. After controlling to stop, the process proceeds to the door open end stop process S80 (process S69). On the other hand, when it is determined that the position of the door 3 is not in the open end stop section 44 (NO), it is determined whether or not the position of the door 3 is in the open acceleration section 40 or the open high speed section 41 (processing S62). ).

  In the process S62, when it is determined that the position of the door 3 is in the open acceleration section 40 or the open high speed section 41 (YES), it is subsequently determined whether the speed switching signal 11 is received (process S63). If it is determined in step S63 that the speed switching signal 11 has been received (YES), it is determined whether or not the stop control is set when the speed switching signal 11 is subsequently received (processing 64).

If it is determined in step 64 that the stop control is set when the speed switching signal 11 is received (YES), the speed of the door 3 is set to 0 and the movement of the door 3 is stopped. Then, after the speed change signal 11 is not received, when the controller 9 receives the opening instruction signal 7, the drive is opened, and when the opening instruction signal 7 is not received, the drive is closed and the slow down door control is performed. The process returns to S10 (process 68).
On the other hand, if it is determined in the process 64 that the setting for the stop control is not set when the speed switching signal 11 is received (NO), the drive signal for setting the speed of the door 3 to the opening switching speed 26A is opened / closed. After transmitting to the unit 5, the process returns to the slow down door control S10 (process S67).
If it is determined in step S63 that the speed switching signal 11 has not been received (NO), a slow down door control is performed after a drive signal for setting the speed of the door 3 to the opening high speed 26 is transmitted to the opening / closing drive unit 5. The process returns to S10 (process S66).

  If it is determined in step S62 that the position of the door 3 is not in the open acceleration section 40 or the open high speed section 41 (NO), that is, the door 3 is between the position 32 and the position 35, the speed of the door 3 Is sent to the opening / closing drive unit 5 to return to the slow-down door control S10 (processing S65).

  After returning from the processing S65, S66, S67, S68 to the slow-down door control S10, the door opening process S60 is called again by the process from the branching process S14, so the door 3 is completely released and the door open end is stopped. The door opening process S60 is repeated until the process proceeds to process S80.

As shown in FIG. 12, the door open end stop process S80 is a process in a state in which the door 3 is completely open and the speed of the door 3 is zero. When the door open end stop process S80 is started, it is first determined whether or not the opening instruction signal 7 has been received (process S81).
If it is determined in step S81 that the opening instruction signal 7 has been received (YES), a drive signal for setting the door speed to 0 is transmitted to the opening / closing drive unit 5 in order to maintain the door 3 in the open state. Then, the timer for counting the opening time of the door 3 is reset, and the process returns to the slow-down door control S10 (process S85). On the other hand, if it is determined that the opening instruction signal 7 has not been received (NO), whether or not the opening holding time set in advance with reference to a timer for counting the opening time of the door 3 has been reached is determined. Is determined (step S82).
If the opening time of the door 3 has reached the opening holding time in the process S82 (YES), the process proceeds to the door closing process S20 in order to drive the door 3 to close (process S84). On the other hand, when it is determined that the opening time of the door 3 has not reached the opening holding time (NO), a driving signal for setting the speed of the door 3 to 0 in order to maintain the opening state of the door 3 is sent to the opening / closing driving unit 5. After the transmission, the process returns to the slow down door control S10 (process S83).

  After returning to the slow-down door control S10 from the processes S83 and S85, the door open end stop process S80 is called again by the process from the branching process S15, so the process proceeds to the door closing process S20 after the opening holding time has elapsed. Until this is done, the door open end stop process S80 is repeated.

Next, the operation of the automatic door device 1 having the above-described configuration will be described with reference to FIGS. 13 and 14 focusing on the relationship with a moving object such as a person or an object approaching the door 3.
As shown in FIG. 13, when the person P1 approaches the space X and enters the space X in the state where the door 3 is closed, an opening instruction signal 7 (see FIG. 5) is sent from the optical sensor 15 to the control unit 9. By being transmitted, the process proceeds to the door opening process S60 (see FIG. 10), and the door 3 is driven to open. In this way, the human P1 can pass through the door 3.

When the door 3 is closed, for example, when a person P2 such as a child enters the space Y between the door 3 and the frame portion 2 in the predetermined area 13 near the range where the door 3 opens and closes. The multi-optical axis photoelectric sensor 10 detects the human P 2, and the speed switching signal 11 is transmitted to the control unit 9.
At the same time, when the person P1 enters the space X, the opening instruction signal 7 is transmitted from the optical sensor 15 to the control unit 9, so that the process proceeds to the door opening process S60 shown in FIG. . In this state, since the door position is in the open acceleration section 40, the process 62 is determined as YES. Subsequently, since the speed switching signal 11 is received, the process 63 is also determined as YES.
In step S64, if the setting for stop control is made when the speed switching signal 11 is received, the door stops (processing 68), and the setting for making stop control when the speed switching signal 11 is received. If not, the door 3 operates at the opening switching speed 26A (process 67).
As described above, when the door 3 operates at the stop or opening switching speed 26A, it is possible to secure time for the person P2 in the space Y to retreat from the door 3, and between the door 3 and the frame portion 2. It is possible to prevent pinching and getting caught in the door 3.

Further, while the door 3 is being opened, for example, a human P2 such as a child enters the space Y between the door 3 and the frame portion 2 in a predetermined area 13 in the vicinity of the range in which the door 3 opens and closes. Even when the speed switching signal 11 is transmitted to the control unit 9, since the position of the door 3 is in the opening acceleration section 40 or the opening high speed section 41, the process 62 is determined to be YES and the speed switching signal 11 is received. Therefore, the process 43 is also determined as YES.
Then, in the process S64 of the door 3, if the setting for the stop control is made when the speed switching signal 11 is received, the door 3 stops (process 68), and the stop control is performed when the speed switching signal 11 is received. Is not set, the door operates at the opening switching speed 26A (process 67).
In the middle of the door 3 being driven to open, when the door position is in the open high speed deceleration section 42 and the open slow speed section 43, a process for performing control to stop the opening of the door 3 may be incorporated.

Further, as shown in FIG. 14, if a person P2 such as a child tries to enter the space Z of the passage part while the door 3 is being closed, the opening instruction signal 7 is sent from the optical sensor 15 to the control part 9. Therefore, as shown in FIG. 9, it is determined that the process 22 is YES, the process proceeds to the door opening process S60, and the door 3 is driven to open.
However, if the human P2 is a small child or the like, and the optical sensor 15 does not detect the human P due to further squatting or rolling, the multi-optical axis photoelectric sensor 10 when the human P enters the processing space Z. Detects the person P2 and transmits the speed switching signal 11 to the control unit 9. If it is determined YES in steps S23 and S24 and the speed switching signal 11 is received in step 25 (YES), the door 3 stops (step 29). If the setting for the stop control is not made when the speed switching signal 11 is received (NO), the door 3 operates at the closing switching speed 28A (process 28).
Thus, even when the human P2 in the space Z is not detected by the optical sensor 15, it is detected by the multi-optical axis photoelectric sensor 10 that forms a light curtain with a plurality of optical axes L2, and the door 3 is Since it operates at the stop or closing switching speed 28A, it is possible to prevent the person P2 from being caught by the door 3.
Further, the multi-optical axis photoelectric sensor 10 can detect because the curtain of the optical axis L2 is formed in a predetermined region 13 in the vicinity of the range in which the door 3 is opened and closed.
In addition, a process for performing control to stop opening of the door 3 when the position of the door 3 is in the closed high speed deceleration section 47 and the closed slow speed section 48 shown in FIG. But you can.

Next, the effect by the automatic door apparatus 1 which concerns on 1st embodiment is demonstrated using drawing.
According to the automatic door device 1 according to the first embodiment, as shown in FIG. 1, the multi-optical axis photoelectric sensor 10 is a moving body such as a person or an object in a predetermined region 13 in the vicinity of the range in which the door 3 moves. , And the control unit 9 is receiving the speed switching signal 11, the opening / closing speed of the door 3 can be set to a low speed, or the speed of the door 3 can be set to 0 to stop the movement of the door 3.
If the opening / closing speed of the door 3 is set to a low speed while the speed switching signal 11 is being received, a time for retracting the moving object from the door 3 can be secured, or even when the door 3 collides with the moving object. Can reduce the impact. Further, if the movement of the door 3 is stopped while the speed switching signal 11 is being received, there is an effect that the moving body can be prevented from being caught or caught in the door 3.
As shown in FIG. 4, the multi-optical axis photoelectric sensor 10 includes a plurality of optical axes L2 extending from a lower end portion of the door 3 to a height corresponding to the upper end portion in a predetermined area 13 in the vicinity of the range in which the door 3 is opened and closed. Therefore, it is possible to accurately detect a moving body such as a small child or an object, for example, when a child squats down or rolls down.

Next, other embodiments will be described with reference to the accompanying drawings. However, the same or similar members and parts as those of the above-described embodiments are denoted by the same reference numerals, and the description thereof is omitted, which is different from the embodiments. The configuration will be described.
As shown in FIG. 15, the automatic door device 51 according to the second embodiment includes an audio unit 52 that emits audio in response to a signal from the multi-optical axis photoelectric sensor 10. The voice unit 52 is electrically connected to the control unit 9, and the control unit 9 controls the voice unit 52 to emit voice when receiving the speed switching signal 11 (see FIG. 5).

Specifically, in the door closing process S20 shown in FIG. 9, when it is determined YES in the process S24 for determining whether or not the speed switching signal 11 has been received, the sound unit 52 emits a sound and the process proceeds to the process S25. To do.
In addition, in the door opening process S60 shown in FIG. 11, when it is determined YES in the process S63 for determining whether or not the speed switching signal 11 is received, the sound unit 52 emits a sound and the process proceeds to the process S64.

According to the automatic door device 51 according to the second embodiment, when a moving body enters the predetermined area 13 in the vicinity of the range in which the door 3 opens and closes, it can notify the surroundings by voice.
In particular, when a small child enters the area 13 to which the door 3 moves, the child moves away from the predetermined area 13 in the vicinity of the range in which the door 3 opens and closes by voice, and the guardian of the child is informed of the danger. It is possible to prevent accidents in which a child is caught or caught in the door 3.

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.
For example, in the present embodiment, when the control unit 9 receives the speed switching signal 11, it is possible to perform a process for setting the stop to stop the movement of the door 3, but the process for setting the stop is not provided. In addition, when the speed switching signal 11 is received, only the process of changing the moving speed of the door 3 to the opening switching speed 26A or the closing switching speed 28A may be set.
In the present embodiment, when the control unit 9 receives the speed switching signal 11, the moving speed of the door 3 is changed to the opening switching speed 26A or the closing switching speed 28A so that the door 3 is opened or closed. However, the present invention is not limited to this. For example, switching to the opening switching speed 26A or the closing switching speed 28A is performed only while the speed switching signal 11 is received. It can also be configured to return to speed 26 or closed high speed 28.
In this embodiment, the opening switching speed 26A and the closing switching speed 28A are set to be lower than the opening high speed 26 and the closing high speed 28 when the speed switching signal 11 is received. After that, the speed of the door 3 can be set to an arbitrary speed. For example, it may be slower than the opening slow speed 27 and the closing slow speed 29.
Further, in the present embodiment, the multi-optical axis photoelectric sensor 10 detects the intrusion of the moving body into the predetermined region 13 in the vicinity of the range in which the door 3 opens and closes, but instead of the multi-optical axis photoelectric sensor 10. A sensor such as a light beam or a heat ray, or a sensor that detects the intrusion of a moving object by an image may be employed.
Further, the multi-optical axis photoelectric sensor 10 may be a system that integrally detects a predetermined area 13 in the vicinity of the range in which the door 3 is opened and closed, or vertically detects the predetermined area 13 in the vicinity of the range in which the door 3 is opened and closed. It is good also as a system which detects for every area divided | segmented into the direction and the horizontal direction. Further, in addition to the multi-optical axis photoelectric sensor 10 that integrally detects a predetermined region 13 in the vicinity of the range in which the door 3 is opened and closed, for example, a detection unit that detects intrusion of a moving body in the vicinity of the door pocket of the door 3 is provided. It is good also as a system which detects for every area.

DESCRIPTION OF SYMBOLS 1, 51 Automatic door apparatus 2 Frame part 3 Door 5 Opening / closing drive part 6 Predetermined area | region (predetermined area | region near the opening part of the said door at the time of opening)
7 Opening instruction signal 8 Detector (first detector)
9 Control unit 10 Multi-optical axis photoelectric sensor (second detection unit)
11 Speed switching signal 12 Speed switching means 13 Predetermined area (predetermined area in the vicinity of the door opening / closing range)
15 Optical sensor 52 Sound part L1 Light beam L2 Optical axis

Claims (4)

A door that can be opened and closed by an opening and closing drive;
A first detection unit that detects a moving body that enters a predetermined region near the opening of the door at the time of opening;
A control unit that controls opening and closing of the opening and closing drive unit based on a signal from the first detection unit;
A second detection unit that detects a moving body that enters a predetermined region near a range in which the door is opened and closed;
The control unit has speed switching means for switching the opening and closing speed of the door based on a signal from the second detection unit,
The speed switching means has a predetermined opening / closing speed of the door while receiving a signal from the second detection unit, and an opening / closing speed of the door immediately before receiving the signal from the second detection unit. When the vehicle has been accelerated to reach the predetermined speed or when the predetermined speed has been reached, the speed of the door immediately before receiving the signal from the second detection unit is set to a lower speed than the predetermined speed. When the opening / closing speed has been reduced, it is possible to perform low-speed control to reduce the speed as it is, and stop control to stop the door opening / closing operation while receiving a signal from the second detection unit. , and the Ri settable der choosing one administrator of the low speed control and the stop control,
One side of the door is exposed in a state where the opening is opened,
The second detection unit includes a multi-optical axis photoelectric sensor in which a plurality of optical axes are arranged along a range in which the door moves on the one surface side of the door, and the plurality of optical axes intersect. An automatic door device characterized by being a sensor .   The speed switching means switches the opening / closing speed of the door while receiving a signal from the second detection unit, and opens / closes the door when the signal from the second detection unit is not received. The automatic door device according to claim 1, wherein the speed is switched so as to return to a speed before receiving a signal from the second detection unit.   The automatic door device according to claim 1, further comprising an audio unit that emits audio based on a signal from the second detection unit. The first detection unit is an optical sensor that detects the presence or absence of the moving body by detecting reflected light of a light beam irradiated to a predetermined region near the opening of the door when opened. The automatic door device according to any one of 1 to 3 .

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