JP6207126B2 - Door opener - Google Patents

Description

  The present invention relates to a door opening / closing device that assists the force of a person opening / closing a door.

  When a person opens or closes a door (sliding door), the so-called power assist door assists the person's power with the output of a motor. It makes it easier for people with weakness, such as elderly people and children, to open and close large windows that use paired glass, which has been increasing in recent years, creating a comfortable housing environment. To do.

  Patent Document 1 discloses a door operation force sensor that detects a displacement in the opening / closing direction of a puller that can be displaced in the opening / closing direction of the door by a pressure sensor. According to this, by accurately detecting the direction in which a person tries to open and close the door and the value of the operating force, and driving the door with a predetermined amount of driving force, the burden of the operation of the person opening and closing the door is reduced. Can be reduced.

JP 2003-278446 A

  By the way, there is a case where a person suddenly tries to stop the door while the door is being opened or closed. At this time, there is a case where a person suddenly applies a force to the operation portion of the door in a direction opposite to the moving direction of the door. In this case, the door may move in the opposite direction against the operator's intention to stop the door.

  An object of the present invention is to provide a door opening and closing device capable of ensuring safety based on a natural movement of an operator.

The door opening and closing device of the present invention is provided when the person opens and closes the door and is operated when a person opens and closes the door, and receives an operation for opening the door and an operation for closing the door, and an operation received by the operation unit. A sensor to detect, a driving device to open and close the door, and when the sensor detects an operation to open the door, the driving device is driven to open the door, while the sensor closes the door A controller that drives the drive device to close the door when the operation is detected, and the controller is in a direction opposite to the drive direction of the door when the door is being driven. when the sensor operation is detected, along with stopping the door, even if the operation of the reverse continues detected the sensor to continue the stopped state of the door It is characterized in.

  According to the above configuration, when the sensor detects an operation in the direction opposite to the door driving direction while the door is being driven, the door is stopped. Therefore, when a person tries to stop the door suddenly while a person is opening or closing the door, and suddenly operates the operation unit in the direction opposite to the door driving direction, Is stopped. In this way, the door stops as intended by the operator, so safety can be ensured. The door may be a hinged door, a sliding door, or a folding door, and the door may be one or a plurality of doors, and may be a sweep window.

In the door opening and closing device of the present invention, the controller stops the door when the sensor detects an operation in a direction opposite to the door driving direction while driving the door. Even if the sensor continues to detect the operation in the reverse direction, the stop state of the door may be continued until a predetermined time elapses after the door stops. According to the above configuration, when the sensor continues to detect the operation even after the door is stopped, the door stop state is maintained until a predetermined time elapses. Therefore, if an operator who operates the operation unit suddenly to stop the door continues to operate the operation unit even after the door stops, the door is immediately driven in the operation direction. Instead, the door stop state is maintained until a predetermined time elapses. Thereby, safety can be further improved. In addition, after the predetermined time has elapsed, the door is driven in the direction of operation with respect to the operation unit, so that it is not necessary to perform a re-operation and convenience can be improved.

Further, the door opening and closing apparatus of the present invention, the controller may pre SL sensors to continue the stop state of the or in front Symbol doors no longer detects an operation. According to said structure, after stopping a door, the stop state of a door is maintained until a sensor stops detecting operation. Therefore, the stop state of the door is maintained until the operator who operates the operation unit to stop the door suddenly stops the operation to the operation unit after the door stops. Thereby, safety can be further improved.

  Further, in the door opening and closing device of the present invention, the operation unit and the sensor are provided on the front and back of the door, respectively, and the controller controls the drive device according to an operation detected by one of the sensors. When the sensor no longer detects an operation during driving and the other sensor detects an operation, the other sensor detects the operation according to the operation detected by the other sensor without stopping the door. The drive device may be driven. According to the above configuration, when the driving device is driven according to the operation detected by one of the sensors, the sensor stops detecting the operation, and the other sensor detects the operation, The driving device is driven according to the operation detected by the other sensor without stopping the door. Accordingly, the door does not stop in a series of operations in which the operator who operates the operation unit to open the door moves to the other side of the door and operates the opposite operation unit to close the door. Thereby, convenience can be improved while ensuring safety.

  The door opening and closing device of the present invention further includes a button device provided outside the door, the button device including an open button that is operated when the door is opened and a close button that is operated when the door is closed. The controller drives the drive device to open the door when the open button is operated, and closes the door when the close button is operated. The drive device is driven, and the controller may drive the drive device based on an operation detected by the sensor when the operation unit and the button device are operated simultaneously. According to the above configuration, when the operation unit and the button device are operated simultaneously, the drive device is driven based on the operation detected by the sensor. In general, the distance between the person and the door is shorter when the operation unit is operated than when the button device is operated. It is considered possible. Therefore, safety can be further enhanced by prioritizing the operation to the operation unit closer to the door than the button device.

  According to the door opening and closing device of the present invention, the door stops as intended by the operator, and thus safety can be ensured.

It is the schematic of a door opening / closing apparatus. It is a block diagram which shows the electrical structure of a door opening / closing apparatus. It is a figure which shows the flowchart which concerns on operation | movement of a door opening / closing apparatus.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
(Mechanical structure of door opening and closing device)
As shown in FIG. 1, a door opening and closing apparatus 1 according to a first embodiment of the present invention includes an operation unit 2 provided on a door 11 such as a sash, a sensor 3 that detects an operation received by the operation unit 2, and a door. 11 includes a drive device 4 that opens and closes 11, a door controller (controller) 5 that drives the drive device 4, and a button device 6 provided on the wall 16. In FIG. 1, the surface of the door 11 is illustrated, and the sensor 3, the driving device 4, the door controller 5, and the button device 6 illustrated in FIG. 1 are all provided on the front side of the door 11. Yes. In the present embodiment, the front side of the door 11 is indoor and the back side of the door 11 is outdoor. However, the present invention is not limited to this. For example, the front side of the door 11 is a room such as a living room, and the back side of the door 11 is a corridor. It may be outdoor.

  The door 11 is provided with stationary fixed walls 12 between the vertical walls 13a and 13b which are erected on the floor 15 at intervals. The door 11 is a sliding door that is slidable toward the fixed wall 12 as indicated by an arrow, and can overlap the fixed wall 12. As the door 11 is slid rightward in the figure indicated by the arrow and the area where the door 11 overlaps the fixed wall 12 increases, the opening formed between the left side stand 13a and the door 11 in the figure increases. As the door 11 completely overlaps the fixed wall 12, the opening area of the opening is maximized. On the other hand, the door 11 is slid leftward in the figure, which is opposite to the direction indicated by the arrow, and the area where the door 11 overlaps the fixed wall 12 is reduced, so that the space between the stand 13a and the door 11 decreases. When the generated opening becomes smaller and the left end of the door 11 comes into contact with the vertical 13a, the opening area of the opening becomes the minimum (zero). Hereinafter, the operation of sliding the door 11 in the direction of increasing the area where the door 11 overlaps the fixed wall 12 (right direction in the figure) is referred to as “operation of opening the door 11”, and the area where the door 11 overlaps the fixed wall 12 is reduced. The operation of sliding the door 11 in the direction (left direction in the figure) is referred to as “the operation of closing the door 11”.

  The operation unit 2 is provided on each of the front and back surfaces of the door 11 and is operated when a person opens and closes the door 11. That is, in the operation unit 2 provided on the surface of the door 11, when a person opens the door 11, the force of a human hand acts on the right part of the operation unit 2, while the person closes the door 11. Therefore, the force of the human hand acts on the left part of the operation unit 2. As described above, the operation unit 2 provided on the surface of the door 11 receives the “operation to open the door 11” by the action of the human hand on the right side, while the human hand has the power on the left side. By acting, “the operation of closing the door 11” is received. In the operation unit 2 provided on the back surface of the door 11, the left and right are reversed with respect to the operation unit 2 provided on the surface of the door 11. Hereinafter, the force of the human hand acting on the right and left portions of the operation unit 2 is referred to as “operation force”.

  The sensor 3 is provided in each of the operation units 2 provided on the front surface and the back surface of the door 11. The sensor 3 on the front side of the door 11 includes a pressure-sensitive sensor 3a that detects an operating force that acts on the right part of the operation unit 2, and a pressure-sensitive sensor 3b that detects an operating force that acts on the left part of the operation unit 2. Have. That is, the sensor 3 on the front side of the door 11 includes a pressure-sensitive sensor 3a that detects an operation force of “operation to open the door 11” and a pressure-sensitive sensor 3b that detects an operation force of “operation to close the door 11”. Have. The same applies to the sensor 3 on the back side of the door 11. The pressure-sensitive sensors 3a and 3b are made of, for example, a pressure-sensitive conductive rubber or a polymer thick film whose resistance value changes when pressure is applied. The sensor 3 is not limited to the pressure sensitive sensors 3a and 3b, and may detect an optical displacement amount or a mechanical displacement amount.

  The drive device 4 is provided in the invisible 14 located above the door 11 and the fixed wall 12, and has a motor 4a and a drive mechanism 4b (see FIG. 2) driven by the motor 4a. The drive mechanism 4b includes, for example, a rack provided horizontally on the upper portion of the door 11 and a pinion that is rotated by the motor 4a while being engaged with the rack. The drive device 4 can open and close the door 11 by sliding the door 11.

  The door controller 5 is provided, for example, in the seamless area 14. When the pressure sensor 3a detects an operation to open the door 11, the door controller 5 drives the drive device 4 to open the door 11, while the pressure sensor 3b detects an operation to close the door 11. In this case, the driving device 4 is driven so as to close the door 11. For example, when the pressure sensor 3a detects an operation of opening the door 11, the door controller 5 rotates the motor 4a forward at a rotational speed corresponding to the magnitude of the operation force detected by the pressure sensor 3a. When the drive device 4 is driven to open the door 11 and the pressure-sensitive sensor 3b detects an operation for closing the door 11, the rotational speed is determined according to the magnitude of the operation force detected by the pressure-sensitive sensor 3b. The drive device 4 is driven to close the door 11 by rotating the motor 4a in the reverse direction. The door controller 5 may be configured to perform torque control for changing the torque generated by the motor 4a, instead of speed control for changing the rotation speed of the motor 4a.

  The button device 6 is provided, for example, on the side wall 16 of the door 11. The button device 6 is also provided on the back side (outdoor) of the wall 16. The button device 6 includes an open button 6a that is operated when the door 11 is opened, a close button 6b that is operated when the door 11 is closed, and a stop button 6c that is operated when the driving door 11 is stopped. ,have. The door controller 5 drives the drive device 4 to open the door 11 when the open button 6a is operated, while the drive device 4 closes the door 11 when the close button 6b is operated. Drive. Further, when the stop button 6c is operated, the door controller 5 drives the drive device 4 so as to stop the door 11 being driven. Hereinafter, the operation on the button device 6 is referred to as “push button operation”.

  Here, the door controller 5 of this embodiment drives the drive device 4 so that the door 11 opens only while the open button 6a is pressed. Note that the door controller 5 may drive the drive device 4 until the door 11 is completely opened even if the human hand is released from the open button 6a after the open button 6a is pressed once. The same applies to the close button 6b. When the drive device 4 is driven only while the open button 6a or the close button 6b is pressed, the door 11 stops if the hand is released from the open button 6a or the close button 6b, so that the stop button 6c is unnecessary. The safety is high because there is no worry of the door 11 moving freely. On the other hand, when the open button 6a or the close button 6b is pressed once, when the drive device 4 continues to be driven even if the human hand moves away from the open button 6a or the close button 6b, the open button 6a or the close button 6b is pressed. Convenience is high because there is no hassle to continue. If the door 11 is to be stopped halfway, the stop button 6c may be operated.

  The door controller 5 limits the opening / closing speed so that the opening / closing speed of the door 11 does not exceed a predetermined speed. The upper limit value of the opening / closing speed based on the detection of the sensor 3 is set larger than the upper limit value of the opening / closing speed based on the input to the button device 6. This is because the distance between the person and the door 11 is closer when the operation unit 2 is operated than when the button device 6 is operated. It is because it is thought that the situation of this can be grasped in detail. Since a person can quickly cope with an unexpected situation as the person is closer to the door 11, the upper limit of the opening / closing speed based on the detection of the sensor 3 is based on the input to the button device 6 in consideration of safety. The speed is set larger than the upper limit value.

  Further, when the operation unit 2 and the button device 6 are operated at the same time, the door controller 5 drives the drive device 4 based on an operation on the operation unit 2, that is, an operation detected by the sensor 3. This is also because the distance between the person and the door 11 is shorter when the operation unit 2 is operated than when the button device 6 is operated. Therefore, the operation unit closer to the door 11 is considered in view of safety. The operation to 2 is prioritized.

(Electrical configuration of door opening and closing device)
Next, the electrical configuration of the door opening and closing apparatus 1 of the present embodiment will be described with reference to FIG.

  A sensor 3, a driving device 4, a door controller 5, and a button device 6 are provided on the front side (indoor) of the door 11, and a communication unit 21 that is electrically connected to the sensor 3 is provided. The communication unit 21 is supplied with power from a power source 25 such as a battery. On the other hand, a sensor 3 and a button device 6 that are electrically connected to the communication unit 21 are provided on the back side (outdoors) of the door 11. The driving device 4 and the two button devices 6 are electrically connected to the door controller 5.

  Detection signals from the pressure-sensitive sensors 3a and 3b of the sensor 3 provided on the front side and the back side of the door 11 are input to the wireless unit 23 via the interface 22, and transmitted to the door controller 5 from the antenna 24 wirelessly. The In addition, input signals from the button devices 6 provided on the front side and the back side of the door 11 are input to the door controller 5 by wire. An input signal from the button device 6 may be input to the door controller 5 wirelessly.

(Operation of door opener)
Next, operation | movement of the door opening / closing apparatus 1 of this embodiment is demonstrated using the flowchart shown in FIG. In the following description, it is assumed that the door 11 is opened and closed mainly by an operation on the operation unit 2.

  When the flowchart is executed by the door controller 5, as shown in FIG. 3, the door controller 5 determines whether or not there is an operation force sensed by the sensor 3 (S1). When the door controller 5 determines that the operation force sensed by the sensor 3 is present (S1: YES), a person is trying to open or close the door 11, and the door controller 5 It is determined whether or not the driving direction of 11 is opposite to the operating direction of the operating force (S2).

  When the door controller 5 determines that the driving direction of the door 11 and the operating direction of the operating force are not opposite (S2: NO), the door controller 5 detects the operating direction and operating force of the operating force detected by the sensor 3. The door 11 is driven according to the size (S3). Specifically, when the pressure-sensitive sensor 3a detects the operation force of “operation to open the door 11”, the door controller 5 is driven to open the door 11 at a speed corresponding to the magnitude of the operation force. The apparatus 4 is controlled. On the other hand, when the pressure sensor 3b detects an operation force of “operation to close the door 11”, the door controller 5 causes the drive device 4 to close the door 11 at a speed corresponding to the magnitude of the operation force. Control.

  Next, the door controller 5 determines whether there is no operation force sensed by the sensor 3 (S4). When the door controller 5 determines that the operation force sensed by the sensor 3 is present (S4: NO), the sensor 3 continues to sense the operation force, that is, the person continues to operate. The process returns to step S2 in order to continue driving the door 11. On the other hand, when the door controller 5 determines that the operation force sensed by the sensor 3 is not present (S4: YES), 0.2 seconds have elapsed since the sensor 3 no longer senses the operation force. It is determined whether or not (S5).

  If the door controller 5 determines that 0.2 seconds have not elapsed since the sensor 3 no longer senses the operating force (S5: NO), the process returns to step S2 to continue driving the door 11. On the other hand, when the door controller 5 determines that 0.2 seconds have elapsed since the sensor 3 no longer senses the operating force (S5: YES), the door controller 5 detects that the sensor 3 senses the operating force. It is determined whether or not 0.5 seconds have passed since it disappeared (S6). That is, the door controller 5 determines whether or not another 0.3 second has elapsed after 0.2 seconds have elapsed since the sensor 3 no longer senses the operating force.

  When the door controller 5 determines that 0.5 seconds have not elapsed since the sensor 3 no longer senses the operating force (S6: NO), the door controller 5 determines the driving force for driving the door 11. Weaken (S7). That is, the door controller 5 controls the drive device 4 to reduce the speed of the door 11 so that the door 11 can be stopped within a predetermined time or within a predetermined distance. Then, the process returns to step S4.

  On the other hand, when the door controller 5 determines that 0.5 second has elapsed since the sensor 3 no longer senses the operating force (S6: YES), the door controller 5 operates the push button on the button device 6. It is determined whether or not there is (S8). When the door controller 5 determines that there is no push button operation on the button device 6 (S8: NO), the door controller 5 controls the drive device 4 so as to brake the door 11 suddenly (S9). That is, the door controller 5 controls the drive device 4 so that the door 11 is braked to such an extent that the door 11 can be stopped immediately. As described above, when the sensor 3 does not sense the operation force, the door 11 is completely stopped after the drive speed of the door 11 is gradually decreased. Then, the process returns to step S1.

  In step S1, when the door controller 5 determines that there is no operation force sensed by the sensor 3 (S1: NO), the door controller 5 determines whether or not there is a push button operation on the button device 6. (S10). When the door controller 5 determines that there is no push button operation on the button device 6 (S10: NO), neither the operation on the operation unit 2 nor the push button operation on the button device 6 is performed. And return to step S1.

  On the other hand, when the door controller 5 determines that there is a push button operation on the button device 6 (S10: YES), the door controller 5 drives the door 11 according to the push button operation (S11). Specifically, when the open button 6 a is pressed, the door controller 5 controls the drive device 4 to open the door 11. On the other hand, when the close button 6b is pressed, the door controller 5 controls the drive device 4 to close the door 11. In general, the distance between the person and the door 11 is shorter when the operation unit 2 is operated than when the button device 6 is operated. The situation can be understood in more detail. Therefore, priority is given to the operation on the operation unit 2 closer to the door 11 than the button device 6, and when there is no operation on the operation unit 2 and there is a push button operation on the button device 6, the door according to the push button operation. By opening and closing 11, safety can be further improved. Then, the process returns to step S1.

  In step S8, when the door controller 5 determines that there is a push button operation on the button device 6 (S8: YES), the process proceeds to step S11 to drive the door 11 in accordance with the push button operation ( S11). Then, the process returns to step S1.

  In step S2, when the door controller 5 determines that the drive direction of the door 11 and the operation direction of the operation force are opposite (S2: YES), the door controller 5 detects that the operation force detected by the sensor 3 is the same. It is determined whether or not the operation unit 2 on the opposite side has been operated immediately before determining that it is present (S12). That is, the door controller 5 determines whether or not the sensor 3 has sensed an operation to the front side operation unit 2 of the door 11 immediately before the sensor 3 senses an operation to the operation unit 2 on the back side of the door 11, or It is determined whether or not the sensor 3 has sensed an operation on the operation unit 2 on the back side of the door 11 immediately before the sensor 3 senses an operation on the operation unit 2 on the front side of the door 11.

  If the door controller 5 determines that the operation unit 2 on the opposite side is not operated immediately before determining that the operation force detected by the sensor 3 is present (S12: NO), the person opens the door 11. It is considered that the operation unit 2 was operated in the direction opposite to the driving direction of the door 11 in an attempt to stop the door 11 suddenly during the closing or closing. In this case, the door controller 5 controls the drive device 4 so that the door 11 is suddenly braked (S13). As a result, while the person is opening or closing the door 11, the operation unit 2 is suddenly operated in the direction opposite to the driving direction of the door 11 to suddenly stop the door 11. In that case, the door 11 is stopped. Thus, since the door 11 stops as the operator intends, safety can be ensured.

  Thereafter, the door controller 5 determines whether or not there is an operation force sensed by the sensor 3 (S14). When the door controller 5 determines that the operation force sensed by the sensor 3 is not present (S14: YES), the operator who operates the operation unit 2 suddenly to stop the door 11 operates after the door 11 stops. Since the hand is released from the unit 2, the process returns to step S1 to accept a new operation. On the other hand, when the door controller 5 determines that the operation force detected by the sensor 3 is present (S14: NO), the operator who operates the operation unit 2 suddenly to stop the door 11 stops the door 11 After that, it is considered that the operation continues. In this case, the door controller 5 determines whether 1.5 seconds have elapsed after the door 11 is stopped (S15).

  When the door controller 5 determines that 1.5 seconds have not elapsed since the door 11 stopped (S15: NO), the process returns to step S13 in order to maintain the door 11 stopped. As described above, when the operator who operates the operation unit 2 suddenly to stop the door 11 continues to operate the operation unit 2 even after the door 11 stops, the operator immediately turns to the operation direction. The door 11 is not driven, and the stop state of the door 11 is maintained until a predetermined time (1.5 seconds) elapses. Thereby, safety can be further improved.

  On the other hand, when the door controller 5 determines that 1.5 seconds have elapsed after the door 11 stops (S15: YES), the process returns to step S3 to validate the operation on the operation unit 2. As a result, the door controller 5 drives the door 11 in accordance with the operation direction and the magnitude of the operation force detected by the sensor 3. As described above, after the predetermined time (1.5 seconds) has elapsed, the door 11 is driven in the direction of operation with respect to the operation unit 2, so that it is not necessary to perform a re-operation and the convenience can be improved. .

  If it is determined in step S12 that the door controller 5 has been operated by the operation unit 2 on the opposite side immediately before determining that the operation force sensed by the sensor 3 is present (S12: YES), the operation unit 2 is operated. The operator who opened the door 11 moves to the other side of the door 11 and operates the operation unit 2 on the opposite side to close the door 11. In this case, in order to validate the operation on the operation unit 2, the process returns to step S3. As a result, the door controller 5 drives the door 11 in accordance with the operation direction and the magnitude of the operation force detected by the sensor 3. Thus, in a series of operations in which the operator who operates the operation unit 2 to open the door 11 moves to the other side of the door 11 and operates the operation unit 2 on the opposite side to close the door 11, The door 11 does not stop. Thereby, convenience can be improved while ensuring safety.

(effect)
As described above, according to the door opening and closing device 1 in the present embodiment, when the sensor 3 detects an operation in the direction opposite to the driving direction of the door 11 while the door 11 is being driven, Stopped. Therefore, when the person operates the operation unit 2 in the direction opposite to the driving direction of the door 11 in an attempt to stop the door 11 suddenly while the door 11 is being opened or closed. The door 11 is stopped. Thus, since the door 11 stops as the operator intends, safety can be ensured.

  Further, when the sensor 3 continues to detect the operation even after the door 11 is stopped, the stopped state of the door 11 is maintained until a predetermined time (1.5 seconds in the present embodiment) elapses. Therefore, when the operator who operates the operation unit 2 suddenly to stop the door 11 continues to operate the operation unit 2 even after the door 11 stops, the door 11 immediately moves in the operation direction. Is not driven, and the stop state of the door 11 is maintained until a predetermined time elapses. Thereby, safety can be further improved. In addition, after the predetermined time has elapsed, the door 11 is driven in the direction of operation with respect to the operation unit 2, so that it is not necessary to perform a re-operation and convenience can be improved.

  Further, when the driving device 4 is being driven according to the operation detected by either one of the sensors 3, the sensor 3 does not detect the operation, and when the other sensor 3 detects the operation, the door The driving device 4 is driven according to the operation detected by the other sensor 3 without stopping 11. Therefore, in a series of operations in which the operator who operates the operation unit 2 to open the door 11 moves to the other side of the door 11 and operates the opposite operation unit 2 to close the door 11, the door 11 Does not stop. Thereby, convenience can be improved while ensuring safety.

  When the operation unit 2 and the button device 6 are operated simultaneously, the drive device 4 is driven based on the operation detected by the sensor 3. In general, the distance between the person and the door 11 is shorter when the operation unit 2 is operated than when the button device 6 is operated. The situation can be understood in more detail. Therefore, safety can be further improved by prioritizing the operation on the operation unit 2 closer to the door 11 than the button device 6.

[Second Embodiment]
(Operation of door opener)
Next, a door opening and closing device according to a second embodiment of the present invention will be described. In addition, about the same component as the component mentioned above, the same reference number is attached | subjected and the description is abbreviate | omitted. The door opening / closing device of this embodiment is different from the door opening / closing device 1 of the first embodiment in that the door controller 5 determines that the operation force sensed by the sensor 3 is present in step S14 of the flowchart shown in FIG. (S14: NO) is a point returning to step S13. That is, the door opening and closing device of the present embodiment is different from the door opening and closing device 1 of the first embodiment in that the process of step S15 is not performed.

  When the door controller 5 determines that the operation force detected by the sensor 3 is present (S14: NO), the operator who operates the operation unit 2 suddenly to stop the door 11 stops the door 11 It is thought that the operation is continued. In this case, in order to maintain the stop state of the door 11, the process returns to step S13. As described above, when the operator who operates the operation unit 2 suddenly to stop the door 11 continues to operate the operation unit 2 after the door 11 stops, the operator performs the operation. The stop state of the door 11 is maintained by repeating the rapid braking in step S13 until it stops, that is, until the sensor 3 does not detect the operation. Thereby, safety can be further improved.

(effect)
As described above, according to the door opening and closing apparatus in the present embodiment, after the door 11 is stopped, the stopped state of the door 11 is maintained until the sensor 3 no longer detects an operation. Therefore, the stop state of the door 11 is maintained until the operator who operates the operation unit 2 suddenly to stop the door 11 stops the operation on the operation unit 2 after the door 11 stops. Thereby, safety can be further improved.

(Modification of this embodiment)
The embodiment of the present invention has been described above, but only specific examples are illustrated, and the present invention is not particularly limited, and the specific configuration and the like can be appropriately changed in design. Further, the actions and effects described in the embodiments of the invention only list the most preferable actions and effects resulting from the present invention, and the actions and effects according to the present invention are described in the embodiments of the present invention. It is not limited to what was done.

DESCRIPTION OF SYMBOLS 1 Door opening / closing apparatus 2 Operation part 3 Sensor 3a, 3b Pressure sensitive sensor 4 Drive apparatus 4a Motor 4b Drive mechanism 5 Door controller (controller)
6 Button device 6a Open button 6b Close button 6c Stop button 11 Door 12 Fixed wall 13a, 13b Standing 14 Invisible 15 Floor 16 Wall 21 Communication unit 22 Interface 23 Wireless unit 24 Antenna 25 Power supply

Claims (5)

An operation unit that is provided at the door and is operated when a person opens and closes the door, and receives an operation of opening the door and an operation of closing the door;
A sensor for detecting an operation received by the operation unit;
A driving device for opening and closing the door;
When the sensor detects an operation to open the door, the drive device is driven to open the door, while when the sensor detects an operation to close the door, the door is closed. A controller for driving the driving device;
Have
When the sensor detects an operation in a direction opposite to the door driving direction while driving the door, the controller stops the door and the sensor performs the operation in the reverse direction. A door opening and closing device characterized by continuing the stop state of the door even if the detection continues. When the sensor detects an operation in a direction opposite to the door driving direction while driving the door, the controller stops the door and the sensor performs the operation in the reverse direction. 2. The door opening and closing device according to claim 1, wherein even if the detection continues, the door is kept stopped until a predetermined time elapses after the door stops.   The door opening and closing device according to claim 1, wherein the controller continues the stop state of the door until the sensor no longer detects the operation. The operation unit and the sensor are respectively provided on the front and back of the door,
When the controller stops detecting the operation while the drive device is being driven in accordance with the operation detected by one of the sensors, and the other sensor detects the operation, The door opening and closing device according to any one of claims 1 to 3, wherein the driving device is driven in accordance with an operation detected by the other sensor without stopping the door. Further comprising a button device provided outside the door, the button device including an open button that is operated when the door is opened, and a close button that is operated when the door is closed;
The controller drives the drive device to open the door when the open button is operated, and closes the drive device to close the door when the close button is operated. Driving,
5. The controller according to claim 1, wherein, when the operation unit and the button device are operated simultaneously, the controller drives the drive device based on an operation detected by the sensor. The door opening and closing device according to item 1.

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