JP6629044B2 - Obstacle detection device and sliding door opening / closing device provided with the device - Google Patents

Description

  The present invention relates to an obstacle detection device and a sliding door opening / closing device including the device.

  A home door device is known as an example of a sliding door opening / closing device. Such a home door device includes a sliding door movable in the opening and closing direction, a door pocket capable of storing the sliding door, and a driving unit for driving the sliding door. The home door device determines that an obstacle collides with the sliding door based on the fact that the current of the driving unit that drives the sliding door exceeds a preset threshold (for example, see Patent Document 1).

JP 2007-210474 A

  By the way, in consideration of the safety of the sliding door opening / closing device, it is more difficult to detect the obstacle based on the fact that the obstacle collides with the sliding door as in Patent Literature 1, but the obstacle is not in contact with the sliding door. It is preferable to detect an object.

  Thus, for example, a sliding door opening / closing device including an optical obstacle detecting device in which the detection range of the obstacle is defined as the entire opening and closing direction of the entrance and exit and the detection range is not changed is considered. However, such a sliding door opening / closing device detects an obstacle even when the obstacle is located in a place where the sliding door is not located in the opening / closing direction, that is, even when the obstacle is present in a place where the possibility of colliding with the sliding door is low. Resulting in.

  An object of the present invention is to provide an obstacle detection device capable of suppressing detection of an obstacle having a low possibility of colliding with a sliding door, and a sliding door opening and closing device including the device.

  [1] An obstacle detection device according to an embodiment of the present invention is an obstacle detection device that detects an obstacle at an entrance that is opened and closed by a sliding door that moves in an opening and closing direction, and an obstacle detection unit that detects the obstacle. And a control unit that sets a detection range of the obstacle detection unit in the opening and closing direction according to the position of the sliding door.

  According to this configuration, since the detection range in the opening and closing direction by the obstacle detection unit is set according to the position of the sliding door, for example, a position far from the sliding door at the entrance in the opening and closing direction is outside the detection range of the obstacle detection unit. Can be. For this reason, even if there is an obstacle at a position far from the sliding door at the entrance, that is, at a position where there is no possibility of collision with the sliding door or there is a low possibility, it is possible to suppress detection of the obstacle.

  [2] According to one aspect dependent on the obstacle detection device, the control section expands the detection range as the position of the sliding door in the opening and closing direction approaches the fully closed position, and the sliding door in the opening and closing direction. Decreases as the position approaches the fully open position.

  According to this configuration, a position where the sliding door does not collide with an obstacle even if the sliding door is not stopped immediately at the entrance, that is, an obstacle existing at a position farther from the door of the sliding door in the closing direction at the entrance is determined by the obstacle detection unit. Out of the detection range. For this reason, even if there is an obstacle in a range where the possibility of collision with the sliding door is low, it is possible to suppress detection of the obstacle.

  [3] According to an aspect dependent on the obstacle detection device, the control unit is configured to move the sliding door in the opening / closing direction more toward the opening direction than the fully closed position, and to move the sliding door closer to the sliding door. The detection range in the opening and closing direction is set so as to include the position in the closing direction.

  According to this configuration, for example, when the sliding door is closed, even if the obstacle is in a position close to the sliding door in the closing direction, the obstacle detecting unit detects the obstacle before the obstacle collides with the door of the sliding door. Can be detected. Therefore, for example, by stopping the driving of the sliding door when the obstacle detecting unit detects the obstacle, it is possible to suppress the collision between the obstacle and the sliding door.

  [4] According to one aspect dependent on the obstacle detection device, the control unit can communicate with an external device, and adjusts the detection range in the opening / closing direction based on a signal received from the external device. .

  According to this configuration, by adjusting the detection range of the obstacle detection unit, for example, the detection range when the sliding door is in the closing operation and the detection range when the sliding door is in the opening operation can be adjusted to be different. Therefore, the degree of freedom in setting the detection range is increased.

  [5] According to one aspect dependent on the obstacle detection device, the control unit sets the detection range in the opening and closing direction in a stepwise manner.

  According to this configuration, the number of times of setting the detection range is reduced as compared with the case where the detection range in the opening and closing direction of the obstacle detection unit is continuously set in conjunction with the position of the sliding door. Therefore, the load on the control unit is reduced.

  [6] According to one aspect dependent on the obstacle detection device, the obstacle detection unit is arranged on the front side of the sliding door and on the back side of the sliding door. The control unit includes at least one of a second detection unit, wherein the control unit is configured to determine a first detection range in the opening and closing direction of the first detection unit in accordance with a position of the sliding door in the opening and closing direction, and the second detection unit. At least one of a second detection range in the opening and closing direction of the detection unit is set.

  According to this configuration, even when both the first detection unit and the second detection unit are provided, the detection range in at least one of the opening and closing directions of the first detection unit and the second detection unit is set to the position of the sliding door. Set accordingly. For this reason, even if there is an obstacle in a range where there is no possibility of colliding with the sliding door or there is a low possibility of colliding with the sliding door, detection of the obstacle can be suppressed.

  [7] According to one aspect dependent on the obstacle detection device, the obstacle detection unit includes both the first detection unit and the second detection unit, and the control unit is configured to control the opening / closing direction. The second detection range in the opening and closing direction is set in conjunction with the setting of the first detection range in.

  According to this configuration, since both the first detection unit and the second detection unit set the detection range according to the position of the sliding door, there is no possibility of collision with the sliding door or an obstacle in a range where the possibility is low. , The detection of the obstacle can be further suppressed.

  [8] According to one aspect dependent on the obstacle detection device, the obstacle detection unit includes both the first detection unit and the second detection unit, and the control unit is configured to control the opening and closing direction. , The first detection range and the second detection range in the opening / closing direction are individually set.

  According to this configuration, the second detection range of the second detection unit can be set without being affected by the first detection range of the first detection unit. Further, the first detection range of the first detection unit can be set without being affected by the second detection range of the second detection unit. Therefore, the degree of freedom in setting the first detection range and the second detection range is increased.

  [9] According to one aspect dependent on the obstacle detection device, the control unit sets the first detection range in the opening / closing direction according to the position of the sliding door in the opening / closing direction, The second detection range is set such that the entirety of the entrance in is included.

  According to this configuration, when the obstacle is present in the second detection range, the obstacle can be detected by the second detection unit, and the obstacle in the second detection range is located on the front side of the sliding door. When moved, the first detection unit can detect an obstacle according to the position of the sliding door. For this reason, even if there is no obstacle on the front side of the sliding door or there is no obstacle in a range where the possibility of collision with the sliding door is low, detection of the obstacle can be suppressed.

  [10] According to one aspect dependent on the obstacle detection device, the obstacle detection unit is a two-dimensional sensor in which the detection range is a plane or a three-dimensional sensor in which the detection range is a space.

  According to this configuration, the two-dimensional sensor and the three-dimensional sensor can set the detection range in the opening and closing direction based on the detection range change program. For this reason, the detection range in the opening and closing direction can be easily changed as compared with the case where a photoelectric sensor having a light emitter and a light receiver is used as the obstacle detection unit.

  [11] A sliding door opening / closing apparatus according to an aspect of the present invention includes a sliding door that moves in an opening and closing direction for opening and closing an entrance, a driving unit that moves the sliding door in the opening and closing direction, and the [1] that detects an obstacle at the entrance. ] The obstacle detection device according to any one of [10] to [10].

  According to this configuration, the sliding door opening and closing device can achieve at least one of the effects of [1] to [10].

  ADVANTAGE OF THE INVENTION According to the obstacle detection apparatus and the sliding door opening / closing apparatus which concern on this invention, the detection of the obstacle which has a low possibility of colliding with a sliding door can be suppressed.

In the sliding door opening and closing device of the first embodiment, (a) a plan view of the sliding door opening and closing device, and (b) a front view of the sliding door opening and closing device when the sliding door is in a fully closed position. (A) Partial top view of a sliding door opening / closing device, (b) Partial front view of a sliding door opening / closing device, (c) Partial side view of a sliding door opening / closing device. FIG. 2 is a block diagram showing an electrical configuration of the sliding door opening and closing device. (A)-(d) The top view of a part of sliding door opening / closing apparatus at the time of closing operation | movement of a sliding door. (A)-(d) The top view of a part of sliding door opening / closing apparatus at the time of opening operation of a sliding door. 9 is a flowchart illustrating a processing procedure of detection range setting control during a closing operation. 5 is a flowchart illustrating a processing procedure of detection range setting control during an opening operation. 9 is a flowchart illustrating a processing procedure of obstacle detection control. (A) And (b) Top view of a part of sliding door opening / closing apparatus at the time of closing operation | movement of a sliding door. FIG. 3 is a plan view of a part of the sliding door opening / closing device when the sliding door is opened. FIG. 9 is a plan view of a part of the sliding door opening / closing device in the sliding door opening / closing device of the second embodiment when the sliding door is closed. (A)-(d) The top view of a part of sliding door opening / closing apparatus at the time of opening operation of a sliding door. The front view of the sliding door opening / closing apparatus of a modification.

(1st Embodiment)
Hereinafter, a first embodiment of a sliding door opening and closing device will be described with reference to the drawings. The sliding door opening and closing device of the present embodiment is a home door device installed on a railway platform. FIG. 1B is a front view of the sliding door opening and closing device 1 as viewed from the platform side of the platform P toward the track side.

  As shown in FIG. 1B, the sliding door opening / closing device 1 is installed along the track side end of the platform P, and partitions the platform P into a platform side and a track side. The sliding door opening / closing apparatus 1 includes a sliding door 10 that can be moved at an interval above the installation plane P1, a door pocket 20 that can store the sliding door 10, and a door stop 30 into which the tip of the sliding door 10 can be inserted. .

  The sliding door opening / closing apparatus 1 opens and closes the doorway 100 by moving the sliding door 10 through the doorway 100 which is a space between the door pocket 20 and the door stop 30. Specifically, as shown by the solid sliding door 10 in FIG. 1B, the door 100 is closed by inserting the tip of the sliding door 10 into the door stop 30, and the two-dot chain line in FIG. As shown by the sliding door 10, the doorway of the sliding door 10 moves to the vicinity of the door pocket 20 to open the doorway 100. In this manner, the sliding door 10 has a movable range MR between the fully closed position indicated by the solid sliding door 10 of FIG. 1B and the fully opened position indicated by the two-dot chain line sliding door 10 of FIG. , In the opening and closing direction of the sliding door 10 (hereinafter, “opening and closing direction ZA”). In addition, in this embodiment, like the sliding door 10 of the two-dot chain line of FIG. 1B, the door of the sliding door 10 protrudes from the door pocket 20, but when the sliding door 10 is in the fully open position, The door may be stored in the door pocket 20. The door stop 30 may be omitted from the sliding door opening and closing device 1.

  A drive unit 40 that moves the sliding door 10 in the opening and closing direction ZA and a control device 50 that controls the drive unit 40 are housed in the door pocket 20. The driving unit 40 includes an electric motor 41 serving as a driving source, a driving-side rotator 42 connected to the electric motor 41, and a driven-side rotator disposed at a distance from the driving-side rotator 42 in the opening / closing direction ZA. A body 43 and a transmission member 44 wound around the rotating bodies 42 and 43 are provided. A connecting member 45 that connects the transmitting member 44 and the door end of the sliding door 10 is attached to the transmitting member 44.

The operation of the driving unit 40 will be described.
When the electric motor 41 rotates in the first direction and the driving-side rotating body 42 rotates clockwise, the transmission member 44 rotates in the arrow direction Y1. Thereby, the connecting member 45 attached to the transmission member 44 moves in the arrow direction Y1, and the sliding door 10 moves in the opening direction.

  When the electric motor 41 rotates in the second direction opposite to the first direction and the driving-side rotating body 42 rotates in the counterclockwise direction, the transmission member 44 is rotated in the direction opposite to the arrow direction Y1. In the direction of arrow Y2. Thereby, since the connecting member 45 moves in the arrow direction Y2, the sliding door 10 moves in the closing direction.

  As shown in FIG. 1A, the sliding door opening and closing device 1 includes an obstacle detection device 60 that detects an obstacle (not shown) at the entrance 100. Note that the obstacle means an obstacle that prevents the sliding door 10 from moving when the sliding door 10 moves in the opening and closing direction ZA.

  The obstacle detection device 60 is disposed on the front surface 10X side (home side) of the sliding door 10, and detects a first obstacle 61 closer to the home side than the sliding door 10, and the back surface 10Y side of the sliding door 10 (track side). ), And a second detection device 62 that detects an obstacle on the track side with respect to the sliding door 10. The first detection device 61 and the second detection device 62 are housed in the door pocket 20. As shown in FIG. 1B, the first detection device 61 is arranged at an end of the door pocket 20 in the closing direction and below. Although not shown in FIG. 1B, the second detection device 62 is similarly arranged. Note that at least one of the first detection device 61 and the second detection device 62 may be arranged outside the door pocket 20. In addition, at least one of the first detection device 61 and the second detection device 62 may be arranged at an upper end of the door pocket 20 in the closing direction. In short, the positions of the first detection device 61 and the second detection device 62 in the height direction ZB can be arbitrarily set as long as obstacles at the entrance 100 can be detected.

  As shown in FIGS. 2A to 2C, the first detection device 61 includes a two-dimensional sensor in which a plane along the surface 10 </ b> X of the sliding door 10 is a detection range of an obstacle. The first detection range RA of the first detection device 61 can be set to the entire opening / closing direction ZA of the entrance 100 and the entire height direction ZB of the sliding door 10 on the front surface 10X side of the sliding door 10. The first detection device 61 can change the first detection range RA in the opening / closing direction ZA.

  The second detection device 62 includes a three-dimensional sensor in which a space from the back surface 10Y of the sliding door 10 to the orbital edge of the platform P is a detection range of an obstacle. The second detection range RB of the second detection device 62 is such that, on the back surface 10Y side of the sliding door 10, the entire opening / closing direction ZA of the entrance 100, the entire height direction ZB of the sliding door 10, and the back surface of the sliding door 10. It can be set in the range from 10Y to the orbital edge of the platform P. The second detection device 62 can change the second detection range RB in the opening / closing direction ZA.

Next, an electrical configuration of the sliding door opening and closing device 1 will be described with reference to FIG.
The drive unit 40 includes a rotation speed detection unit 46 that detects the rotation speed of the electric motor 41. An example of the rotation speed detection unit 46 is an optical encoder. The detection result of the rotation speed detection unit 46 is output to the control device 50. The number of rotations of the electric motor 41 is the number of rotations accumulated from the reference number of rotations when the number of rotations when the sliding door 10 is in the fully closed position or the fully open position is set as the reference number of rotations. Note that the reference rotation speed of the electric motor 41 of the present embodiment is “0”. In addition, the rotation speed detection unit 46 may be a magnetic encoder or a sensor other than the encoder. In short, the rotation speed detection unit 46 may be any sensor that can detect the rotation speed of the electric motor 41.

  The control device 50 is electrically connected to the drive unit 40 and the obstacle detection device 60. The control device 50 receives an operation signal from the operation unit 110 for the station staff to operate the opening and closing operations of the sliding door opening and closing device 1. An example of the operation unit 110 is an open / close button of the sliding door opening / closing device 1. The control device 50 outputs a command signal to the drive unit 40 and the obstacle detection device 60, and the first detection range RA and the second detection range RA of the first detection device 61 according to the position of the sliding door 10. A detection range generation unit 52 that generates a setting command signal for setting the second detection range RB of the detection device 62.

  The control unit 51 outputs a direction command signal for rotating the electric motor 41 of the drive unit 40 in the first direction or the second direction based on the operation signal of the operation unit 110 and the drive unit 40 and the detection range generation unit 52. Output to

  The detection result of the rotation speed detector 46 is input to the detection range generator 52. The detection range generation unit 52 can grasp the position of the door of the sliding door 10 based on the detection result of the rotation speed detection unit 46 and the direction command signal. The detection range generation unit 52 generates a setting command signal for setting each of the detection ranges RA and RB based on the detection result of the rotation speed detection unit 46 and the direction command signal, and generates a first detection unit 61A and a second detection signal. A setting command signal is output to each of the detection units 62A. The detection range generation unit 52 includes a first map indicating the relationship between the number of rotations of the electric motor 41 in the first direction, the detection ranges RA and RB, a number of rotations of the electric motor 41 in the second direction, A second map indicating the relationship with each of the detection ranges RA and RB is stored. The detection range generation unit 52 generates a setting command signal using the first map and the second map.

  The first detection device 61 of the obstacle detection device 60 includes a first detection unit 61A that is an example of an obstacle detection unit that detects an obstacle, a control unit 61B that controls the first detection unit 61A, A detection range setting unit 61C that sets a first detection range RA of an obstacle in the direction ZA, and a storage unit 61D that stores a control program and the like executed by the control unit 61B are provided. The first detector 61A is a two-dimensional sensor as described above. Note that the detection range setting unit 61C may be configured to be included in the control unit 61B.

  The storage unit 61D stores, for example, a map indicating the relationship between the setting command signal of the detection range generation unit 52 and the first detection range RA in the opening / closing direction ZA. The storage unit 61D stores threshold values Th1 to Th3 of the rotation speed of the electric motor 41. The thresholds Th1 to Th3 increase in the order of the thresholds Th1, Th2, and Th3.

  The detection range setting unit 61C sets the first detection range RA in the opening and closing direction ZA using the map of the storage unit 61D based on the setting command signal of the detection range generation unit 52. The detection range setting unit 61C outputs the setting contents of the first detection range RA in the opening / closing direction ZA to the control unit 61B as a range setting signal.

  The control unit 61B controls the first detection unit 61A based on the range setting signal, and sets the first detection range RA in the opening / closing direction ZA. As described above, the control unit 61B sets the first detection range RA in the opening / closing direction ZA according to the position of the sliding door 10.

  Like the first detection device 61, the second detection device 62 includes a second detection unit 62A, which is an example of an obstacle detection unit, a control unit 62B, a detection range setting unit 62C, and a storage unit 62D. . The functions of the second detection unit 62A, the control unit 62B, the detection range setting unit 62C, and the storage unit 62D are the same as those of the first detection unit 61A, the control unit 61B, the detection range setting unit 61C, and the storage unit 61D. Same as each function. For this reason, the control unit 62B sets the second detection range RB in the opening and closing direction ZA according to the position of the sliding door 10. The second detector 62A is a three-dimensional sensor as described above. Note that the detection range setting unit 62C may be configured to be included in the control unit 62B.

  Further, the control units 61B and 62B of the obstacle detection device 60 can communicate with the external device 70 by wire or wirelessly. One example of the external device 70 is a personal computer. For example, when the external device 70 is connected to the control units 61B and 62B, and the external device 70 outputs a signal to the control units 61B and 62B at the interface of the external device 70, the control units 61B and 62B perform each detection in the opening / closing direction ZA. The ranges RA and RB can be adjusted. Specifically, the control units 61B and 62B change the maps of the detection ranges RA and RB stored in the storage units 61D and 62D based on the signal received from the external device 70. Specifically, the value of the threshold value of the number of rotations of the electric motor 41 or the number of threshold values is changed, and the range of each of the detection ranges RA and RB corresponding to the threshold value is changed.

Next, an example of a setting mode of each of the detection ranges RA and RB will be described with reference to FIGS.
As shown in FIG. 4, when the sliding door 10 performs the closing operation from the fully open position, the entrance 100 has four ranges according to the threshold values Th1 to Th3 of the rotation speed of the electric motor 41 (see FIG. 3) in the second direction. It is divided into On the other hand, as shown in FIG. 5, when the sliding door 10 is opened from the fully closed position, the entrance 100 is divided into four ranges according to the rotation speed thresholds Th1 to Th3 of the electric motor 41 in the first direction. Is done.

  Specifically, as shown in FIG. 4, the entrance 100 corresponds to the position PS1 of the tip of the sliding door 10 corresponding to the threshold Th1 of the rotation speed of the electric motor 41 in the second direction, and the threshold Th2 of the rotation speed. It is classified according to the position PS2 of the tip of the sliding door 10 and the position PS3 of the tip of the sliding door 10 corresponding to the rotation speed threshold Th3. That is, the entrance 100 is divided into a range from the fully open position to the position PS1, a range from the position PS1 to the position PS2, a range from the position PS2 to the position PS3, and a range from the position PS3 to the fully closed position.

  As shown in FIG. 5, the entrance 100 is provided with a position PS3 of the tip of the sliding door 10 corresponding to the threshold value Th1 of the rotation speed of the electric motor 41 in the first direction, and the sliding door 10 corresponding to the threshold value Th2 of the rotation speed. The door is classified according to the position PS2 of the door and the position PS1 of the door of the sliding door 10 corresponding to the threshold value Th3 of the rotation speed. That is, the entrance 100 is divided in the same manner as when the sliding door 10 is closed.

  As shown in FIGS. 4A to 4D, when the position of the sliding door 10 is closed from the fully open position, the opening and closing direction ZA in the opening and closing direction ZA depends on the rotation speed of the electric motor 41, that is, the position of the tip of the sliding door 10. Each of the detection ranges RA and RB is changed as follows. In the present embodiment, the detection ranges RA and RB in the opening and closing direction ZA are changed according to the position of the door of the sliding door 10.

  As shown in FIG. 4A, when the position of the sliding door 10 is the fully open position, that is, when the rotation speed of the electric motor 41 is “0”, the rotation speed is less than the threshold value Th1, and thus the first detection range. RA becomes the first range RA1, and the second detection range RB becomes the first range RB1. The first range RA1 indicates a range from the first detection device 61 to a position slightly closer to the closing direction than the position PS1 in the opening / closing direction ZA. The first range RB1 is similar to the first range RA1.

  As shown in FIG. 4B, when the rotation speed of the electric motor 41 reaches the threshold Th1, that is, when the door of the sliding door 10 moves to the position PS1, the first detection range RA is changed to the second range. RA2, and the second detection range RB becomes the second range RB2. The second range RA2 indicates a range from the first detection device 61 to a position slightly closer to the closing direction than the position PS2 in the opening / closing direction ZA. The second range RB2 is similar to the second range RA2.

  As shown in FIG. 4C, when the rotation speed of the electric motor 41 reaches the threshold value Th2, that is, when the door of the sliding door 10 moves to the position PS2, the first detection range RA is changed to the third range. RA3, and the second detection range RB becomes the third range RB3. The third range RA3 indicates a range from the first detection device 61 to a position slightly closer to the closing direction than the position PS3 in the opening / closing direction ZA. The third range RB3 is similar to the third range RA3.

  As shown in FIG. 4D, when the rotation speed of the electric motor 41 reaches the threshold value Th3, that is, when the tip of the sliding door 10 moves to the position PS3, the first detection range RA changes to the fourth range. RA4, and the second detection range RB becomes the fourth range RB4. The fourth range RA4 indicates a range including the entire entrance 100 in the opening / closing direction ZA. The fourth range RB4 is similar to the fourth range RA4.

  As described above, the control units 61B and 62B enlarge the detection ranges RA and RB in the opening and closing direction ZA as the position of the sliding door 10 in the opening and closing direction ZA approaches the fully closed position. When the position of the sliding door 10 is located in the opening direction from the fully closed position, the control units 61B and 62B move each of the ranges RA1 to RA4 and RB1 to RB4 in the closing direction more than the position of the tip of the sliding door 10. Set to include the position. The control units 61B and 62B do not change the detection ranges RA and RB until the door of the sliding door 10 moves to the positions PS1 to PS3. That is, the control units 61B and 62B set the ranges RA1 to RA4 and RB1 to RB4 of the detection ranges RA and RB in the opening and closing direction ZA stepwise. Further, as shown in FIGS. 4A to 4D, the control unit 62B sets the second detection range RB in conjunction with the setting of the first detection range RA when the sliding door 10 is closed. I have.

  As shown in FIGS. 5A to 5D, when the sliding door 10 is opened from the fully closed position, each of the sliding doors 10 in the opening and closing direction ZA depends on the rotation speed of the electric motor 41, that is, the position of the tip of the sliding door 10. The detection ranges RA and RB are changed as follows. In this embodiment, each detection range RA and detection range RB in the opening / closing direction ZA is changed according to the position of the door of the sliding door 10.

  As shown in FIG. 5A, when the position of the sliding door 10 is the fully closed position, that is, when the rotation speed of the electric motor 41 is “0”, the rotation speed is less than the threshold value Th1, and thus the first detection is performed. The range RA becomes a fourth range RA4, and the second detection range RB becomes a fourth range RB4.

  As shown in FIG. 5B, when the rotation speed of the electric motor 41 reaches the threshold Th1, that is, when the door of the sliding door 10 moves to the position PS3, the first detection range RA is set to the third range. RA3, and the second detection range RB becomes the third range RB3.

  As shown in FIG. 5C, when the rotation speed of the electric motor 41 reaches the threshold Th2, that is, when the door of the sliding door 10 moves to the position PS2, the first detection range RA is changed to the second range. RA2, and the second detection range RB becomes the second range RB2.

  As shown in FIG. 5D, when the rotation speed of the electric motor 41 reaches the threshold Th3, that is, when the door of the sliding door 10 moves to the position PS1, the first detection range RA is set to the first range. RA1 and the second detection range RB becomes the first range RB1.

  As described above, the control units 61B and 62B reduce the detection ranges RA and RB in the opening and closing direction ZA as the position of the sliding door 10 in the opening and closing direction ZA approaches the fully opened position. When the position of the sliding door 10 is located in the opening direction from the fully closed position, the control units 61B and 62B move each of the ranges RA1 to RA4 and RB1 to RB4 in the same manner as when the sliding door 10 is closed. It is set so as to include the position in the closing direction from the position of the door tip of No. 10. The control units 61B and 62B set the ranges RA1 to RA4 and RB1 to RB4 of the detection ranges RA and RB stepwise in the same manner as when the sliding door 10 is closed. Further, as shown in FIGS. 5A to 5D, the control unit 62B sets the second detection range RB in conjunction with the setting of the first detection range RA during the opening operation of the sliding door 10. I have.

  As shown in FIG. 3, when the control units 61B and 62B set the above-described detection ranges RA and RB, the control device 50 and the obstacle detection device 60 transmit and receive the following signals. First, the detection range generation unit 52 of the control device 50 generates a setting command signal based on a comparison between the rotation speed of the electric motor 41 and the thresholds Th1 to Th3, and outputs the setting command signal to the detection range setting units 61C and 62C. The detection range setting units 61C and 62C generate range setting signals for setting the ranges RA1 to RA4 and RB1 to RB4 based on the setting command signals, and output the generated range setting signals to the control units 61B and 62B. Then, the control units 61B and 62B control the first detection unit 61A and the second detection unit 62A based on the range setting signal so that the detection ranges RA and RB are set.

  The control device 50 executes detection range setting control for setting the detection ranges RA and RB according to the position of the door of the sliding door 10 as shown in FIGS. 4 and 5. The control device 50 executes detection range setting control when the sliding door 10 is closed and detection range setting control when the sliding door 10 is opened, as shown in FIGS. 4 and 5. In addition, in the following description, each component of the sliding door opening / closing device 1 denoted by a reference numeral indicates each component of the sliding door opening / closing device 1 of FIGS. 1 and 3.

  First, the detection range setting control when the sliding door 10 is closed will be described with reference to FIGS. 4 and 6. The detection range setting control is executed based on the control unit 51 receiving a direction command signal for rotating the electric motor 41 in the second direction in order to close the sliding door 10 by operating the operation unit 110.

The control device 50 acquires the detection result of the rotation speed detection unit 46 in step S11. That is, the control device 50 acquires the rotation speed of the electric motor 41.
Next, the control device 50 determines whether or not the rotation speed of the electric motor 41 is less than the threshold Th1 in step S12. When the control device 50 makes an affirmative determination in step S12, it sets the detection ranges RA and RB to the first ranges RA1 and RB1 in step S13, and shifts to step S11 again. At this time, the control device 50 outputs a setting command signal for setting the detection ranges RA and RB to the first ranges RA1 and RB1 to the obstacle detection device 60. Thereby, as shown in FIG. 4A, the control units 61B and 62B set the first detection range RA to the first range RA1, and set the second detection range RB to the first range RB1. Set.

  On the other hand, when a negative determination is made in step S12, that is, when the rotation speed of the electric motor 41 is equal to or greater than the threshold Th1, the control device 50 determines in step S14 whether the rotation speed of the electric motor 41 is less than the threshold Th2. When the control device 50 makes an affirmative determination in step S14, it sets the detection ranges RA and RB to the second ranges RA2 and RB2 in step S15, and shifts to step S11 again. At this time, the control device 50 outputs to the obstacle detection device 60 a setting command signal for setting the detection ranges RA and RB to the second ranges RA2 and RB2. Thereby, as shown in FIG. 4B, the control units 61B and 62B enlarge the first detection range RA to the second range RA2, and change the second detection range RB to the second range RB2. Expanding.

  On the other hand, when a negative determination is made in step S14, that is, when the rotation speed of the electric motor 41 is equal to or greater than the threshold Th2, the control device 50 determines in step S16 whether the rotation speed of the electric motor 41 is less than the threshold Th3. When an affirmative determination is made in step S16, the control device 50 sets each of the detection ranges RA and RB to the third ranges RA3 and RB3 in step S17, and proceeds to step S11 again. At this time, the control device 50 outputs a setting command signal for setting the detection ranges RA and RB to the third ranges RA3 and RB3 to the obstacle detection device 60. Thereby, as shown in FIG. 4C, the control units 61B and 62B enlarge the first detection range RA to the third range RA3, and change the second detection range RB to the third range RB3. Expanding.

  On the other hand, when a negative determination is made in step S16, that is, when the rotation speed of the electric motor 41 is equal to or greater than the threshold Th3, the control device 50 sets the detection ranges RA and RB to the fourth ranges RA4 and RB4 in step S18, Move to step S19. At this time, the control device 50 outputs a setting command signal for setting the detection ranges RA and RB to the fourth ranges RA4 and RB4 to the obstacle detection device 60. Thereby, as shown in FIG. 4D, the control units 61B and 62B enlarge the first detection range RA to the fourth range RA4, and change the second detection range RB to the fourth range RB4. Expanding. Then, the control device 50 determines whether or not the sliding door 10 is at the fully closed position in step S19. The control device 50 determines whether or not the vehicle is in the fully closed position based on, for example, the rotation speed of the electric motor 41. When a negative determination is made in step S19, the control device 50 returns to step S11 again, and ends the processing when an affirmative determination is made in step S19.

  Next, the detection range setting control during the opening operation of the sliding door 10 will be described with reference to FIGS. The detection range setting control is executed based on the control unit 51 receiving a direction command signal for rotating the electric motor 41 in the first direction to open the sliding door 10 by operating the operation unit 110.

  The detection range setting control at the time of the opening operation of the sliding door 10 is the same as the determination based on the comparison between the rotation speed of the electric motor 41 and the thresholds Th1 to Th3 as compared with the detection range setting control at the time of the closing operation of the sliding door 10. The setting of each detection range RA, RB based on the determination result is different. Also, the determination content for ending the processing is different. More specifically, the contents of steps S21, S22, S24, and S26 in the detection range setting control of FIG. 7 are the same as the contents of steps S11, S12, S14, and S16 in the detection range setting control of FIG. On the other hand, the contents of steps S23, S25, S27 to S29 in the detection range setting control of FIG. 7 are different from the contents of steps S13, S15, S17 to S19 in the detection range setting control of FIG.

  As shown in FIG. 7, when the control device 50 makes an affirmative determination in step S22, that is, when the rotation speed of the electric motor 41 is less than the threshold Th1, the control device 50 sets each of the detection ranges RA and RB to the fourth range RA4 in step S23. , RB4, and then returns to step S21. At this time, the control device 50 outputs a setting command signal for setting the detection ranges RA and RB to the fourth ranges RA4 and RB4 to the obstacle detection device 60. For this reason, as shown in FIG. 5A, the control units 61B and 62B set the first detection range RA to the fourth range RA4, and set the second detection range RB to the fourth range RB4. Set.

  When the control device 50 makes an affirmative determination in step S24, that is, when the rotation speed of the electric motor 41 is less than the threshold Th2, the control device 50 sets each of the detection ranges RA and RB to the third ranges RA3 and RB3 in step S25, and again Move to step S21. At this time, the control device 50 outputs a setting command signal for setting the detection ranges RA and RB to the third ranges RA3 and RB3 to the obstacle detection device 60. For this reason, as shown in FIG. 5B, the control units 61B and 62B reduce the first detection range RA to the third range RA3 and change the second detection range RB to the third range RB3. to shrink.

  When the control device 50 makes an affirmative determination in step S26, that is, when the rotation speed of the electric motor 41 is less than the threshold Th3, the control device 50 sets the detection ranges RA and RB to the second ranges RA2 and RB2 in step S27, and again Move to step S21. At this time, the control device 50 outputs to the obstacle detection device 60 a setting command signal for setting the detection ranges RA and RB to the second ranges RA2 and RB2. For this reason, as shown in FIG. 5C, the control units 61B and 62B reduce the first detection range RA to the second range RA2, and change the second detection range RB to the second range RB2. to shrink.

  On the other hand, when a negative determination is made in step S26, that is, when the rotation speed of the electric motor 41 is equal to or more than the threshold Th3, the control device 50 sets the detection ranges RA and RB to the first ranges RA1 and RB1 in step S28. Then, control goes to a step S29. At this time, the control device 50 outputs a setting command signal for setting the detection ranges RA and RB to the first ranges RA1 and RB1 to the obstacle detection device 60. For this reason, as shown in FIG. 5D, the control units 61B and 62B reduce the first detection range RA to the first range RA1, and change the second detection range RB to the first range RB1. to shrink. The control device 50 determines whether or not it is the fully open position in step S29. When a negative determination is made in step S29, the control device 50 returns to step S21 again, and when an affirmative determination is made in step S29, the process ends.

  The control unit 51 of the control device 50 executes an obstacle detection control that executes an operation different from the normal opening / closing operation of the sliding door 10 when the obstacle detection device 60 detects an obstacle. The obstacle detection control is started when the control unit 51 receives an operation signal of the operation unit 110, and ends when the sliding door 10 moves to the fully closed position or the fully open position. Thus, the obstacle detection control is executed over the same period as the detection range setting control.

  Hereinafter, the processing procedure of the obstacle detection control will be described with reference to FIG. In addition, in the following description, each component of the sliding door opening and closing device 1 denoted by a reference numeral indicates each component of the sliding door opening and closing device 1 of FIG. 1 or FIG.

  The control unit 51 determines whether or not the first detection unit 61A has detected an obstacle in step S31. When a negative determination is made in step S31, the control unit 51 determines whether the second detection unit 62A has detected an obstacle in step S32. When an affirmative determination is made in step S31 or step S32, the control unit 51 stops moving the sliding door 10 at a position other than the fully open position or the fully closed position in step S33 as an operation different from the normal opening / closing operation of the sliding door 10. I do. Specifically, the control unit 51 stops the supply of electric power to the electric motor 41. Then, the control unit 51 returns to Step S31 again.

  On the other hand, when a negative determination is made in step S32, the control unit 51 determines in step S34 whether the sliding door 10 is at the fully closed position or the fully open position. When a negative determination is made in step S34, the control unit 51 determines whether or not the sliding door 10 is stopped in step S35. When a negative determination is made in step S35, that is, when the driving unit 40 is driving the sliding door 10, the control unit 51 proceeds to step S31 again.

  When the control unit 51 makes an affirmative determination in step S35, the driving unit 40 restarts driving the sliding door 10 in step S36, and then proceeds to step S31. Here, after the sliding door 10 stops based on the detection of the obstacle by the first detection unit 61A or the second detection unit 62A, the obstacle moves from the detection ranges RA and RB and the first detection unit moves. This shows a situation in which the driving of the sliding door 10 is restarted based on the detection of no obstacle by the detection unit 61A and the second detection unit 62A.

On the other hand, when the control unit 51 makes an affirmative determination in step S34, it stops driving the sliding door 10 in step S37, and then ends this control.
In the obstacle detection control, the content of step S31 and the content of step S32 may be exchanged. In step S33 of the obstacle detection control, the moving direction of the sliding door 10 is reversed or the moving speed of the sliding door 10 is reduced instead of stopping the sliding door 10 as an operation different from the normal opening / closing operation of the sliding door 10. It may be. When reversing the moving direction of the sliding door 10, the control unit 51 may stop the sliding door 10 after moving the sliding door 10 in the reverse direction over a predetermined amount. In addition, when the moving speed of the sliding door 10 is reduced, the control unit 51 decreases the moving speed as the moving amount of the sliding door 10 increases, so that the sliding door 10 stops when the sliding door 10 moves over a predetermined amount. Good.

The operation and effect of the present embodiment will be described.
As shown in FIG. 9A, when the sliding door 10 is located closer to the opening than the position PS1 during the closing operation of the sliding door 10, the first detection range RA becomes the first range RA1. , The second detection range RB becomes the first range RB1. Therefore, when the passenger as the obstacle is at the position PS3, the position where the passenger is located is outside the first ranges RA1 and RB1. Therefore, when the passenger is located far from the sliding door 10, the sliding door opening and closing device 1 avoids stopping the closing operation of the sliding door 10 by the passenger. As described above, it is possible to suppress the stop of the driving of the sliding door 10 even if there is an obstacle in a range where there is no possibility of collision with the sliding door 10 or a possibility that the sliding door 10 has a low possibility.

  On the other hand, as shown in FIG. 9B, when the sliding door 10 moves in the closing direction and the tip of the sliding door 10 moves to the position PS2, the first detection range RA expands to a third range RA3. , The second detection range RB expands to a third range RB3. Therefore, the passengers fall within the third ranges RA3 and RB3. Therefore, when the passenger is near the sliding door 10, the sliding door opening / closing device 1 stops the closing operation of the sliding door 10 because the obstacle detection device 60 detects the passenger. Thus, the sliding door 10 can be stopped before the passenger collides with the sliding door 10.

  Further, as shown in FIG. 10, when the sliding door 10 is located between the position PS2 and the position PS1 during the opening operation of the sliding door 10, the first detection range RA becomes the second range RA2. The second detection range RB is reduced to a second range RB2. For this reason, even if the passenger is at the position PS3, it is outside the range of the second ranges RA2 and RB2. Therefore, similarly to the closing operation of the sliding door 10, when the passenger is located far from the sliding door 10, the sliding door opening and closing device 1 is prevented from stopping the opening operation of the sliding door 10 by the passenger.

According to the sliding door opening and closing device 1 of the present embodiment, the following effects can be obtained in addition to the above effects.
(1) Since the obstacle detection device 60 can adjust the detection ranges RA and RB by the external device 70, for example, the setting mode of each detection range RA and RB when the sliding door 10 is closed, and the opening of the sliding door 10 Each detection range RA, RB can be adjusted so that the setting mode of each detection range RA, RB during operation is different. Therefore, the degree of freedom in setting the detection ranges RA and RB is increased.

  (2) Based on the detection range setting control by the control unit 51, the control units 61B and 62B interlock with the position of the sliding door 10 to set the detection ranges RA and RB stepwise according to the position of the sliding door 10. Therefore, the number of times each detection range RA, RB is set is smaller than when it is assumed that each detection range RA, RB is set continuously. Therefore, the loads on the control units 61B and 62B are reduced.

  (3) Since the control units 61B and 62B set both the detection ranges RA and RB according to the position of the sliding door 10, there is no possibility that the collision with the sliding door 10 will occur, or the control units 61B and 62B will hinder the range where the collision is unlikely. Even if there is an object, it is possible to further suppress the detection units 61A and 62A from detecting an obstacle.

  (4) The first detector 61A is a two-dimensional sensor, and the second detector 62A is a three-dimensional sensor. In such a sensor, each detection range RA, RB can be set based on a program for changing each detection range RA, RB. For this reason, each detection range RA and RB can be easily changed as compared with the case where each of the detection units 61A and 62A is a photoelectric sensor having a light emitter and a light receiver.

(Second embodiment)
The configuration of the sliding door opening and closing device 1 according to the second embodiment will be described with reference to FIGS. 11 and 12. Note that, in the sliding door opening and closing apparatus 1 of the second embodiment, components common to the configuration of the sliding door opening and closing apparatus 1 of the first embodiment are denoted by the same reference numerals, and a part or all of the description is omitted. There is.

  As shown in FIGS. 11A to 11D, in the detection range setting control during the closing operation of the sliding door 10, the first detection range RA of the first detection unit 61 </ b> A is determined by the sliding door 10 in the closing operation of the sliding door 10. Are expanded to the first range RA1 to the fourth range RA4 in the same manner as the first detection range RA of the first embodiment. On the other hand, in the second detection range RB of the second detection unit 62A, the fourth range RB4 is maintained regardless of the position of the tip of the sliding door 10 in the closing operation of the sliding door 10.

  As shown in FIGS. 12A to 12D, in the detection range setting control at the time of the opening operation of the sliding door 10, the first detection range RA depends on the position of the tip of the sliding door 10 in the opening operation of the sliding door 10. Thus, similarly to the first detection range RA of the first embodiment, the range is reduced from the fourth range RA4 to the first range RA1. On the other hand, the second detection range RB maintains the fourth range RB4 regardless of the position of the tip of the sliding door 10 in the opening operation of the sliding door 10. As described above, the first detection range RA and the second detection range RB are individually set without interlocking the first detection range RA and the second detection range RB.

According to the sliding door opening / closing device 1 of the present embodiment, the following effects can be obtained in addition to the effects similar to the effects of the first embodiment.
(5) Since the control units 61B and 62B can individually set the detection ranges RA and RB, the control units 61B and 62B can set the second detection range RB without being affected by, for example, the first detection range RA. For this reason, the degree of freedom in setting the second detection range RB increases.

  (6) The control units 61B and 62B set the first detection range RA according to the position of the sliding door 10, while setting the second detection range RB regardless of the position of the sliding door 10 in the entire opening and closing direction ZA of the entrance 100. Set to include Therefore, when the obstacle is located within the second detection range RB, the obstacle can be detected by the second detection unit 62A, and the obstacle within the second detection range RB can be detected by the surface 10X of the sliding door 10. When moving to the side, the obstacle can be detected by the first detection unit 61A according to the position of the sliding door 10. For this reason, even if there is no possibility of collision with the sliding door 10 on the front surface 10X side of the sliding door 10 or an obstacle exists in a range where the possibility of collision is low, the first detection unit 61A detects the obstacle. Can be suppressed.

(Modification)
The description of each of the above embodiments is an example of a form that can be taken by the obstacle detection device and the sliding door opening and closing device according to the present invention, and is not intended to limit the form. The obstacle detection device and the sliding door opening / closing device according to the present invention can take a form in which, for example, a modification of each embodiment described below and at least two modifications that do not contradict each other are combined.

(Modification 1)
In each of the above embodiments, the arrangement of the obstacle detection device 60 may be changed as in the following (a) to (f).
(A) The first detection device 61 is disposed on the back surface side of the sliding door 10, and the second detection device 62 is disposed on the track side of the first detection device 61. For this reason, the first detection range RA is on the back surface side of the sliding door 10, and the second detection range RB is on the orbit side of the first detection range RA.
(B) The first detection device 61 is disposed on both the front side and the back side of the sliding door 10, and the second detection device 62 is located closer to the track than the first detection device 61 disposed on the back side of the sliding door 10. Is arranged. Therefore, the second detection range RB is closer to the track than the first detection range RA arranged on the back side of the sliding door 10.
(C) The first detection device 61 is arranged on the front surface side of the sliding door 10, and the second detection device 62 is omitted.
(D) The first detection device 61 is disposed on the back surface side of the sliding door 10, and the second detection device 62 is omitted.
(E) The first detection device 61 is disposed on both the front surface side and the back surface side of the sliding door 10, and the second detection device 62 is omitted.
(F) One of the first detection device 61 and the second detection device 62 is arranged at the door of the sliding door 10. In this case, the other of the first detection device 61 and the second detection device 62 may be omitted.

(Modification 2)
In the above embodiments, the configuration of the obstacle detection device 60 may be changed as follows.
(A) The second detector 62A is a two-dimensional sensor.
(B) The first detector 61A is a three-dimensional sensor.
(C) One of the first detector 61A and the second detector 62A is a photoelectric sensor. In the above configuration (c), a light emitting element is attached to one of the door pocket 20 and the door stop 30 and a light receiving element is attached to the other as the photoelectric sensor. Therefore, the detection range of the detection unit serving as the photoelectric sensor of the first detection unit 61A and the second detection unit 62A is maintained over the entire entrance 100 in the opening / closing direction ZA.

(Modification 3)
In each of the above embodiments, the number of thresholds is an arbitrary setting item, and may be changed as in the following (a) to (c). Note that (a) to (c) may be combined with each other.
(A) The number of thresholds is one, two, or four or more. For example, the detection ranges RA and RB may be set in conjunction with the position of the door of the sliding door 10 by setting an enormous number of thresholds.
(B) The threshold value when the sliding door 10 is closed and the threshold value when the sliding door 10 is opened are different from each other.
(C) The number of thresholds when the sliding door 10 is closed is different from the number of thresholds when the sliding door 10 is opened.

(Modification 4)
In the first embodiment, the detection ranges RA and RB may be changed as in the following (a) to (c). Note that (a) to (c) may be combined with each other. In addition, by connecting the external device 70 to the obstacle detection device 60 so as to be able to communicate, the following changes of the detection ranges RA and RB can be performed.
(A) Each detection range RA, RB protruding in the closing direction from the top of the sliding door 10 when the sliding door 10 is closed, and each detection range protruding in the closing direction from the top of the sliding door 10 when the sliding door 10 is opened. RA and RB are different from each other. For example, the detection ranges RA and RB that protrude in the closing direction from the door of the sliding door 10 when the sliding door 10 is closed are the detection ranges RA that protrude in the closing direction from the door of the sliding door 10 when the sliding door 10 is opened and closed. , RB.
(B) A first detection range RA protruding from the door of the sliding door 10 in the closing direction and a second detection range RB protruding from the door of the sliding door 10 in the closing direction are different from each other. For example, the first detection range RA projecting from the door of the sliding door 10 in the closing direction is larger than the second detection range RB projecting from the door of the sliding door 10 in the closing direction.
(C) The first detection range RA is set in conjunction with the setting of the second detection range RB.

(Modification 5)
In the second embodiment, the first detection range RA protrudes in the closing direction from the door of the sliding door 10 at the time of the closing operation of the sliding door 10 and the closing direction from the door of the sliding door 10 at the time of the opening operation of the sliding door 10. The first detection ranges RA projecting from each other are different from each other. For example, a first detection range RA that protrudes in the closing direction from the door of the sliding door 10 when the sliding door 10 is closed is a first detection range that protrudes in the closing direction from the door of the sliding door 10 when the sliding door 10 is opened. Larger than RA. Note that, by connecting the external device 70 to the obstacle detection device 60, the detection ranges RA and RB can be changed as described above.

(Modification 6)
In the second embodiment, the control units 61B and 62B maintain the first detection range RA in the fourth range RA4 regardless of the position of the sliding door 10, and move the second detection range RB to the position of the sliding door 10. It may be set accordingly.

(Modification 7)
In the first embodiment, the detection result of the rotation speed detection unit 46 of the drive unit 40 may be directly input to the obstacle detection device 60. In this case, the detection range setting units 61C and 62C set the detection ranges RA and RB based on the rotation speed of the electric motor 41. Then, the control units 61B and 62B control the first detection unit 61A and the second detection unit 62A so that the detection ranges RA and RB are set by the detection range setting units 61C and 62C. Also, in the second embodiment, the detection result of the rotation speed detection unit 46 may be directly input to the obstacle detection device 60 in the same manner. In this case, the detection range setting unit 61C sets the first detection range RA based on the rotation speed of the electric motor 41, and the control unit 61B becomes the first detection range RA set by the detection range setting unit 61C. To control the first detector 61A.

(Modification 8)
In each of the above embodiments, the detection range setting control at the time of the closing operation and the opening operation and the condition for starting the execution of the obstacle detection control are replaced with the operation signal of the operation unit 110 and the railway vehicle that has entered the platform P. The start signal of each control may be received by the sliding door opening / closing device 1 through communication with the sliding door opening / closing device 1.

(Modification 9)
In each of the above embodiments, the configuration of the obstacle detection device 60 may be changed to the obstacle detection device 80 of FIG. That is, the obstacle detection device 80 is provided, for example, above the sliding door opening / closing device 1 and is attached to the crosspiece 120 extending in the opening / closing direction ZA. The obstacle detection device 80 includes a first detection unit 81, a second detection unit 82, a third detection unit 83, a fourth detection unit 84, and a control unit 85. In the obstacle detection device 80, each of the detection units 81 to 84 corresponds to an obstacle detection unit.
The detectors 81 to 84 are arranged in the rail 120 at intervals in the opening and closing direction ZA from the opening direction to the closing direction. The detection range of the first detection unit 81 is a range from the end of the door pocket 20 in the closing direction to the position PS1. The detection range of the second detection unit 82 is a range from the position PS1 to the position PS2. The detection range of the third detection unit 83 is a range from the position PS2 to the position PS3. The detection range of the fourth detection unit 84 is a range from the position PS3 to 30 per door.
The control unit 85 controls switching of the detection units 81 to 84 between the valid state and the invalid state according to the position of the door of the sliding door 10. The valid state of each of the detection units 81 to 84 is a state in which the obstacle can be detected when the obstacle is located within the detection range of each of the detection units 81 to 84. In addition, the state in which each of the detection units 81 to 84 is invalid means a state in which the obstacle is not detected when the obstacle is located in the detection range of each of the detection units 81 to 84, that is, each of the detection units 81 to 84 Is turned off.
Specifically, at the time of the closing operation of the sliding door 10, when the rotation speed of the electric motor 41 is less than the threshold Th1, the control unit 85 sets the first detection unit 81 to an effective state, and sets the second detection unit 82 to 4 is set to an invalid state. When the rotation speed of the electric motor 41 is equal to or more than the threshold Th1 and less than the threshold Th2, the control unit 85 sets the first detection unit 81 and the second detection unit 82 to an effective state, and sets the third detection unit 83 and the fourth detection unit Is set to the invalid state. When the rotation speed of the electric motor 41 is equal to or more than the threshold Th2 and less than the threshold Th3, the control unit 85 sets the first to third detection units 81 to 83 to an enabled state and disables the fourth detection unit 84. State. When the rotation speed of the electric motor 41 is equal to or greater than the threshold Th3, the control unit 85 sets all of the first to fourth detection units 81 to 84 to an effective state.
On the other hand, at the time of the opening operation of the sliding door 10, when the rotation speed of the electric motor 41 is less than the threshold Th1, the control unit 85 sets all of the first to fourth detection units 81 to 84 to an effective state. When the rotation speed of the electric motor 41 is equal to or more than the threshold Th1 and less than the threshold Th2, the control unit 85 sets the first to third detection units 81 to 83 to an enabled state and disables the fourth detection unit 84. State. When the rotation speed of the electric motor 41 is equal to or more than the threshold Th2 and less than the threshold Th3, the control unit 85 sets the first detection unit 81 and the second detection unit 82 to an effective state, and sets the third detection unit 83 and the fourth detection unit Is set to the invalid state. When the rotation speed of the electric motor 41 is equal to or more than the threshold Th3, the control unit 85 sets the first detection unit 81 to an effective state and sets the second detection unit 82 to the fourth detection unit 84 to an invalid state.
Instead of setting the range of the opening and closing direction ZA of the detection range of one detection unit as in the obstacle detection device 80, the detection range in the opening and closing direction ZA of the obstacle detection device is determined by combining the detection ranges of a plurality of detection units. Can also be set.

(Modification 10)
In each of the above embodiments, the example in which the sliding door opening / closing device 1 is applied to a home door device has been described. be able to.

1 Sliding Door Opening / Closing Device 10 Sliding Door 10X Front 10Y Back 40 Drive Unit 60 Obstacle Detector 61A First Detector (Obstacle Detector)
61B control unit 62A second detection unit (obstacle detection unit)
62B Control unit 70 External device 80 Obstacle detection device 85 Control unit 100 Gateway RA First detection range (detection range)
RB Second detection range ZA Opening / closing direction

Claims (10)

An obstacle detection device that detects an obstacle at an entrance that is opened and closed by a sliding door that moves in the opening and closing direction,
An obstacle detection unit that detects the obstacle, and a control unit that sets a detection range in the opening and closing direction of the obstacle detection unit according to the position of the sliding door ,
The obstacle detection unit includes a first detection unit disposed on the front side of the sliding door, and at least one of a second detection unit disposed on the back side of the sliding door,
The control unit includes a first detection range in the opening and closing direction of the first detection unit in accordance with a position of the sliding door in the opening and closing direction, and a second detection in the opening and closing direction of the second detection unit. An obstacle detection device for setting at least one of the ranges . The control unit enlarges the detection range as the position of the sliding door in the opening and closing direction approaches the fully closed position, and reduces the detection range as the position of the sliding door in the opening and closing direction approaches the fully open position. The obstacle detection device according to any one of the above. Wherein the control unit, wherein the position of the sliding door in the closing direction when located in the opening direction than the fully closed position, to set the pre-Symbol detection range to include the closing direction position than the door head of the sliding door Item 3. The obstacle detection device according to item 1 or 2. Wherein the control unit is capable of communicating with an external device, obstacle detection device according to claim 1 for adjusting the pre-Symbol detection range based on a signal received from the external device. Wherein, obstacle detection device according to claim 1 for setting the pre-Symbol detection range stepwise. The obstacle detection unit includes both the first detection unit and the second detection unit,
Wherein, prior SL in conjunction with the setting of the first detection range, before Symbol obstacle detection device according to any one of claims 1 to 5, set the second detection range. The obstacle detection unit includes both the first detection unit and the second detection unit,
Wherein, prior Symbol first detection range and before Symbol obstacle detection apparatus according to the second detection range to any one of claims 1 to 5 set individually. Wherein the control unit, according to set the pre-Symbol first detection range in accordance with the position of the sliding door in the closing direction, sets the second detection range to include the entirety of the entrance in the closing direction Item 9. The obstacle detection device according to Item 7 . The obstacle detection device according to any one of claims 1 to 8 , wherein the obstacle detection unit is a two-dimensional sensor in which the detection range is a plane or a three-dimensional sensor in which the detection range is a space. A sliding door that moves in the opening and closing direction to open and close the entrance,
A drive unit for moving the sliding door in the opening and closing direction,
A sliding door opening / closing device comprising: the obstacle detection device according to any one of claims 1 to 9 , which detects an obstacle at the entrance.

Images