JP6633873B2 - Automatic door opening and closing control system - Google Patents

Description

  The present invention relates to an automatic door opening / closing control system.

  2. Description of the Related Art Conventionally, as an automatic door provided at an opening of a building, an automatic door capable of ensuring safety of an object (for example, a human body, an object, or the like) located near the door has been proposed. Such an automatic door includes a pair of doors, a mating door provided on each of the right and left sides of the pair of doors, and a control unit that is provided at an upper part of the automatic door and controls the automatic door. It is provided with a stitch that is housed therein and a reflection switch provided in the stitch, which is for detecting the presence or absence of a human body or the like located on the door pocket side of each of the pair of doors. Then, the control unit performs the following door control based on the detection result of the reflection switch. Specifically, in a state where the opening is fully closed by a pair of doors, when a reflection switch detects a human body or the like, the fully closed state is maintained. When the reflection switch detects a human body or the like in a state where the pair of doors are opened, the opening movement of the pair of doors is stopped. With the above-described control, it is possible to ensure the safety of an object located near the pair of doors.

JP-A-64-46379

  Here, the detection area of the reflection switch is slightly separated from the distance corresponding to the thickness of the door from the fitted door so that the door is not detected by the reflection switch when the opening is fully opened by the door. Set to position. By setting such a detection area, it becomes difficult to accurately detect a human body or the like located on the door ass side of the door by the reflection switch, and thus it is difficult to secure safety of a human body or the like located near the door. There was a possibility.

  An object of the present invention is to solve the above-mentioned problems in the related art, and it is easy to ensure the safety of an object such as a human body located near a door, and to improve the safety of an automatic door. It is an object of the present invention to provide an automatic door opening / closing control system that enables the automatic door opening and closing control.

In order to solve the above-described problems and achieve the object, an automatic door opening / closing control system according to claim 1 is an automatic door opening / closing control system that performs opening / closing control of a door that opens and closes an opening of a building. A first determination unit configured to determine whether a first object has entered the opening or a first region located in the vicinity of the viewing direction with respect to the opening, and a second region that is different from the first region. A second determining means for determining whether or not a second object has entered a second area, which is an area, at least between the door and a peripheral structure located on the side of the door of the door. Opening / closing control means for controlling the opening / closing of the door based on the judgment results of the first judgment means and the second judgment means , wherein the second judgment means is provided substantially along the opening / closing direction of the door. A reflection-type photoelectric sensor that emits detection light; A reflection-type photoelectric sensor having a light-transmission / reception unit that transmits and receives the detection light, and a reflection unit provided at a position capable of reflecting the detection light emitted from the light-transmission / reception unit; The detection light of the sensor may be located at one of the door-side end of the door or the door-side end of the peripheral structure, and the door-side end of the door or the door of the peripheral structure. The light transmission / reception unit and the reflection unit were arranged so as to reach one of the other ends.

  The automatic door opening / closing control system according to claim 2 is the automatic door opening / closing control system according to claim 1, further comprising an opening / closing state determining unit configured to determine an opening / closing state of the door, wherein the opening / closing control unit includes: In a case where the open / closed state determining means determines that the open / closed state of the door is a fully closed state in which the opening is fully closed by the door, the second determining means sets the second object to the second closed state. When it is determined that the vehicle has entered the area, the door is opened and closed so as to maintain the fully closed state regardless of the determination result of the first determination unit.

An automatic door opening / closing control system according to a third aspect of the present invention is the automatic door opening / closing control system according to the first aspect, further comprising an open / closed state determination unit configured to determine an open / closed state of the door. When the open / close state of the door is determined by the open / close state determination unit to be an open movement state in which the door is opening and moving in the opening direction of the door, the second determination unit determines the open / close state of the door. When it is determined that the two objects have entered the second area, the opening movement of the door is stopped regardless of the determination result of the first determination unit .

An automatic door opening / closing control system according to claim 4, wherein the automatic door opening / closing control system performs opening / closing control of a door that opens / closes an opening of a building. First determining means for determining whether or not a first object has entered a located first area; and a second area different from the first area, at least the door and a door end of the door. A second determining means for determining whether a second object has entered a second area located between the surrounding structures located on the side, and a determination by the first and second determining means. Open / close control means for controlling the opening / closing of the door based on the result, and open / close state determining means for determining the open / closed state of the door, wherein the open / close control means includes: How the door is closed In the case where it is determined that the door is in the closing movement state, in which the door is moving in the closing direction, the first determination unit determines that the first object has entered the first area and determines whether the first object has entered the first area. When the second determination unit determines that the second object has entered the second area, the closing movement of the door is stopped.

  An automatic door opening / closing control system according to claim 5, wherein in the automatic door opening / closing control system according to any one of claims 1 to 4, the second determination unit is configured to substantially follow the door opening / closing direction. And a photoelectric sensor that emits detection light.

The automatic door opening / closing control system according to claim 6, wherein the detection light of the photoelectric sensor is an end portion of the door at a door end side or the peripheral structure in the automatic door opening / closing control system according to claim 5. The photoelectric sensor is illuminated so as to irradiate from one of the door-side ends of the door to the door-side end of the door or the other of the door-side ends of the peripheral structure. Was provided.
An automatic door opening / closing control system according to claim 7, wherein the automatic door opening / closing control system according to any one of claims 1 to 6, indicates that the second object has entered the second area. Output means for outputting notification information, wherein the opening / closing control means, when the second determination means determines that the second object has entered the second area, a determination result of the first determination means Regardless of the above, the notification information is output to the output unit.

According to the automatic door opening / closing control system according to claim 1, the first determination unit that determines whether the first object has entered the opening or the first area located near the opening in the viewing direction. The second object has entered a second area which is an area different from the first area and which is located at least between the door and a peripheral structure located on the side of the door. A second determination means for determining whether or not the first determination means and the opening and closing control means for controlling the opening and closing of the door based on the determination results of the first determination means and the second determination means. And the door opening side of the door as compared with the case where the opening and closing control of the door is performed based only on the determination result of the determination unit that determines whether or not the object has entered an area located at a location more distant than the second area. To prevent the second object in the It is possible to avoid that an object is sandwiched therebetween with the door and the surrounding structure. Therefore, it is easy to secure the safety of the object located near the door, and it is possible to improve the safety of the automatic door.
Also, since the second determination means includes a reflective photoelectric sensor that irradiates the detection light substantially along the door opening / closing direction, the second determination unit includes a photoelectric sensor that irradiates the detection light along a direction orthogonal to the door opening / closing direction. Even if the number of installed photoelectric sensors is smaller than in the case where the second object can be covered over the entire area of the second area substantially along the opening and closing direction of the door, a relatively vertically long object such as a person among the second object can be covered. It is possible to accurately determine whether or not the vehicle has entered. Therefore, it is possible to accurately determine whether or not the second object has entered while suppressing the installation cost of the automatic door opening / closing control system.
In addition, the detection light of the reflection type photoelectric sensor may be arranged such that the detection light from one of the door end side of the door or the door side end of the peripheral structure is the door end of the door or the door side of the peripheral structure. Of the second object existing between the door and the peripheral structure located on the side of the door as the photoelectric sensor is provided so as to reach the other end of the door. Can be accurately detected, and since the door itself does not intervene between the door end of the door and the peripheral structure, the door is detected as a second object. That is, it is possible to prevent the second object from entering, and it is possible to more accurately determine whether or not the second object has entered, and to easily perform the opening / closing control of the door.

  According to the automatic door opening / closing control system of the second aspect, the opening / closing control means is configured to perform the second determination by the second determination means when the open / close state of the door is determined to be the fully closed state by the open / close state determination means. When it is determined that the object has entered the second area, the door is opened and closed so as to maintain the fully closed state regardless of the determination result of the first determination unit. In the fully closed state, it is possible to avoid a collision between the door and a second object on the door end side of the door, or to prevent the second object from being caught between the door and a peripheral structure. As a result, the safety of the object located near the door can be further easily ensured.

According to the automatic door opening / closing control system of the third aspect, the opening / closing control means is configured to perform the second determination by the second determination means when the opening / closing state of the door is determined to be the open movement state by the opening / closing state determination means. If the object is determined to have entered the second region, regardless of the determination result of the first determination means, so to stop the opening movement of the door, in the closed state is opened moving state of the door, the door The second object on the door end side of the door can be prevented from colliding with the door, and the second object can be prevented from being caught between the door and the surrounding structure. It is easier to secure the safety of the object to be performed.

According to the automatic door opening / closing control system of the fourth aspect, the first determination means for determining whether the first object has entered the opening or the first area located in the vicinity of the viewing direction with respect to the opening. The second object has entered a second area which is an area different from the first area and which is located at least between the door and a peripheral structure located on the side of the door. A second determination means for determining whether or not the first determination means and the opening and closing control means for controlling the opening and closing of the door based on the determination results of the first determination means and the second determination means. And the door opening side of the door as compared with the case where the opening and closing control of the door is performed based only on the determination result of the determination unit that determines whether or not the object has entered an area located at a location more distant than the second area. To prevent the second object in the It is possible to avoid that an object is sandwiched therebetween with the door and the surrounding structure. Therefore, it is easy to secure the safety of the object located near the door, and it is possible to improve the safety of the automatic door.

  According to the automatic door opening / closing control system according to the fifth aspect, the second determination unit includes the photoelectric sensor that emits the detection light substantially along the door opening / closing direction. Compared to the case where the photoelectric sensor that irradiates the detection light along is provided, even when the number of installed photoelectric sensors is small, the entire area of the second area substantially along the opening and closing direction of the door can be covered. It is possible to accurately determine whether or not a relatively vertically long object such as a person has entered. Therefore, it is possible to accurately determine whether or not the second object has entered while suppressing the installation cost of the automatic door opening / closing control system.

According to the automatic door opening / closing control system of claim 6, the detection light of the photoelectric sensor detects the door butt of the door from one of the door butt end of the door and the door end of the peripheral structure. The photoelectric sensor is provided so as to reach the other one of the side end or the door side end of the peripheral structure, so that the door and the peripheral structure located on the door ass side of the door Can accurately detect the presence or absence of the second object existing between the doors, and the door itself does not intervene between the door-side end of the door and the peripheral structure. Therefore, it is possible to avoid detecting the door as the second object, it is possible to more accurately determine whether or not the second object has entered, and it is possible to easily perform the opening / closing control of the door.
According to the automatic door opening / closing control system of the seventh aspect, the opening / closing control means determines the first object by the first judging means when the second judging means judges that the second object has entered the second area. Regardless of the result, the notification information is output to the output means, so that a person in the second object or another area other than the second area is notified that the second object has entered the second area. Therefore, the safety of an object located near the door can be further easily ensured.

It is a front view showing the automatic door concerning Embodiment 1 of the present invention. FIG. 2 is a cross-sectional view (partially omitted) of the automatic door of FIG. FIG. 2 is a cross-sectional view (partially omitted) of the automatic door of FIG. FIG. 3 is a block diagram illustrating an electrical configuration of a control unit. FIG. 3 is a diagram illustrating a configuration example of a control information table. It is a flowchart of an opening / closing process. FIG. 9 is a front view showing the automatic door according to the second embodiment. FIG. 8 is a cross-sectional view (partially omitted) of the automatic door of FIG. It is a figure showing the modification of the 2nd field.

  An embodiment of an automatic door opening / closing control system according to the present invention will be described in detail below with reference to the accompanying drawings. First, [I] the basic concept of the embodiment will be described, [II] the specific contents of the embodiment will be described, and finally, a modified example of the [III] embodiment will be described. However, the present invention is not limited by the embodiments.

[I] Basic Concept of Embodiment First, a basic concept of the embodiment will be described. The embodiment generally relates to an automatic door opening / closing control system that performs opening / closing control of a door that opens / closes an opening of a building.

  Here, the “building” is a concept including, for example, a detached house, an apartment house such as an apartment or a condominium, an office building, a commercial facility, and a public facility, although its specific structure and type are arbitrary. . The “opening of the building” is an opening formed for installing an entrance in a part (for example, a wall or the like) of a skeleton of the building. The “automatic door” automatically opens and closes the door. Further, the “door” means a structure for suppressing or restricting entry and exit of an opening of a building. Further, the opening and closing direction of the door is arbitrary, and is a concept including, for example, the left-right direction and the like. Further, the mounting position and use of the door are arbitrary, and include, for example, an “entrance door” installed at the entrance or an “indoor door” installed inside the building. Further, the opening and closing structure of the door is arbitrary, and for example, it can be configured as a draw-type door, a single-draw type door, a double draw-type door, or a double single-draw type door. “Door opening / closing control” means control for opening / closing the door. The “open / closed state of the door” is, for example, a “fully closed state” in which the opening is fully closed by the door, a “fully open state” in which the opening is fully opened by the door, and both the fully closed state and the fully open state. This is a concept that includes "non-full open / close state." The “non-fully opened / closed state” is a state in which a part of the opening is opened and another part of the opening is closed by, for example, a door that has stopped opening and closing movement. ”, A“ open movement state ”in which the door is moving in the opening direction of the door, and a“ close movement state ”in which the door is moving in the closing direction of the door. It is a concept including Hereinafter, in the first embodiment, a case where the door of the automatic door is a left-right openable and drawable door provided at the entrance of a building such as an apartment house will be described. In the second embodiment, the entrance of the building will be described. The case where the door is a left-right opening and closing type and double draw type door provided in the following will be described.

[II] Specific Contents of Embodiment Next, specific contents of the embodiment will be described.

[Embodiment 1]
First, an automatic door opening / closing control system according to Embodiment 1 will be described. The first embodiment is an embodiment in which the door of the automatic door is a drawer type door.

(Constitution)
First, a configuration of an automatic door to which the automatic door opening / closing control system according to the first embodiment is applied will be described. In the following description, the X direction in FIG. 1 is the left-right direction of the automatic door (-X direction is the left direction of the automatic door, the + X direction is the right direction of the automatic door), and the Y direction in FIG. The direction is the front direction of the automatic door (outside of the building), the −Y direction is the rear direction of the automatic door (the direction of the indoor side of the building), and the Z direction in FIG. The upward direction of the automatic door and the -Z direction are referred to as the downward direction of the automatic door.

  As shown in FIGS. 1 to 3, the automatic door 1 includes a frame portion 10, doors 21 and 22, doors 41 and 42, an opening and closing drive unit 50, and an opening and closing control device 60. Have been. The automatic door 1 is an automatic door provided at the entrance of a building as described above. As shown in FIG. 1, a frame 10 is provided in an opening 3 formed in a building body 2 of the building. Doors 41 and 42 are provided on the indoor side of the building in the fitting doors 21 and 22 provided in a left vertical frame 11 and a right vertical frame 12 described later of the frame portion 10, respectively. For this reason, the doors 41 and 42 open and close the opening 3 not inside the opening of the opening 3 but on the indoor side of the building with respect to the opening of the opening 3. Even if there is, it is the same in that it is opened and closed to restrict the ingress and egress of a first object described later through the opening 3, and therefore, the description will be made as “opening and closing the opening 3”. The configuration of the automatic door 1 that is not particularly described is the same as the conventional one, and the description is omitted.

(Configuration-Frame)
The frame 10 mainly bears the rigidity of the doors 21 and 22 and the doors 41 and 42. The frame portion 10 is configured by combining a plurality of frame materials with each other. Specifically, the plurality of frame members include a left vertical frame 11, a right vertical frame 12, and a blind 30. The left vertical frame 11, the right vertical frame 12, and the blind 30 are each directly fixed to the building frame 2 at the periphery of the opening 3 by a known method.

  Here, the blind 30 is for accommodating each part of the automatic door 1. The blind 30 is a long hollow body extending substantially in the left-right direction, and is attached to the building frame 2 of the building. Further, inside the blind 30, an opening / closing drive unit 50, an opening / closing state detecting unit 66 of an opening / closing control device 60 described later, and a control unit 70 of the opening / closing control device 60 described later are housed (but are not limited thereto). Instead, for example, the operation unit 61 and the output unit 67 of the opening / closing control device 60 may be housed in addition to this. The blind 30 can be manufactured by an arbitrary method. For example, the blind 30 is formed by connecting a plurality of bend-formed steel plates to each other with a fixture such as a screw or a mounting screw. be able to. A guide rail (not shown) is provided on each of the blind 30 and the floor of the building. The guide rail guides the doors 41 and 42 so as to move along the opening / closing direction of the opening 3 (the left-right direction in the first embodiment). This guide rail is a long body formed so that the cross section orthogonal to the left-right direction has a substantially convex shape (or a substantially U-shape), and is formed on the lower surface of the blind 30 or the floor surface of the building. The guide rails are arranged so that the longitudinal direction is substantially along the left-right direction, and are fixed to the blind 30 or the floor surface of the building by a fixture or the like (the configuration of the first guide rail described later, and the later described). The same applies to the configuration of the second guide rail).

(Structure-Emplacement door)
The fitting doors 21 and 22 are fixed doors that do not move open and close, and are provided on both left and right sides of the opening. These fitting doors 21 and 22 are configured using, for example, known fitting doors for automatic doors, and more specifically, as shown in FIG. It comprises a frame portion 24 that covers at least a part of the periphery, and cubicles 13 and 14 that are provided inside the glass member 23 in the left-right direction. The method of fixing the doors 21 and 22 is optional. For example, the glass member 23 or the frame portion 24 may be blind, the left vertical frame 11 (or the right vertical frame 12) of the frame portion 10 and the building. And the cubic 13 (or cubic 14) with a fixture or the like.

(Configuration-Door)
The doors 41 and 42 are moved substantially along the opening / closing direction (left / right direction) by the opening / closing drive unit 50 to be in a fully opened state, a fully closed state, or a non-fully opened / closed state. These doors 41 and 42 are, for example, well-known doors for automatic doors, and are configured using a drawer type door or the like. Specifically, as shown in FIG. And a frame portion 44 that covers at least a part of the periphery of the glass member 43. The method of fixing the door 41 is arbitrary. For example, first, a guided member (for example, a guide roller or the like) (not shown) is attached to an upper portion of the frame portion 44, and the guided member is placed on the side of the blind 30. The door 41 is hung on the guide rail provided by being slidably provided on the provided substantially convex guide rail. Next, a not-shown guided member (for example, a slider or the like) is attached to a lower portion of the frame portion 44, and the guided member is attached to a U-shaped open end of a guide rail provided on the floor side of the building. And is inserted into the guide rail through the guide rail, thereby fitting into the guide rail provided on the blind 30 side and the floor side of the building (the same applies to the method of fixing the door 42). Thus, the doors 41 and 42 can be slid in the guide rail in the left-right direction, and can be regulated so as not to fall outside the guide rail in the front-rear direction. When there is no particular need to distinguish between the doors 41 and 42, they are simply referred to as "doors 40".

  Each of the doors 41 and 42 is provided with a locking device (not shown). The locking device is a device for locking the doors 41 and 42. The locking device is provided with a deadbolt (not shown). Specifically, when the user performs a key operation from the front of the doors 41 and 42, the deadbolt is moved to the doors of the doors 41 and 42. The doors 41 and 42 can be locked by locking the dead bolts to dead bolt receivers (not shown) provided on the floor of the building in the fully closed state. be able to.

(Configuration-open / close drive unit)
The opening / closing drive unit 50 is an opening / closing drive unit for electrically opening and closing the doors 41 and 42. The open / close drive unit 50 is configured using, for example, a known automatic door open / close drive unit. Specifically, the open / close drive unit 50 is used to rotate the endless belt connected to the doors 41 and 42 and the endless belt. A drive pulley and a driven pulley disposed inside the endless belt, and a motor for rotating the drive pulley (both not shown) are provided. By rotating the drive pulley with the motor, the door 41, 42 can be opened and closed.

(Configuration-open / close control device)
The opening / closing control device 60 is a device that performs opening / closing control of the doors 41 and 42, and as shown in FIGS. 1 to 3, an operation unit 61, a first detection unit 62, a second detection unit 63, and a third detection unit 64. , A fourth detection unit 65, an open / closed state detection unit 66, an output unit 67, and a control unit 70.

(Configuration-Opening / closing control unit-Operation unit)
The operation unit 61 receives an operation input to the opening / closing control device 60, and is fixed to a side wall of the building frame 2 around the opening 3 by a fixing tool as shown in FIG. I have. The operation unit 61 includes a power switch (not shown) for instructing activation of the open / close control device 60 or the open / close drive unit 50 or for instructing the open / close drive unit 50 to stop the activated state.

(Configuration-Opening / closing control device-First detector)
The first detection unit 62 is a first detection unit that detects whether the first object has entered the first area E1. Here, the "first region E1" is a region located in the vicinity of the opening 3 in the viewing direction (front-back direction) as shown in FIGS. Further, “near” is a range of a position away from the opening 3, and when the first object exists in the range of the position, the probability that the first object passes through the opening 3 increases. In the first embodiment, the range of the position to be estimated is described as “near” the range of the position from the opening 3 to a position away from the opening 3 by a predetermined distance (for example, 1 m) in the viewing direction (front-back direction). I do. The “first object” means an object that is going to pass through the opening 3 or is passing through the opening 3, and is a concept including, for example, a person, an animal, and an object. The first detection unit 62 is configured using a known detection sensor such as, for example, a quantum infrared sensor, and as shown in FIG. Are provided at the center portion in the left-right direction of the center portion of the building and the side portion of the blind 30 on the indoor side of the building, and are fixed to the blind 30 by a fixture or the like.

  Further, regarding the detection operation when the first detection unit 62 is a quantum infrared sensor, for example, the infrared light transmitted from the first detection unit 62 is reflected by the floor of the building, and the reflected infrared light is When the first object is received by the first detection unit 62, a signal including first detection information indicating that the first object has not entered the first area E1 is output. On the other hand, when the infrared light transmitted from the first detection unit 62 is reflected by the first object, and the reflected infrared light is received by the first detection unit 62, the first object has entered the first area E1. And outputting a signal including first detection information indicating the fact. In addition, regarding the output of the signal including the first detection information indicating that the first object has entered the first area E1, the state in which the infrared ray reflected by the first object is received by the first detection unit 62 is a predetermined value. Although the operation is continued until the time elapses, the state is switched to an initial state (that is, a state in which a signal including first detection information indicating that the first object has not entered the first area E1) is output after a predetermined time elapses. (The same applies to the detection operation of the third detection unit 64).

(Configuration-Opening / closing control device-Second detector)
The second detection unit 63 is a second detection unit that detects whether a second object has entered the second area E2. Here, the “second region E2” is a region that is different from the first region E1, and is located at least between the door 40 and the peripheral structure located on the door butt side of the door 40. Area. In the first embodiment, the “second region E2” is only the region located between the door 40 and the peripheral structure located on the side of the door 40, as shown in FIGS. Although described as the “second area E2”, the present invention is not limited to this, and may include another area around the door 40 in addition to this area. The “peripheral structure” is a structure provided around the door 40. The “peripheral structure” is a concept including, for example, the left vertical frame 11 or the right vertical frame 12 of the frame portion 10, the side wall on the door 40 side of the building frame 2, and the like in the first embodiment. The left vertical frame 11 or the right vertical frame 12 of the unit 10 will be described as “peripheral structure”. In addition, the “second object” exists near the opening 3 and may collide with the door 40 or be caught between the door 40 and the peripheral structure. And includes, for example, a person, an animal, and an object (the same applies to a third object described later). The second detection unit 63 is configured using a known detection sensor such as a reflection-type photoelectric sensor that irradiates detection light substantially along the opening and closing direction (left and right direction) of the door 40. Includes a light transmitting and receiving unit 63a that transmits and receives the detection light, and a reflecting unit 63b that reflects the detection light emitted from the light transmitting and receiving unit 63a.

  Here, the installation position of the second detection unit 63 is arbitrary, but in the first embodiment, the detection light of the second detection unit 63 is transmitted to the end of the door 40 on the side of the door end or the door 40 in the peripheral structure. Irradiation is provided so as to reach one of the end on the door end side of the door 40 and the other on the door 40 side of the peripheral structure from one of the end portions on the side of the door 40. Specifically, as shown in FIGS. 1 and 3, the light transmitting and receiving unit 63a is provided at an end of the left vertical frame 11 or the right vertical frame 12 (peripheral structure) of the frame unit 10 on the door 40 side. And is fixed to the left vertical frame 11 or the right vertical frame 12 of the frame portion 10 by a fixture or the like (or may be embedded in the left vertical frame 11 or the right vertical frame 12 of the frame portion 10). Good). The reflection portion 63b is provided at a portion corresponding to the light transmission / reception portion 63a among the ends on the door butt side of the doors 41 and 42, and is fixed to the doors 41 and 42 by a fixture or the like. I have. However, in addition to such an installation, the detection light of the second detection unit 63 may be transmitted from either the lower end of the blind 30 or the floor of the building to the lower end of the blind 30 or any of the floor of the building. The second detection unit 63 may be provided so as to reach the other side. However, the former installation position can cover the entire area of the second area E2 substantially along the opening / closing direction (left-right direction) of the door 40 as compared to the latter installation position, and detects the door 40 as a second object. From the viewpoint of accurately detecting a relatively long object such as a person and easily controlling the opening and closing of the door, the former installation position is more effective than the latter installation position. It is believed that there is. Furthermore, at least one of the light transmitting / receiving unit 63a and the reflecting unit 63b is provided in a height range where a person is likely to pass (for example, a range from a position 200 mm above the floor of the building to a position 700 mm above the floor of the building). For example, as shown in FIG. 1, as shown in FIG. 1, two light transmission / reception units 63 a for each second area E <b> 2 and one light transmission / reception unit 63 a capable of reflecting the detection light emitted from the two light transmission / reception units 63 a. The reflection unit 63b is installed (the same applies to the installation height of the light transmission unit 65a and the light reception unit 65b of the fourth detection unit 65). Due to such an installation position, compared to the case where the second detection unit 63 is provided so that the detection light is emitted in a direction (up-down direction) orthogonal to the opening and closing direction of the door 40, the second detection unit 63 Even when the number of installations is small, the entire area of the second area E2 substantially along the opening / closing direction (left / right direction) of the door 40 can be covered, and the distance between the end of the door 40 on the side of the door end and the peripheral structure can be reduced. Since the door 40 itself does not intervene, it is possible to avoid detecting the door 40 as a second object, and determine whether a relatively vertically long object such as a person among the second objects has entered. The determination can be made accurately, and the opening and closing control of the doors 41 and 42 can be easily performed. In addition, compared to the case where the light transmitting / receiving unit 63a and the reflecting unit 63b are provided in a range other than the above-described height range, a person is more easily detected by the second detecting unit 63. Can be. Further, when the light transmitting / receiving unit 63a is provided at the end of the door 40 on the door butt side, and the reflecting unit 63b is provided at the end of the left vertical frame 11 or the right vertical frame 12 of the frame 10 on the door 40 side, or Compared with the case where the transmission type photoelectric sensor is provided at the end of the door 40 on the door end side and the left vertical frame 11 or the right vertical frame 12 of the frame portion 10, the wiring 4 connected to the light transmitting / receiving portion 63a is laid. It will be easier.

  The detection operation when the second detection unit 63 is a reflective photoelectric sensor is optional. For example, the detection light emitted from the light transmission / reception unit 63a is reflected by the reflection unit 63b, and the reflected light is reflected. When the detected light is received by the light transmitting and receiving unit 63a, the light transmitting and receiving unit 63a outputs a signal including second detection information indicating that the second object has not entered the second area E2. On the other hand, when the detection light emitted from the light transmission / reception unit 63a is blocked by the second object, the detection light is not reflected by the reflection unit 63b, and when the detection light is not received by the light transmission / reception unit 63a, The light transmitting / receiving unit 63a outputs a signal including second detection information indicating that the second object has entered the second area E2. Note that the output of the signal including the second detection information indicating that the second object has entered the second area E2 is different from the detection operation of the first detection unit 62 in that the safety of the second object can be ensured. In the state where the detection light is not received by the light transmission / reception unit 63a, the operation is continued until the detection light is received by the light transmission / reception unit 63a.

(Configuration-Opening / closing control device-Third detector)
The third detector 64 is a third detector that detects whether a third object has entered the third area E3. Here, the “third region E3” is a region different from the first region E1 and the second region E2, as shown in FIGS. 1 to 3, and is a projection direction (front-back direction) with respect to the second region E2. Is an area located in the vicinity of. Further, “near” is a range of a position away from the second area E2, and when a third object exists in the range of the position, the third object collides with the door 40 or the door 40 and the surrounding structure. It is a range of positions where it is estimated that the probability of being sandwiched between objects is high. In the first embodiment, a predetermined distance (for example, 0.5 m or the like) from the second area E2 in the viewing direction (front-back direction). ) The range of the position up to the distant position is described as “near”. The third detection unit 64 is configured using a known detection sensor such as a quantum infrared sensor, for example, and as shown in FIG. Each of the doors 21 and 22 is provided at a portion corresponding to each of the doors 21 and 22, and is fixed to the blind 30 by a fixture or the like.

(Configuration-Opening / closing control device-Fourth detector)
The fourth detection unit 65 is a fourth detection unit that detects whether or not the fourth object has entered the fourth area E4 in order to prevent the fourth object from being pinched by the doors 41 and 42. Here, the “fourth region E4” is a region located in the opening 3 (specifically, between the cubicles 13 and 14) as shown in FIGS. The “fourth object” means an object that is passing through the opening 3 and is a concept including, for example, a person, an animal, and an object. The fourth detector has the same function as the first detector in detecting an object passing through the opening 3. Further, the fourth detection unit 65 is configured using a known detection sensor such as a transmission type photoelectric sensor, for example. Specifically, the fourth detection unit 65 includes a light transmission unit 65a that emits detection light, and a light transmission unit 65a. And a light receiving section 65b for receiving the detection light emitted from the light receiving section 65a.

  Here, the installation position of the fourth detection unit 65 is arbitrary, but in the first embodiment, the detection light of the fourth detection unit 65 is transmitted from either one of the cubic 13 or 14 to the cubic 13 or 14. It is provided so that it is irradiated so as to reach one of the other. Specifically, as shown in FIGS. 1 and 3, the light transmitting unit 65 a is provided at an inner end in the left-right direction of the cubic 13, and is fixed to the cubic 13 by a fixture or the like. (Or may be embedded in the cubic 13). Further, the light receiving portion 65b is provided at an inner end of the cubicle 14 in the left-right direction, and is fixed to the cubicle 14 by a fixture or the like (or embedded in the cubicle 14). Good).

  Further, the detection operation when the fourth detection unit 65 is a transmission type photoelectric sensor is optional. For example, when the detection light emitted from the light transmission unit 65a is received by the light reception unit 65b, The light receiving unit 65b outputs a signal including fourth detection information indicating that the fourth object has not entered the fourth area E4. On the other hand, when the detection light emitted from the light transmitting unit 65a is blocked by the fourth object, and the detection light is not received by the light receiving unit 65b, the light receiving unit 65b is moved to the fourth area E4 by the fourth object. And outputs a signal including fourth detection information indicating that has entered. Note that the output of the signal including the fourth detection information indicating that the fourth object has entered the fourth area E4 can ensure the safety of the fourth object in the same manner as the detection operation of the second detection unit 63. Meanwhile, when the detection light is not received by the light receiving unit 65b, the operation is continued until the detection light is received by the light receiving unit 65b.

(Configuration-Opening / closing control device-Opening / closing state detector)
The open / closed state detection unit 66 is an open / closed state detection unit that detects the open / closed state of the door 40. The open / closed state detection unit 66 is configured using a known detection sensor such as a rotary encoder, for example, and is installed at a position near the motor of the open / close drive unit 50.

  For the detection operation when the open / closed state detecting unit 66 is a rotary encoder, for example, the number of pulses output according to the rotation of the rotating shaft of the motor is sent to a counting means (not shown) of the open / closed state detecting unit 66. Counting from the origin position (in the first embodiment, the positions of the doors 41 and 42 in the fully closed state), and outputs a signal including open / closed state detection information indicating the counted value.

(Configuration-Opening / closing control unit-Output unit)
The output unit 67 is an output unit that outputs notification information indicating that the second object has entered the second area E2, and outputs various types of information based on the control of the control unit 74 of the control unit 70 described below. Output means. The output unit 67 is configured by using a known audio output unit such as a speaker, for example, and is fixed to a side wall located around the opening 3 in the building frame 2 as shown in FIG. It is fixed by the tool. Further, in the first embodiment, in addition to outputting notification information indicating that the second object has entered the second area E2, the output unit 67 has a notification that the third object has entered the third area E3. Can be output.

(Configuration-Opening / closing control device-Control unit)
The control unit 70 is a unit for controlling the opening / closing control device 60, and includes an input unit 71, an output unit 72, a power supply unit 73, a control unit 74, and a data recording unit 75, as shown in FIG. Have been.

(Configuration-Opening / closing control device-Control unit-Input unit)
The input unit 71 is an input unit that receives an input of a signal from the first detection unit 62, the second detection unit 63, the third detection unit 64, the fourth detection unit 65, or the open / closed state detection unit 66. The input unit 71 is configured using, for example, a known input terminal or the like, and includes a first detection unit 62, a second detection unit 63, a third detection unit 64, a fourth detection unit 65, and It is connected to each of the open / closed state detectors 66.

(Configuration-Opening / closing control device-Control unit-Output unit)
The output unit 72 is an output unit that outputs a signal to the opening / closing drive unit 50 or the output unit 67. The output unit 72 is configured using, for example, a known output terminal or the like. Are connected to each other.

(Configuration-Switching control device-Control unit-Power supply unit)
The power supply unit 73 supplies power supplied from a not-shown commercial power supply or a battery (for example, a battery) to each unit of the opening / closing control device 60 via the wiring 4 and to the opening / closing drive unit 50 via the wiring 4. Is also a power supply means.

(Configuration-Opening / closing control device-Control unit-Control unit)
The control unit 74 is a control unit that controls each unit of the opening / closing control device 60. The control unit 74 includes, specifically, a CPU, various programs interpreted and executed on the CPU (including a basic control program such as an OS, and an application program activated on the OS to realize a specific function) and a program. And a computer including an internal memory such as a RAM for storing various data.

  The control unit 74 includes a first determination unit 74a, a second determination unit 74b, a third determination unit 74c, an open / close state determination unit 74d, and an open / close control unit 74e. Among these, the first determination unit 74a is a first determination unit that determines whether the first object has entered the first area E1. The second determination unit 74b is a second determination unit that determines whether a second object has entered the second area E2. The third determining unit 74c is a third determining unit that determines whether a third object has entered the third area E3. The open / closed state determination unit 74d is an open / closed state determination unit that determines the open / closed state of the door 40. The open / close control unit 74e is an open / close control unit that controls opening / closing of the doors 41 and 42 based on the determination results of the first determination unit 74a and the second determination unit 74b. Note that the above-described “first detection unit 62” (or “fourth detection unit 65”) and “first determination unit 74a” correspond to “first determination unit” in the claims, and The “second detecting unit 63” and the “second determining unit 74b” correspond to the “second determining unit” in the claims, and include the “open / closed state detecting unit 66” and the “open / closed state determining unit 74d” described above. Corresponds to “open / closed state determination means” in the claims. The details of the processing executed by the control unit 74 will be described later.

(Configuration-Opening / closing control device-Control unit-Data recording unit)
The data recording unit 75 is a storage unit that stores a program and various data necessary for the operation of the opening / closing control device 60, is configured using a rewritable recording medium, and uses a nonvolatile recording medium such as a flash memory. be able to.

  The data recording unit 75 includes a control information table 75a. The control information table 75a is an opening / closing control information storage unit that stores control information. Here, the “control information” is information for specifying the control contents regarding the doors 41 and 42. As shown in FIG. 5, the control information table 75a includes an item “control number”, an item “door open / close state”, an item “detection state”, and an item “door open / close control”, and information corresponding to each item. Are associated with each other. The item “detection state” is further configured to include an item “first detection unit”, an item “second detection unit”, an item “third detection unit”, and the like as items related to the detection state of the various detection units. ing. Here, the information corresponding to the item “control number” is identification information for uniquely identifying opening / closing control information described later. Information corresponding to the item “door open / closed state” is open / closed state information. Here, the “opening / closing state information” is information for specifying the opening / closing state of the door 40 (or the opening / closing state of the first door 81 and the second door 82 described later). The information corresponding to the item “detection state” is detection state information that specifies the detection states of the various detection units. In FIG. 5, of the detection state information, the detection state is indicated by a symbol “○”, and the non-detection state is indicated by a symbol “x”. Among them, the information corresponding to the item “first detection unit” is the first detection information. The information corresponding to the item “second detection unit” is the second detection information. The information corresponding to the item “third detection unit” is the third detection information. Information corresponding to the item “door opening / closing control” is opening / closing control information. Here, the “opening / closing control information” is information for specifying the control content regarding the opening / closing control of the doors 41 and 42. In the “opening / closing control information”, “opening control” is control for opening and moving the doors 41 and 42 in the opening direction of the door 40 (outside in the left-right direction). Further, the “close control” is control for closing the doors 41 and 42 in the closing direction of the door 40 (inward in the left-right direction). “Stop control” is control for stopping the opening and closing movement of the doors 41 and 42. The “report information output” is control for outputting the report information by voice.

(processing)
Next, an opening / closing process executed by the opening / closing control device 60 configured as described above will be described. In the following description, a step is abbreviated as “S” in the description of each process illustrated in FIG. 6. The opening and closing process is a process for controlling the opening and closing of the doors 41 and 42. In this opening / closing process, roughly, a process of electrically driving the opening / closing drive unit 50 to open / close the doors 41 and 42 is performed. The timing of executing the opening / closing process is arbitrary, but in the first embodiment, after the power of the opening / closing drive unit 50 and the opening / closing control device 60 is turned on via the power switch of the operation unit 61, the preparation process ends. It will be described as being activated later. Here, the “preparation process” is a process executed before the opening / closing process. For example, by opening and closing the doors 41 and 42 at a relatively low speed, the control unit 74 operates when the control unit 74 is in the fully closed state. This is a concept including a learning process and the like for enabling the positions of the doors 41 and 42 (starting positions of control) and the positions of the doors 41 and 42 in the fully opened state to be correctly determined. Further, as a premise of this opening / closing processing, specifically, the opening / closing state of the door 40 will be described as a fully closed state.

  When the opening / closing process is started, as shown in FIG. 6, first, in SA1, the control unit 74 acquires opening / closing state detection information. Specifically, the control unit 74 receives the input of the signal transmitted from the open / closed state detecting unit 66 by the input unit 71, and acquires the signal by extracting the open / closed state detection information included in the received signal.

  In SA2, the open / closed state determination unit 74d determines the open / closed state of the door 40 based on the open / closed state detection information acquired in SA1, and specifies the determined state as the current open / closed state of the door 40. Although the specification of the open / closed state of the door 40 is arbitrary, in the first embodiment, the count value included in the open / closed state detection information acquired in SA1 is a set value stored in the data recording unit 75 in advance. Then, it is determined whether or not it matches any of the set values corresponding to the open / closed state of the various doors 40, and the open / closed state of the door 40 is specified based on the determination result. Specifically, when the count value is set to “0” in the fully closed state, becomes “100” in the fully open state, and becomes “0” in the fully closed state again, the count value becomes If it is determined that the set value corresponds to the set value corresponding to the fully closed state (hereinafter, referred to as a “first set value”; for example, the first set value = 0), the open / close state of the door 40 is set to the fully closed state. Identify. If it is determined that the count value matches a set value corresponding to the fully open state (hereinafter, referred to as a “second set value”; for example, the second set value = 100), the door 40 is opened and closed. Identify the state as fully open. Further, the count value is a value between the first set value and the second set value (for example, a value from 1 to 99) and a value immediately before the count value (however, the opening / closing of the door 40). If the state is the half-open state, it is determined that the value is larger than the value immediately before the half-open state.), And the open / close state of the door 40 is specified as the open movement state. When it is determined that this count value is a value between the first set value and the second set value and matches a value that is smaller than a value immediately before the count value, The open / closed state of the door 40 is specified as a closed movement state.

  In SA3, the control unit 74 acquires the first detection information, the second detection information, and the third detection information. Specifically, the control unit 74 receives an input of a signal transmitted from the first detection unit 62, the second detection unit 63, and the third detection unit 64 by the input unit 71, and is included in the received signal. It is obtained by extracting the first detection information, the second detection information, or the third detection information.

  In SA4, the first determination unit 74a, the second determination unit 74b, and the third determination unit 74c correspond to various objects based on the first detection information, the second detection information, and the third detection information acquired in SA3. It is determined whether or not the vehicle has entered an area to be detected, and the detection states of the first detection unit 62, the second detection unit 63, and the third detection unit 64 are specified based on these determination results. Here, the identification of the detection state of the first detection unit 62, the second detection unit 63, and the third detection unit 64 is optional. For example, in the identification of the detection state of the first detection unit 62, first, The first determination unit 74a determines whether the first detection information acquired in SA3 is information indicating that the first object has entered the first area E1. Then, when it is determined that the information indicates that the first object has entered the first area E1, the first determination unit 74a determines that the first object has entered the first area E1, and determines that the first object has entered the first area E1. If the detection unit 62 specifies that the object is in the detection state and determines that the information does not indicate that the first object has entered the first area E1, the first object does not enter the first area E1. It is specified that the first detection unit 62 is in the non-detection state (the same applies to the specification of the detection state of the second detection unit 63 and the detection state of the third detection unit 64).

  In SA5, the control unit 74 determines the open / close state of the door 40 specified in SA2 and the detection state of the first detection unit 62, the second detection unit 63, and the third detection unit 64 specified in SA4. Then, the opening / closing control information is specified. Specifically, the control unit 74 selects the open / close state of the door 40 specified by SA2 and the first detection unit 62 specified by SA4 from the open / close control information stored in the control information table 75a. , The switching control information corresponding to the detection states of the second detection unit 63 and the third detection unit 64 is extracted, and the extracted information is specified as the opening / closing control information used in the processing of SA6 described later.

  In SA6, the opening / closing control unit 74e performs opening / closing control of the doors 41 and 42 based on the opening / closing control information specified in SA5. Specifically, the opening / closing control unit 74e causes the opening / closing drive unit 50 to open / close the doors 41 and 42, stops the opening / closing movement of the doors 41 and 42, or notifies the output unit 67 of the notification information (for example, “door”). Is opened. Do not stop at this location. ", Etc., is output as a voice, thereby controlling the opening and closing of the doors 41 and 42 corresponding to the opening and closing control information specified in SA5. Although the method of outputting the notification information is arbitrary, for example, the output of the notification information may be continued as long as the detection state of the second detection unit 63 or the third detection unit 64 is the detection state. Alternatively, the output of the notification information may be stopped after a lapse of a predetermined time from the processing of SA6. Thereafter, the control unit 74 proceeds to SA1, and thereafter performs the processing from SA1 to SA6 in the same manner.

  For example, when the open / closed state of the door 40 is a fully closed state, the first object passes through the opening 3 and the first object enters the first area E1, and the second object and the third object If none of the above has entered the second area E2 and the third area E3, the following opening / closing processing (hereinafter, referred to as “normal opening / closing processing”) is performed. Specifically, first, the open / closed state of the door 40 = fully closed state is specified in SA2, the detected state of the first detection unit 62 = ○ (detection state) in SA4, the second detection unit 63 and the third detection If the open / close control information = open control (control number = open / close control information corresponding to A4) is specified in SA5 by specifying the detection state = × (non-detection state) of the unit 64, The doors 41 and 42 are opened and moved. Next, until the open / close state of the door 40 shifts from the open movement state to the fully open state, the open / close state of the door 40 = open movement state is specified in SA2, and the detection state of the first detection unit 62 in SA4 = ○, the open / close control information = open control (open / close control information corresponding to C4) was specified in SA5 by specifying the detection state = × of the second detection unit 63 and the third detection unit 64. In this case, the opening movement of the doors 41 and 42 is continued in SA6. Next, when the open / closed state of the door 40 becomes the fully open state, the open / closed state of the door 40 = fully open state is specified in SA2, and the detected state of the first detection unit 62 = ○, the second detection unit 63 in SA4. When the open / close control information = stop control (control number = open / close control information corresponding to B4) is specified in SA5 by specifying the detection state = × of the third detection unit 64, the process proceeds to SA6. The opening movement of the doors 41 and 42 is stopped. Thereafter, when the first object retreats from the first area E1, the open / closed state of the door 40 = fully opened state is specified in SA2, the detected state of the first detecting unit 62 = ×, and the second detecting unit 63 in SA4. When the open / close control information = close control (control number = open / close control information corresponding to B1) is specified in SA5 by specifying the detection state = × of the third detection unit 64, the first object After a predetermined time elapses after exiting from the first area E1, the doors 41 and 42 are closed and moved in SA6. Then, when the open / closed state of the door 40 becomes the fully closed state, the open / closed state of the door 40 = fully closed state is specified in SA2, and the detected state of the first detection unit 62 = ×, the second detection unit in SA4. When the detection state of the 63 and the third detection unit 64 is specified, the open / close control information = stop control (control number = open / close control information corresponding to A1) is specified in SA5. Then, the closing movement of the doors 41 and 42 is stopped. Through such processing, the first object can pass through the opening 3.

  Further, for example, when the open / close state of the door 40 is in the fully closed state, the first object passes through the opening 3 so that the first object enters the first area E1, and the second object If the third object has not entered the third area E3, but has entered the second area E2, the following opening / closing processing is performed. Specifically, first, at SA2, the open / closed state of the door 40 = fully closed state is specified, and at SA4, the detection state of the first detection unit 62 = ○, the detection state of the second detection unit 63 = ○, the third state When the detection state = × of the detection unit 64 is specified, the opening / closing control information = stop control and notification information output (control number = opening / closing control information corresponding to A7) is specified in SA5. To stop the opening and closing movement of the doors 41 and 42, and output the notification information by voice. That is, in this case, the doors 41 and 42 are controlled to open and close so as to maintain the open / closed state of the door 40 in the fully closed state regardless of the determination result of the first determination unit 74a in SA4. Next, when the second object retreats from the second area E2, the open / closed state of the door 40 = fully closed state is specified in SA2, and the detection state of the first detection unit 62 = ○ in SA4, and the second detection unit When the detection state of 63 = × and the detection state of the third detection unit 64 = × are specified, the opening / closing control information = opening control (control number = opening / closing control information corresponding to A4) is specified in SA5 In step SA6, the doors 41 and 42 are opened and moved. Thereafter, the doors 41 and 42 in the case where the opening and closing state of the door 40 shifts to the fully open state and then shifts to the fully closed state without the second object and the third object entering the second area E2 and the third area E3. The opening and closing control of the doors 41 and 42 is the same as the opening and closing control of the doors 41 and 42 when the opening and closing state of the door 40 shifts to the fully open state after the opening and closing state of the door 40 shifts to the fully closed state. Open / close control is performed. By such processing, it is possible to prevent the second object from colliding with the doors 41 and 42 when the door 40 is in the fully opened / closed state, or to prevent the second object from interacting with the doors 41 and 42 and the surrounding structures. It is possible to avoid being caught between them. Further, when it is determined by the second determination unit 74b that the second object has entered the second area E2, the notification information can be output as a voice, so that the information other than the second object or the second area E2 is provided. A person in another area can be notified that the second object has entered the second area E2.

  Further, for example, when the opening and closing state of the door 40 is the open movement state, the first object passes through the opening 3 so that the first object enters the first area E1, and the second object If the third object has not entered the third area E3, but has entered the second area E2, the following opening / closing processing is performed. Specifically, first, at SA2, the open / closed state of the door 40 = the open movement state is specified, and at SA4, the detection state of the first detection unit 62 = 、, the detection state of the second detection unit 63 = 、, and the third state When the detection state = × of the detection unit 64 is specified, the switching control information = stop control and notification information output (control number = opening / closing control information corresponding to C7) is specified in SA5. To stop the opening movement of the doors 41 and 42 and output the notification information by voice. That is, in this case, the doors 41 and 42 are opened and closed so as to stop the opening movement of the doors 41 and 42 regardless of the determination result of the first determination unit 74a in SA4. Next, when the second object exits from the second area E2, the open / closed state of the door 40 = the open movement state is specified in SA2, and the detection state of the first detection unit 62 is ○ in SA4, and the second detection unit is detected. When the detection state of 63 = × and the detection state of the third detection unit 64 = × are specified, the opening / closing control information = opening control (control number = opening / closing control information corresponding to C4) is specified in SA5. In step SA6, the doors 41 and 42 are opened and moved. Thereafter, the doors 41 and 42 in the case where the opening and closing state of the door 40 shifts to the fully open state and then shifts to the fully closed state without the second object and the third object entering the second area E2 and the third area E3. The opening and closing control of the doors 41 and 42 is the same as the opening and closing control of the doors 41 and 42 when the opening and closing state of the door 40 shifts to the fully open state after the opening and closing state of the door 40 shifts to the fully closed state. Open / close control is performed. By such processing, it is possible to prevent the second object from colliding with the doors 41 and 42 when the door 40 is in the open / closed state, or to prevent the second object from interacting with the doors 41 and 42 and the surrounding structures. It is possible to avoid being caught between them.

  Further, for example, in a case where the opening and closing state of the door 40 is the closing movement state, the first object passes through the opening 3 so that the first object enters the first area E1, and the second object If the third object has not entered the third area E3, but has entered the second area E2, the following opening / closing processing is performed. Specifically, first, at SA2, the open / closed state of the door 40 = closed movement state is specified, and at SA4, the detection state of the first detection unit 62 = ○, the detection state of the second detection unit 63 = ○, the third state When the detection state = × of the detection unit 64 is specified, the opening / closing control information = stop control and notification information output (control number = opening / closing control information corresponding to D7) is specified in SA5. To stop the closing movement of the doors 41 and 42 and output the notification information by voice. That is, in this case, the doors 41 and 42 are controlled to open and close so as to stop the closing movements of the doors 41 and 42 even though the detection state of the first determination unit 74a = ○ is specified in SA4. I do. Next, when the second object retreats from the second area E2, the open / closed state of the door 40 = the closed movement state is specified in SA2, and the detection state of the first detection unit 62 = ○ in the SA4, and the second detection unit When the detection state of 63 = × and the detection state of the third detection unit 64 = × are specified, the opening / closing control information = opening control (control number = opening / closing control information corresponding to D4) is specified in SA5. In step SA6, the doors 41 and 42 are opened and moved. Thereafter, the doors 41 and 42 in the case where the opening and closing state of the door 40 shifts to the fully open state and then shifts to the fully closed state without the second object and the third object entering the second area E2 and the third area E3. The opening and closing control of the doors 41 and 42 is the same as the opening and closing control of the doors 41 and 42 when the opening and closing state of the door 40 shifts to the fully open state after the opening and closing state of the door 40 shifts to the fully closed state. Open / close control is performed. By such processing, it is possible to prevent the second object from colliding with the doors 41 and 42 when the door 40 is in the open / closed state or to close the door 40, or to prevent the second object from interacting with the doors 41 and 42 and the surrounding structures. It is possible to avoid being caught between them.

  Further, for example, in the fully opened state of the door 40, the first object does not enter the first area E1, but the second object and the third object enter the second area E2 and the third area E3. If there is, the following opening / closing processing is performed. Specifically, first, at SA2, the open / closed state of the door 40 = the fully open state is specified, and at SA4, the detection state of the first detection unit 62 = ×, the detection state of the second detection unit 63 and the third detection unit 64. If the open / close control information = closure control and notification information output (control number = open / close control information corresponding to B5) is specified at SA5 by specifying = ○, the doors 41 and 42 are set at SA6. At the same time as the closing movement, the notification information is output by voice. Thereafter, the second object and the third object leave the second area E2 and the third area E3 without the first object entering the first area E1, so that the open / close state of the door 40 in SA2 = closed movement at SA2. The state is specified, and the detection state of the first detection unit 62 = × and the detection state of the second detection unit 63 and the third detection unit 64 = × are specified in SA4, so that the open / close control information = closed in SA5. When the control (opening / closing control information corresponding to the control number = D1) is specified, the closing movement of the doors 41 and 42 is continued in SA6, but the sound output of the notification information is stopped (the first object). Is similarly controlled when the third object exits the second area E2 after the second object exits the second area E2 without entering the first area E1. The unit 63 and the third detection unit 64 are The same control is performed when the detection is not performed (so-called “simultaneous return”) or when the second detection unit 63 and the third detection unit 64 are not sequentially detected (so-called “stage return”). ). Then, when the open / closed state of the door 40 is fully closed, the detection state of the first detection unit 62 and the third detection unit 64 = × and the detection state of the second detection unit 63 = × are specified in SA2. Accordingly, when the opening / closing control information = stop control (control number = opening / closing control information corresponding to A1) is specified in SA5, the closing movement of the doors 41 and 42 is stopped in SA6. By such processing, even if it is determined by the second determination unit 74b that the second object has entered the second area E2, if the safety of the second object is ensured, the door 41 , 42 can be closed and moved, for example, so that the air conditioning environment in the building can be easily maintained.

  In addition, for example, when the open / closed state of the door 40 is fully open, the first object and the third object do not enter the first area E1 and the third area E3, and the second object continues to stay in the second area E2. In this case, the detection state of the first detection unit 62 and the detection state of the third detection unit 64 = × and the detection state of the second detection unit 63 = ○ are specified in SA4, and the open / close control information = stop control in SA5. When the (control number = opening / closing control information corresponding to B3) is specified, the opening / closing movement of the doors 41 and 42 is stopped in SA6, and this control is performed in SA4 by the detection state of the second detecting unit 63 = Continue until x is specified. On the other hand, when the open / closed state of the door 40 is fully open, the first object and the second object do not enter the first area E1 and the second area E2, and the third object continues to stay in the third area E3. In SA4, the detection state of the first detection unit 62 and the detection state of the second detection unit 63 = × and the detection state of the third detection unit 64 = O are specified. When the opening / closing control information corresponding to the number = A2) is specified, the opening / closing movement of the doors 41 and 42 is stopped in SA6. However, when the detection operation of the third detection unit 64 returns to the above initial state after a predetermined time has elapsed, the detection state of the third detection unit 64 = x is specified in SA4, and the open / close control information = closed in SA5. By specifying the control (opening / closing control information corresponding to control number = B1), the doors 41 and 42 are closed and moved in SA6. With these processes, when the second object has entered the second area E2, the safety of the second object can be ensured by stopping the opening and closing movement of the doors 41 and 42. On the other hand, when the third object has entered the third area E3, since the third object is more secure than the second object, the doors 41 and 42 are closed and moved. For example, the air conditioning environment in the building can be easily maintained.

  By the opening / closing process as described above, the doors 41 and 42 are located on the side of the door as compared with the case where the opening / closing control of the doors 41 and 42 is performed based only on the determination results of the first determination unit 74a and the third determination unit 74c. It is possible to prevent the second object from colliding with the doors 41 and 42 and to prevent the second object from being caught between the doors 41 and 42 and the surrounding structures. Therefore, it is easy to ensure the safety of the objects located near the doors 41 and 42, and it is possible to improve the safety of the automatic door 1. In the opening / closing process, for example, the input unit 71 receives a signal including fourth detection information indicating that the fourth object has entered the fourth area E4 from the light receiving unit 65b of the fourth detection unit 65. If there is, the closing movement of the doors 41 and 42 is stopped at SA6 regardless of the detection state of the first detection unit 62, the second detection unit 63, and the third detection unit 64 specified at SA4. Alternatively, the doors 41 and 42 may be opened. By such processing, the fourth object can safely pass through the opening 3.

(effect)
As described above, according to the first embodiment, the first detection unit 62 and the first determination unit 74a that determine whether the first object has entered the first area E1, and the second object is included in the second area E2. Opening / closing control that performs opening / closing control of the doors 41 and 42 based on the determination results of the second detecting unit 63 and the second determining unit 74b that determine whether the vehicle has entered, and the first determining unit 74a and the second determining unit 74b. Because of the provision of the unit 74e, compared to the case where the opening and closing control of the doors 41 and 42 is performed based only on the determination results of the first determination unit 74a and the third determination unit 74c, the doors 41 and 42 are located on the door bottom side. It is possible to prevent the second object from colliding with the doors 41 and 42 and to prevent the second object from being caught between the doors 41 and 42 and the surrounding structures. Therefore, it is easy to ensure the safety of the objects located near the doors 41 and 42, and it is possible to improve the safety of the automatic door 1.

  Further, the open / close control unit 74e determines that the second object has entered the second area E2 by the second determination unit 74b when the open / close state of the door 40 is determined to be the fully closed state by the open / close state determination unit 74d. If it is determined, the doors 41 and 42 are controlled to be opened and closed so as to maintain the fully closed state regardless of the determination result of the first determination unit 74a. To avoid collision between the doors 41 and 42 and the second object on the door bottom side of the doors 41 and 42 or that the second object is caught between the doors 41 and 42 and the surrounding structures Can be avoided, and the safety of the objects located near the doors 41 and 42 can be more easily ensured.

  Further, the open / close control unit 74e determines that the second object has entered the second area E2 by the second determination unit 74b when the open / close state of the door 40 is determined to be the open movement state by the open / close state determination unit 74d. If determined, the doors 41 and 42 are controlled to open and close so as to stop the opening movement of the doors 41 and 42 regardless of the determination result of the first determination unit 74a. In the opening movement state, it is possible to avoid collision between the doors 41 and 42 and the second object on the door ass side of the doors 41 and 42, or to prevent the second object from being interposed between the doors 41 and 42 and the surrounding structures. Can be avoided, and the safety of the objects located near the doors 41 and 42 can be further easily ensured.

  When the second determination unit 74b determines that the second object has entered the second area E2, the opening / closing control unit 74e outputs the notification information regardless of the determination result of the first determination unit 74a. 67, it is possible to inform a person in the second object or a person other than the second region E2 that the second object has entered the second region E2, and the doors 41, 42 , It is easier to ensure the safety of the object located in the vicinity of.

  In addition, since the second detection unit 63 includes the photoelectric sensor that irradiates the detection light substantially along the opening / closing direction (left / right direction) of the door 40, the detection is performed along the direction (vertical direction) orthogonal to the opening / closing direction of the door 40. Compared to the case where the photoelectric sensor for irradiating light is provided, even when the number of photoelectric sensors installed is small, the entire area of the second area E2 substantially along the opening / closing direction (left / right direction) of the door 40 can be covered. It is possible to accurately determine whether or not a relatively vertically long object such as a person among the two objects has entered. Therefore, it is possible to accurately determine whether or not the second object has entered while suppressing the installation cost of the automatic door 1 opening / closing control system.

  In addition, the detection light of the photoelectric sensor constituting the second detection unit 63 is transmitted from either one of the door-side end of the doors 41 and 42 or the door 40-side end of the peripheral structure to the door 41 or 42. Since the photoelectric sensor is provided so as to reach the other end of the rear side or the end of the peripheral structure on the side of the door 40, the photoelectric sensor is provided. It is possible to accurately detect the presence or absence of the second object existing between the surrounding structure and the door 40 itself between the surrounding structure and the end of the door 40 on the side of the door end. Does not intervene, it is possible to prevent the door 40 from being detected as a second object, to more accurately determine whether the second object has entered, and to control the opening and closing of the doors 41 and 42. Can be easily performed.

[Embodiment 2]
Next, an automatic door opening / closing control system according to Embodiment 2 will be described. The second embodiment is a form in which the door of the automatic door is a double draw-type door. However, the configuration of the second embodiment is substantially the same as the configuration of the first embodiment except where otherwise specified, and the configuration substantially the same as the configuration of the first embodiment is used in the first embodiment. The same reference numerals and / or names as those given are given as necessary, and the description thereof will be omitted.

(Constitution)
First, the configuration of the automatic door according to the second embodiment will be described. As shown in FIGS. 7 and 8, the automatic door 101 according to the second embodiment includes a frame unit 10, a blind 30, first doors 81 a and 81 b, second doors 82 a and 82 b, an opening / closing drive unit 50, and an opening / closing unit. The control device 60 is provided. Here, among the “open / close states of the first door 81 and the second door 82”, the “fully closed state”, the “fully open state”, and the “half open state” refer to the “open / close state of the door 40” according to the first embodiment. ] Is defined substantially in the same manner. In the second embodiment, the “opening movement state” means a state in which at least one of the first doors 81a and 81b or the second doors 82a and 82b is opening and moving. In the second embodiment, the “closed movement state” means a state in which at least one of the first doors 81a and 81b or the second doors 82a and 82b is closed and moved.

(Composition-blind)
An outer guide rail and an inner guide rail are provided on each of the blind 30 and the floor of the building (both are not shown). Among them, the outer guide rail guides the first door 81a or the second door 82a so as to move in the opening / closing direction (left / right direction) of the opening 3 and is more a building than the fitting doors 21 and 22. It is provided on the indoor side. The inner guide rail guides the first door 81b or the second door 82b so as to move in the opening / closing direction (left / right direction) of the opening 3 and is closer to the indoor side of the building than the outer guide rail. Is provided.

(Configuration-1st door, 2nd door, open / close drive unit)
The first doors 81a, 81b and the second doors 82a, 82b are moved substantially along the opening / closing direction (left / right direction) by the opening / closing drive unit 50 to be in a fully open state, a fully closed state, or a non-fully opened / closed state. It is. The first doors 81a and 81b and the second doors 82a and 82b are, for example, well-known automatic doors, and are configured using a double draw-type door or the like. As shown in FIG. 7, each of the first doors 81a and 81b includes a glass member 81c and a frame portion 81d that covers at least a part of the periphery of the glass member 81c, and the second doors 82a and 82b Are each provided with a glass member 82c and a frame portion 82d that covers at least a part of the periphery of the glass member 82c. The method of fixing the first doors 81a and 81b is arbitrary, but is substantially the same as the method of fixing the door 41 according to the first embodiment. For example, the upper part of the frame 81c of the first door 81a may be provided. The first door 81a is suspended from the outer guide rail by slidably mounting the attached guided member (not shown) on the substantially convex outer guide rail provided on the blind 30 side. Let Next, a guided member (not shown) attached to a lower portion of the frame portion 94 of the first door 81a is connected to a U-shaped open end of an outer guide rail provided on the floor side of the building. Into the outer guide rail. Further, a guided member (not shown) attached to the upper portion of the frame portion 81c of the first door 81b is slidably provided on a substantially convex outer guide rail provided on the blind 30 side. Then, the first door 81b is suspended from the outer guide rail. Next, a guided member (not shown) attached to the lower portion of the frame portion 94 of the first door 81b is connected via a U-shaped open end of an inner guide rail provided on the floor side of the building. (The same applies to the method of fixing the second doors 82a and 82b). When there is no need to distinguish the first doors 81a and 81b and the second doors 82a and 82b, they are simply referred to as "first door 81" and "second door 82". The opening / closing drive unit 50 is an opening / closing drive unit for electrically opening and closing the first doors 81a and 81b and the second doors 82a and 82b.

(Configuration-open / close control device)
The opening / closing control device 60 is a device that performs opening / closing control of the first doors 81a and 81b and the second doors 82a and 82b. As shown in FIG. 7, the operation unit 61, the first detection unit 62, and the second detection unit 63 , A third detection unit 64, a fourth detection unit 65, an open / closed state detection unit 66, an output unit 67, and a control unit 70. Among them, the second detection unit 63 is a second detection unit that detects whether the second object has entered the second area E2. Here, in the second embodiment, the “second region E2” refers to the first door 81b (or the second door 82b) and the first door 81b (or the second door 82b) as shown in FIGS. ) Is a region located between the door and the surrounding structure located on the door bottom side. Further, the installation position of the second detection unit 63 is arbitrary, but in the second embodiment, the detection light of the second detection unit 63 emits the detection light of the door side of the first door 81b (or the second door 82b). From either the end or the end of the peripheral structure on the first door 81b (or the second door 82b) side to the end on the door end side of the first door 81b (or the second door 82b) or the peripheral structure The first door 81b (or the second door 82b) is provided so as to be irradiated so as to reach the other end. Specifically, as shown in FIGS. 7 and 8, the light transmission / reception unit 63a is provided on the first door 81b (or the second door 82b) in the left vertical frame 11 or the right vertical frame 12 (peripheral structure) of the frame unit 10. ) Side, and is fixed to a left vertical frame 11 or a right vertical frame 12 of the frame portion 10 by a fixture or the like. The reflecting portion 63b is provided at a portion corresponding to the light transmitting / receiving portion 63a, of the end of the first door 81b (or the second door 82b) on the side of the door, and the first door 81b (or the second door 82b). It is fixed to the door 82b) by a fixture or the like. Due to such an installation position, the second detection unit 63 is provided as compared with the case where the second detection unit 63 is provided so that the detection light is emitted along the opening and closing direction (left and right direction) of the first door 81a (or the second door 82a). It is possible to accurately detect the second object that may collide with the first door 81a, 81b or the second door 82a, 82b, and to more accurately determine whether the second object has entered the second area E2. Becomes possible.

(Open / close processing)
Next, an opening / closing process executed by the opening / closing control device 60 configured as described above will be described. Regarding the opening / closing process according to the second embodiment, SA1 to SA5 in the opening / closing process according to the second embodiment are the same as SA1 to SA5 in the opening / closing process according to the first embodiment shown in FIG. Omitted. However, after the processing of SA5 in the opening / closing processing according to Embodiment 2, in SA6, the opening / closing control section 74e determines the first doors 81a, 81b and the second doors 82a, 82b based on the opening / closing control information specified in SA5. Open / close control. Specifically, the opening / closing control unit 74e causes the opening / closing drive unit 50 to open / close the first door 81a, 81b or the second door 82a, 82b, or to open / close the first door 81a, 81b or the second door 82a, 82b. By stopping the movement or outputting the notification information by voice by the output unit 67, the opening / closing control of the first doors 81a, 81b and the second doors 82a, 82b corresponding to the opening / closing control information specified in SA5 is performed. Do. Thereafter, the control unit proceeds to SA1, and thereafter performs the same processing from SA1 to SA6. Due to such opening / closing processing, the first door 81a, 81b and the second door 82a, 82b are controlled based on only the determination results of the first determination unit 74a and the third determination unit 74c. The doors 81a and 81b and the second doors 82a and 82b prevent the doors from colliding with the second objects located on the side of the doors, and the second objects are connected to the first doors 81a and 81b and the second doors 82a and 82b. It is possible to avoid being caught between peripheral structures, and it is easy to ensure the safety of objects located near the first doors 81a, 81b and the second doors 82a, 82b.

(effect)
As described above, according to the second embodiment, the first detection unit 62 and the first determination unit 74a that determine whether the first object has entered the first area E1, and the second object is included in the second area E2. The first doors 81a and 81b and the second door 82a are based on the determination results of the second detection unit 63 and the second determination unit 74b that determine whether the vehicle has entered, and the first determination unit 74a and the second determination unit 74b. , 82b, the opening and closing of the first doors 81a, 81b and the second doors 82a, 82b based on only the judgment results of the first judgment unit 74a and the third judgment unit 74c. As compared with the case where the control is performed, it is possible to prevent the collision between the door and the second object located on the door end side of the first doors 81a and 81b and the second doors 82a and 82b, or to prevent the second object from colliding with the first door 81a. , 81b and the second doors 82a, 82b It is possible to avoid being sandwiched therebetween with the structure, the first door 81a, 81b and the second door 82a, it is easily secured objects safety located in the vicinity of 82b.

  In addition, the detection light of the photoelectric sensor constituting the second detection unit 63 is transmitted to the end of the first door 81b (or the second door 82b) on the side of the door end or the first door 81b (or the second door 82b) of the peripheral structure. ) -Side end of the first door 81b (or the second door 82b), or the end on the first door 81b (or the second door 82b) side of the peripheral structure. Or the other photoelectric sensor is provided so as to reach the other end, so that the presence or absence of the second object can be accurately detected, and the presence or absence of the second object can be more accurately determined. Becomes possible.

[III] Modifications to Embodiments While the embodiments of the present invention have been described, specific configurations and means of the present invention may be embraced within the scope of the technical idea of each invention described in the claims. , Can be arbitrarily modified and improved. Hereinafter, such modified examples will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the contents described above. According to the present invention, it is possible to solve the problems not described above or to obtain the effects not described above. In some cases, only some of the described problems may be solved or only some of the described effects may be achieved. For example, even when it is difficult to accurately determine whether or not the first object has entered the first area E1 by the first determination unit 74a of the automatic door opening / closing control system according to the present invention, the second determination unit may use the second determination unit. The subject of the present application has been solved when the collision between the second object and the door can be avoided by being able to accurately determine whether or not the second object has entered E2.

(About distribution and integration)
Further, the above-described electric components are functionally conceptual and do not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution and integration of each unit is not limited to that shown in the figure, and all or a part thereof is functionally or physically distributed or integrated in an arbitrary unit according to various loads and usage conditions. Can be configured. For example, the control unit 70 of the opening / closing control device 60 is divided into a plurality of devices configured to be able to communicate with each other, and an opening / closing state determination unit 74d is provided in a part of the plurality of devices. An opening and closing control unit 74e may be provided in another part of the device.

(About shape, numerical value, structure, time series)
Regarding the components exemplified in the embodiment and the drawings, the shape, numerical values, or the structure or chronological relationship of a plurality of components may be arbitrarily modified and improved within the technical idea of the present invention. Can be.

(About the door)
In the first and second embodiments, the door is described as a draw-type door or a double draw-type door. However, the present invention is not limited to this. It may be a type door. In this case, when the doors 41 and 42 are one-sided doors, for example, the frame unit 10, the blind 30, the door 41 (or the door 42), the opening / closing drive unit 50, and the opening / closing control device 60 are provided. It is composed. The setting of the first area E1, the second area E2, the third area E3, and the fourth area E4 in the various detection units of the opening / closing control device 60 is similar to the first area E1, the second area E1, and the second area E4 according to the first embodiment. The setting is performed in substantially the same manner as the setting of the area E2, the third area E3, and the fourth area E4. When the door is a double-sided door, for example, the frame unit 10, the blind 30, the first door 81 (or the second door 82) opening / closing drive unit 50, and the opening / closing control device 60 are provided. It is composed. Further, the setting of the first area E1, the second area E2, the third area E3, and the fourth area E4 in the various detection units of the opening / closing control device 60 includes the first area E1, the second area E1, and the second area E4 according to the second embodiment. The setting is performed in substantially the same manner as the setting of the area E2, the third area E3, and the fourth area E4.

(About the first detector, the second detector, the third detector, and the fourth detector)
In the first and second embodiments, the first detection unit 62 has been described as a quantum infrared sensor, but is not limited thereto. For example, a device that can detect whether or not the first object has entered the first region E1 (specifically, a thermal infrared sensor, an ultrasonic sensor, or a floor surface of a building in the first region E1) Or a mat switch provided at a corresponding portion) (the same applies to the third detection unit 64).

  In the first and second embodiments, the second detection unit 63 is described as a reflection-type photoelectric sensor, but is not limited thereto. For example, a sensor that can detect whether the second object has entered the second area E2 (specifically, a transmission-type photoelectric sensor or the like) may be used (the same applies to the fourth detection unit 65). Do).

  Further, in the first embodiment, the second detection unit 63 is described as a photoelectric sensor that irradiates the detection light substantially along the opening and closing direction (left and right direction) of the door 40, but is not limited thereto. For example, when it is difficult to install the photoelectric sensor so that the detection light of the photoelectric sensor is along the opening / closing direction (left / right direction) of the door 40, if the photoelectric sensor is difficult to be installed, it is obliquely upward or downward obliquely with respect to the vertical and horizontal directions. Alternatively, a photoelectric sensor that irradiates the detection light substantially in the diagonally left or right direction with respect to the vertical direction may be used (the same applies to the second detection unit 63 according to the second embodiment).

  In the first embodiment, the detection area of the third detection unit 64 has been described as the third area E3. However, the present invention is not limited to this. For example, the detection area may include the second area E2 and the third area E3. There may be. In this case, in order to avoid determining that the door 40 has entered the second area E2 as a second object in SA4 of the opening / closing process, for example, when the second object has entered the second area E2. , The third detection unit 64 outputs a signal including third detection information and movement progress information for specifying the progress of the movement of the second object. Then, in SA4, the third determination unit 74c determines whether or not the progress of the movement of the second object matches the progress of the movement of the door 40 (for example, the progress of moving only in the left-right direction) based on the movement progress information. And if they match, it may be determined that the second object is the door 40 and that the second area E2 has not entered the second object. As described above, the third detection unit 64 detects the entry of the second object into the second area E2, and the third detection unit 64 also detects the entry of the second object into the second area E2. It is possible to accurately detect whether or not the second object has entered (the same applies to the detection area of the third detection unit 64 according to the second embodiment).

(About the first area)
In the first and second embodiments, the first region E1 has been described as a region located in the vicinity of the opening 3 in the projection direction (front-back direction). However, the present invention is not limited to this. , The fourth region E4. In this case, for example, in SA4 of the opening / closing process, it may be determined whether the first object has entered the first area E1 based on the first detection information and the fourth detection information.

(About the second area)
In the first embodiment, the second region E2 is described as a region located between the door 40 and the peripheral structure located on the side of the door 40 of the door 40. However, the present invention is not limited to this. In order to further avoid the collision between the door 40 and the second object, the area may include the above-described space and the third area E3 (the same applies to the second area E2 according to the second embodiment). And). In this case, the third detector 64 may be omitted. Further, the second detection unit 63 is configured using a quantum infrared sensor, and as with the third detection unit 64, the detection unit 30 can be irradiated with the detection light from the upper side to the lower side. When the door 40 is fixed in position, control is performed to avoid determining that the door 40 has entered the second area E2 as the second object in SA4 of the opening / closing process as described above.

  In the case where the second area E2 is an area located at least between the door 40 and the peripheral structure located on the side of the door 40 of the door 40, the structure of the “door 40” or the “peripheral structure” is The structure may be different from that of the first embodiment. For example, regarding the “door 40”, in the first embodiment, the reflection portion 63 b is provided on the frame portion 44 which is one of the components of the door 40, but the reflection portion 63 b is provided on the door 40 other than the frame portion 44. A portion 63b may be provided. Here, the “components of the door 40” include not only the components that provide the original function of the door of the conventional door 40 but also the conventional components for providing the function of detecting an object in the second area E2. Differently provided components may be included. Similarly, with regard to the “peripheral structure”, in the first embodiment, the left vertical frame 11 or the right vertical frame 12 that is the peripheral structure is provided with the light transmitting and receiving unit 63a of the photoelectric sensor. The light transmitting / receiving unit 63a may be provided on a component of the peripheral structure other than the right vertical frame 12. Here, the “components of the peripheral structure” are not only components providing the original function of the peripheral structure provided in the conventional peripheral structure, but also a function of detecting an object in the second area E2. However, unlike the conventional case, a newly provided component may be included. For example, as shown in FIG. 9, the door 40 includes, as one of the components of the door 40, a mounting portion 90 provided so as to protrude toward the indoor side of the building. Is provided with a reflecting portion 63b. Further, the left vertical frame 11 or the right vertical frame 12 as a peripheral structure includes, as one of the components of the peripheral structure, a mounting portion 90 provided so as to protrude toward the indoor side of the building. The mounting portion 90 has a light transmitting / receiving portion 63a. As described above, the region located between the mounting portion 90 of the door 40 and the mounting portion 90 of the peripheral structure is also referred to as “the position between the door 40 and the peripheral structure located on the door butt side of the door 40”. (The same applies to the case where a second detecting unit other than the light transmitting / receiving unit 63a and the reflecting unit 63b is provided in the mounting unit 90. The same applies to the second region E2 according to the second embodiment). In the case where the light transmitting / receiving part 63a and the reflecting part 63b are provided in the mounting part 90 in this manner, it is not necessary to remodel the frame part 44, the left vertical frame 11, or the right vertical frame 12, so that the existing automatic door can be used. It becomes possible to easily provide the two detection units.

  In the second embodiment, the second region E2 is formed between the first door 81b (or the second door 82b) and the peripheral structure located on the side of the first door 81b (or the second door 82b). Although it has been described that the regions are located between each other, the present invention is not limited to this. For example, the second area E2 includes the first door 81a (or the second door 82a) and the first door 81a so that the collision between the first door 81a (or the second door 82a) and the second object can be further avoided. (Or the second door 82a) may be an area located between the door and the surrounding structure located on the side of the door end. Alternatively, the second area E2 is between the first door 81a (or the second door 82a) and the peripheral structure located on the side of the first door 81a (or the second door 82a), and the first door 81a. It may be an area located between the first door 81b (or the second door 82b) and the peripheral structure located on the side of the door of the first door 81b (or the second door 82b). In these cases, the light transmission / reception unit 63a is provided at the end of the left vertical frame 11 or the right vertical frame 12 (peripheral structure) of the frame unit 10 on the first door 81a (or second door 82a) side. At the same time, the reflecting portion 63b is provided at a portion of the first door 81a (or the second door 82a) on the side of the door end corresponding to the light transmitting / receiving portion 63a.

(About the output unit)
In the first and second embodiments, it has been described that the output unit 67 is configured using a known audio output unit, but the present invention is not limited to this. For example, the output unit 67 may be configured using a known display unit such as an LED lamp so as to be able to visually notify that the second object has entered the second area E2. Alternatively, the output unit 67 may be configured using both a known audio output unit and a known display unit.

  In the first and second embodiments, the opening / closing control device 60 has been described as including the output unit 67. However, the present invention is not limited to this. In order to reduce the manufacturing cost of the opening / closing control device 60, the output unit 67 is provided. It may be omitted.

(About control information table)
In the first embodiment, it has been described that the control information table 75a stores the opening / closing control information shown in FIG. 5, but the present invention is not limited to this, and may be arbitrarily changed according to the situation. For example, while the doors 41 and 42 are opened and moved, the collision between the second object and the doors 41 and 42 can be avoided, so that the control numbers = A2, A3, A6, C6, or D6 shown in FIG. The opening / closing control information corresponding to at least one of them = stop control and notification information output, and the opening / closing control information corresponding to the control number = A5 shown in FIG. 5 = opening control and notification at an opening speed lower than the opening speed of the opening control. It may be changed to information output.

(About opening and closing process)
In the first embodiment, in SA6, the opening / closing control of the doors 41 and 42 is similarly performed when a plurality of detection units among the first detection unit 62 to the fourth detection unit 65 return simultaneously or stepwise return. Although described as being executed, the present invention is not limited to this. For example, different opening / closing control of the doors 41 and 42 may be executed depending on the situation. Specifically, while the opening / closing state of the door 40 is in the open movement, the first object and the second object enter the first area E1 and the second area E2, though the third object has not entered the E area E3. When the door 40 has stopped opening and moving, the first object has exited the first area E1 after the second object has exited the second area E2. When the second detection unit 63 returns to the stepwise state, the opening / closing control information = opening control (control number = opening / closing control information corresponding to C1) is specified in SA5, and the doors 41 and 42 are opened in SA6. Move open. On the other hand, when the first detection unit 62 and the second detection unit 63 return at the same time due to the first object and the second object retreating from the first area E1 and the second area E2 at the same time, the identification is performed at SA5. Regardless of the control contents of the opened / closed control information, the doors 41 and 42 are moved from the stopped state to the closed state at SA6 (the same applies to the opening / closing processing according to the second embodiment).

(Note)
The automatic door opening and closing control system according to Supplementary Note 1 is an automatic door opening and closing control system that performs opening and closing control of a door that opens and closes an opening of a building, wherein the automatic door opening and closing control system is located in the vicinity of the opening or a prospective direction to the opening. First determining means for determining whether a first object has entered one area, and a second area different from the first area, at least at the door and at the door end side of the door. A second determining means for determining whether or not a second object has entered a second region located between the adjacent surrounding structures, and a determination result of the first determining means and the second determining means. Opening / closing control means for controlling opening / closing of the door.

  The automatic door opening / closing control system according to Supplementary Note 2 is the automatic door opening / closing control system according to Supplementary Note 1, further comprising opening / closing state determining means for determining the opening / closing state of the door, wherein the opening / closing control means includes When the open / close state of the door is determined to be a fully closed state in which the opening is fully closed by the door, the second object has entered the second area by the second determination unit. Is determined, the door is opened and closed so as to maintain the fully closed state regardless of the determination result of the first determination unit.

  The automatic door opening / closing control system according to appendix 3 is characterized in that in the automatic door opening / closing control system according to appendix 1, there is provided an opening / closing state determining unit that determines an opening / closing state of the door, wherein the opening / closing control unit includes When it is determined that the open / closed state of the door is an open movement state in which the door is openly moved in the opening direction of the door, the second determination unit causes the second object to move to the open state. When it is determined that the vehicle has entered the second area, the opening movement of the door is stopped or the first object is moved by the first determination unit regardless of the determination result of the first determination unit. When the door is opened and moved when it is determined that the door has entered the first area and the second determination unit determines that the second object has not entered the second area. At a slower speed than the A, as is opening movement the door to open and close control the door.

  The automatic door opening / closing control system according to Supplementary Note 4, wherein the automatic door opening / closing control system according to any one of Supplementary Notes 1 to 3, outputs notification information indicating that the second object has entered the second area. Output means for performing the opening and closing control, the opening and closing control means, when it is determined by the second determination means that the second object has entered the second area, regardless of the determination result of the first determination means, The notification information is output to the output unit.

  The automatic door opening / closing control system according to Supplementary Note 5 is the automatic door opening / closing control system according to any one of Supplementary Notes 1 to 4, wherein the second determination unit detects the detection light substantially along the door opening / closing direction. A photoelectric sensor for irradiating is provided.

  The automatic door opening and closing control system according to Supplementary Note 6, wherein in the automatic door opening and closing control system according to Supplementary Note 5, the detection light of the photoelectric sensor is used to detect the door-side end of the door or the door side of the peripheral structure. The photoelectric sensor is provided so as to be irradiated so as to reach one of the end of the door on the side of the door end of the door or the other of the end of the peripheral structure on the side of the door.

(Effect of additional notes)
According to the automatic door opening / closing control system described in Supplementary Note 1, the first determination unit determines whether the first object has entered the opening or the first area located near the viewing direction with respect to the opening. Whether the second object has entered a second area which is an area different from the first area and which is located at least between the door and the peripheral structure located on the side of the door. A second determination unit that determines whether the door is open or closed, and an open / close control unit that performs opening / closing control of the door based on the determination results of the first determination unit and the second determination unit. And the door opening / closing control based on only the determination result of the determination unit that determines whether or not the object has entered an area located at a location distant from the second area. To prevent the second object from colliding with the door, Body can be avoided being sandwiched therebetween the door and the surrounding structure. Therefore, it is easy to secure the safety of the object located near the door, and it is possible to improve the safety of the automatic door.

  According to the automatic door opening / closing control system described in Supplementary Note 2, the opening / closing control means is configured to determine whether the open / closed state of the door is the fully closed state by the open / closed state determination means. Is determined to have entered the second area, the door is opened and closed so as to maintain the fully closed state regardless of the determination result of the first determination means. In the closed state, it is possible to avoid collision between the door and the second object on the door end side of the door, and to prevent the second object from being caught between the door and the peripheral structure. Thus, it is easier to ensure the safety of the object located near the door.

  According to the automatic door opening / closing control system described in Supplementary Note 3, the opening / closing control unit is configured to determine whether the opening / closing state of the door is the open moving state by the opening / closing state determining unit. Is determined to have entered the second area, the opening movement of the door is stopped regardless of the determination result of the first determination means, or the first object is moved by the first determination means to the first area. At a speed lower than the speed of the door when the door is opened and moved when the second determination means determines that the second object has not entered the second area. The door is controlled to open and close so as to open the door. Therefore, in a state where the door is open and closed, it is possible to prevent a collision between the second object on the door end side of the door and the door, There are doors and surroundings It is possible to avoid being sandwiched therebetween with creation, more easily ensure the safety of objects located in the vicinity of the door.

  According to the automatic door opening / closing control system described in Supplementary Note 4, the opening / closing control unit, when the second determining unit determines that the second object has entered the second area, the determination result of the first determining unit. Regardless of this, the notification information is output to the output means, so that it is possible to notify a person in the second object or a region other than the second region that the second object has entered the second region. As a result, it is easier to further secure the safety of the object located near the door.

  According to the automatic door opening / closing control system described in Supplementary Note 5, since the second determination unit includes the photoelectric sensor that irradiates the detection light substantially along the door opening / closing direction, the second determination unit extends along the direction orthogonal to the door opening / closing direction. As compared with the case where a photoelectric sensor that irradiates detection light is provided, even when the number of photoelectric sensors installed is small, the entire area of the second area substantially along the opening and closing direction of the door can be covered. It is possible to accurately determine whether or not a relatively vertically long object such as a person has entered. Therefore, it is possible to accurately determine whether or not the second object has entered while suppressing the installation cost of the automatic door opening / closing control system.

  According to the automatic door opening / closing control system described in Supplementary Note 6, the detection light of the photoelectric sensor is transmitted from any one of the door-side end of the door or the door-side end of the peripheral structure to the door-side of the door. The photoelectric sensor is provided so as to reach the other end of the door or the end of the peripheral structure on the door side. Since the presence or absence of the second object existing between the doors can be accurately detected, and the door itself does not intervene between the door-side end of the door and the peripheral structure. In addition, the detection of the door as the second object can be avoided, the presence / absence of the second object can be more accurately determined, and the door opening / closing control can be easily performed.

DESCRIPTION OF SYMBOLS 1 Automatic door 2 Body 3 Opening 4 Wiring 10 Frame part 11 Left vertical frame 12 Right vertical frame 13 Square 21 and 22 Fitting door 23 Glass member 24 Frame part 30 Seamless 40, 41, 42 Door 43 Glass member 44 Frame Unit 50 opening / closing drive unit 60 opening / closing control device 61 operating unit 62 first detecting unit 63 second detecting unit 63a light transmitting / receiving unit 63b reflecting unit 64 third detecting unit 65 fourth detecting unit 65a light transmitting unit 65b light receiving unit 66 open / closed state detection Unit 67 output unit 70 control unit 71 input unit 72 output unit 73 power supply unit 74 control unit 74a first determination unit 74b second determination unit 74c third determination unit 74d open / close state determination unit 74e open / close control unit 75 data recording unit 75a control information Table 81, 81a, 81b First door 81c Glass member 81d Frame part 82, 82a, 82b Second door 82c Glass member 8 d stile portion 90 mounting portion 101 automatic door E1 first region E2 second region E3 third region E4 fourth region

Claims (7)

An automatic door opening and closing control system that performs opening and closing control of a door that opens and closes an opening of a building,
First determining means for determining whether a first object has entered the opening or a first region located in the vicinity of an opening direction with respect to the opening;
The second object has entered a second area, which is an area different from the first area, at least between the door and a peripheral structure located on the side of the door. Second determining means for determining whether or not
Opening and closing control means for controlling the opening and closing of the door based on the judgment results of the first judgment means and the second judgment means ,
The second determination means is a reflection-type photoelectric sensor that irradiates detection light substantially along the opening and closing direction of the door, and is a light transmission and reception unit that transmits and receives the detection light, and is irradiated from the light transmission and reception unit. A reflection type photoelectric sensor having a reflection portion provided at a position capable of reflecting the detection light,
The detection light of the reflection-type photoelectric sensor is arranged such that the door-side end of the door or the peripheral structure from one of the door-side end of the door or the door-side end of the peripheral structure. The light transmission / reception unit and the reflection unit are arranged so as to reach one of the other ends of the object on the door side,
Automatic door opening and closing control system. An open / closed state determination unit that determines an open / closed state of the door,
The opening and closing control means,
When the open / closed state determining means determines that the open / closed state of the door is a fully closed state in which the opening is fully closed by the door, the second determining means determines whether the second object is in the second closed state. If it is determined that the vehicle has entered the two areas, the door is opened and closed so as to maintain the fully closed state regardless of the determination result of the first determination unit.
The automatic door opening / closing control system according to claim 1. An open / closed state determination unit that determines an open / closed state of the door,
The opening and closing control means,
When the open / closed state determining means determines that the open / closed state of the door is an open movement state in which the door is openly moved in an opening direction of the door, the second determination means When it is determined that the second object has entered the second area, the opening movement of the door is stopped regardless of the determination result of the first determination unit .
The automatic door opening / closing control system according to claim 1. An automatic door opening and closing control system that performs opening and closing control of a door that opens and closes an opening of a building,
First determining means for determining whether a first object has entered the opening or a first region located in the vicinity of an opening direction with respect to the opening;
The second object has entered a second area, which is an area different from the first area, at least between the door and a peripheral structure located on the side of the door. Second determining means for determining whether or not
Opening / closing control means for performing opening / closing control of the door based on the judgment results of the first judgment means and the second judgment means;
Opening / closing state determining means for determining the opening / closing state of the door,
The opening and closing control means,
When the open / close state of the door is determined by the first open / close state determination unit to be a closed movement state in which the door is closed and moved toward the closing direction of the door, When it is determined that the first object has entered the first area and when the second determination means determines that the second object has entered the second area, the closing movement of the door is stopped. ,
Automatic door opening and closing control system. The second determining means includes:
A photoelectric sensor that emits detection light substantially along the opening and closing direction of the door,
The automatic door opening / closing control system according to claim 4 . The detection light of the photoelectric sensor may be one of the door-side end of the door or the door-side end of the peripheral structure and the door-side end of the door or the peripheral structure. The photoelectric sensor was provided so that the light was emitted so as to reach one of the other ends on the door side.
An automatic door opening / closing control system according to claim 5 . Output means for outputting notification information indicating that the second object has entered the second area,
The opening and closing control means,
When it is determined by the second determination unit that the second object has entered the second area, the notification information is output to the output unit regardless of the determination result of the first determination unit.
The automatic door opening / closing control system according to any one of claims 1 to 6.

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