JP6855256B2 - How to control automatic door devices, automatic door sensors and automatic door devices - Google Patents

Description

The present invention relates to an automatic door device, an automatic door sensor, and a control method for the automatic door device.

In recent years, the safety standards for automatic doors have been strengthened, and certain standards are being set not only for the safety when the door is closed but also for the safety when the door is opened. As a technique related to safety during open operation, for example, Patent Document 1 discloses a control method for performing door opening / closing control by soft start control, stable wait control, high speed control, brake control, and cushion control. Further, Patent Document 2 discloses an automatic door in which a sensor having the entire fixed side of the sliding door as a detection area is arranged and the door is opened at a low speed when the sensor detects an object.

Japanese Unexamined Patent Publication No. 9-291753 Japanese Unexamined Patent Publication No. 2003-193745

However, in the control method disclosed in Patent Document 1, the width of the door opening is constant when a sufficient safe distance cannot be secured between the door and the wall surface, pillar, or other structure of the building in the opening direction of the door. Therefore, depending on the weight of the door, it is necessary to shorten the distance for performing stable wait control or high-speed control, or shorten the distance for performing soft start control or brake control in order to increase the distance for cushion control.
If the distance for stable wait control or high-speed control is shortened, the door opening time becomes longer, which adversely affects the passability. On the other hand, if the driving force or braking force is increased in order to shorten the distance for performing soft start control or brake control, a load is applied to the door roller, rail, drive motor, etc., which may shorten the life.

Further, in the automatic door disclosed in Patent Document 2, since a wide range on the fixed side of the sliding door is a detection area, the door actually opens at a low speed even when there is no danger of collision. There is a risk of deteriorating passability.

The present invention has been made in consideration of such a point, and an automatic door capable of suppressing deterioration of safety and passability even when a sufficient distance cannot be secured between the door and the wall surface or the like. It is an object of the present invention to provide a control method for a device, an automatic door sensor, and an automatic door device.

In the present invention, the distance from the door to the wall surface located in the opening direction with respect to the door during high-speed control for moving the door at high speed in the door opening operation or for deceleration control for decelerating the door after the high-speed control It is an automatic door device including a control means for performing impact mitigation control for alleviating the impact of the door on the human body when the distance is equal to or less than a predetermined distance that can prevent the door from being pressed against the human body.
Here, the wall surface is a concept that includes columns and other structures in addition to the wall surface.

In the automatic door device according to the present invention, the control means may switch from the high-speed control or the deceleration control to the impact mitigation control when the distance from the door to the wall surface becomes the predetermined distance or less.

In the automatic door device according to the present invention, the impact mitigation control moves the door at a low speed that is lower than the speed of the door at the time of the high-speed control and the kinetic energy of the door is equal to or less than a predetermined kinetic energy. It may be a control to make it.

In the automatic door device according to the present invention, cushion control for stopping the door is performed after the impact mitigation control, and the low speed may be faster than the speed of the door during the cushion control.

In the automatic door device according to the present invention, the low speed may be a constant speed.

In the automatic door device according to the present invention, the impact mitigation control is low when a person or an object is detected by a sensor between the wall surface and a position separated from the wall surface by the predetermined distance in the closing direction of the door. The control may be such that the door is moved at a speed.

In the automatic door device according to the present invention, the sensor may be able to detect a person or an object when the distance from the door to the wall surface is equal to or less than the predetermined distance.

In the automatic door device according to the present invention, when a person or an object is detected by the sensor during the high-speed control, the control means switches from the high-speed control to the impact mitigation control, and the sensor controls the person or the object during the deceleration control. When an object is detected, the deceleration control may be switched to the impact mitigation control.

In the automatic door device according to the present invention, the impact mitigation control may be a control that causes one or both of the door and the wall surface to be temporarily reduced in rigidity or temporarily deformed.

In the automatic door device according to the present invention, the door is a sliding door, and the control means may perform the impact mitigation control when the distance from the door tail of the door to the wall surface is equal to or less than the predetermined distance. ..

INDUSTRIAL APPLICABILITY According to the present invention, the automatic door device is attached to a human body during high-speed control in which the door is moved at high speed in a door opening operation, or during deceleration control in which the automatic door device decelerates the door after the high-speed control. Detects a person or an object between a wall surface located in the opening direction with respect to the door and a position separated from the wall surface by a predetermined distance in the closing direction of the door in order to perform impact mitigation control for mitigating the impact of the door. It is an automatic door sensor.

The present invention relates to the door from the door to the door during high-speed control in which the automatic door device moves the door at high speed in the door opening operation, or during deceleration control in which the automatic door device decelerates the door after the high-speed control. When the distance to the wall surface located in the opening direction is equal to or less than a predetermined distance that can prevent the door from being pressed against the human body, the automatic door device is made to perform impact mitigation control for alleviating the impact of the door on the human body. , A control method for automatic door devices.

According to the present invention, even when a sufficient distance cannot be secured between the door and the wall surface or the like, deterioration of safety and passability can be suppressed.

It is a block diagram which shows the automatic door by this embodiment. It is a perspective view which shows the automatic door by this embodiment. It is a flowchart which shows the operation example of the automatic door by this embodiment. It is a graph which shows the door speed according to the door position in the operation example of the automatic door by this embodiment. It is a top view which shows the safety distance between a door and a wall surface in the operation example of an automatic door by this Embodiment. It is a graph which shows the door speed according to the door position in the operation example of the automatic door by the 1st modification of this embodiment. It is a graph which shows the door speed according to the door position in the operation example of the automatic door by the 2nd modification of this embodiment. It is a flowchart which shows the operation example of the automatic door by the 3rd modification of this embodiment. It is a graph which shows the door speed according to the door position in the operation example of the automatic door by the 3rd modification of this embodiment. It is a block diagram which shows the automatic door by the 4th modification of this embodiment. It is a block diagram which shows the automatic door by the 5th modification of this embodiment. It is a perspective view which shows the automatic door by the 5th modification of this embodiment. It is a flowchart which shows the operation example of the automatic door by the 5th modification of this embodiment. It is a figure which shows the operation state of the protection area of the open protection sensor according to the door position in the operation example of the automatic door by the 5th modification of this embodiment. It is a graph which shows the door speed according to the door position in the operation example of the automatic door by the 5th modification of this embodiment. It is a block diagram which shows the automatic door by the 6th modification of this embodiment. It is a block diagram which shows the automatic door by the 7th modification of this embodiment. FIG. 18A is a diagram showing a non-driving state of the rigidity reducing portion in the automatic door according to the seventh modification of the present embodiment, and FIG. 18B is a diagram showing a driving state of the rigidity reducing portion. Is. It is a flowchart which shows the operation example of the automatic door by the 7th modification of this embodiment. It is a graph which shows the door speed according to the door position in the operation example of the automatic door by the 7th modification of this embodiment. It is a figure which shows the rigidity reduction part in the automatic door by the 8th modification of this embodiment. It is a top view which shows the example of the safety distance between a door and a wall surface different from FIG. 5 in the automatic door by the 9th modification of this embodiment. FIG. 5 is a plan view showing an example of a safety distance between a door and a wall surface different from those in FIGS. 5 and 22 in the automatic door according to the ninth modification of the present embodiment. FIG. 5 is a plan view showing an example of a safety distance between a door and a wall surface different from those in FIGS. 5, 22, and 23 in the automatic door according to the ninth modification of the present embodiment.

Hereinafter, the automatic door according to the embodiment of the present invention will be described in detail with reference to the drawings. The embodiments shown below are examples of the embodiments of the present invention, and the present invention is not construed as being limited to these embodiments. Further, in the drawings referred to in the present embodiment, the same parts or parts having similar functions are designated by the same reference numerals or similar reference numerals, and the repeated description thereof will be omitted. Further, the dimensional ratio of the drawing may differ from the actual ratio for convenience of explanation, and a part of the configuration may be omitted from the drawing.

FIG. 1 is a block diagram showing an automatic door 1 according to the present embodiment. FIG. 2 is a perspective view showing the automatic door 1 according to the present embodiment. As shown in FIG. 1, the automatic door 1 includes an automatic door device 2 and a start sensor 3. The automatic door device 2 includes a motor 21 and a control device 22 which is an example of control means.

The automatic door 1 detects a passerby who is going to pass through the door 5 shown in FIG. 2 by the activation sensor 3, and opens the door 5 in order to pass the passerby in response to the detection of the activation sensor 3. Further, the automatic door 1 provides both safety between the door tail 51 of the door 5 and the wall surface 12 located in the opening direction with respect to the door 5 and the passability of the door 5 when the door 5 is opened. In order to secure the door 5, the speed of the door 5 (hereinafter, also referred to as the door speed) is controlled according to the position of the door tail 51 of the door 5 (hereinafter, also referred to as the door position). Hereinafter, the configuration of such an automatic door 1 will be described in more detail.

(Automatic door device 2)
The motor 21 of the automatic door device 2 is supplied with electric power of a power source (not shown) to generate a rotational force for automatically opening and closing the door 5. The rotational force of the motor 21 is transmitted to the door 5 as a translational force in the opening / closing direction d1 shown in FIG. 2 via a power transmission member such as a pulley or a timing belt (not shown). In the example of FIG. 2, the two doors 5 are a draw-type sliding door that opens by sliding toward the fixed portion 8 side and closes by sliding toward the side away from the fixed portion 8. Is. The mode of the door 5 is not limited to the example of FIG. 2, and various types of doors such as a single pull type, a hinged door type, a folding door type, and a glide door may be adopted.

As shown in FIG. 1, the control device 22 is connected to the motor 21. The control device 22 controls the drive of the motor 21 by outputting the drive signal to the motor 21 based on the information or the signal acquired from the start sensor 3 and the motor 21. The drive control of the motor 21 is the control of at least one of the presence / absence of drive of the motor 21, the drive speed, the drive torque, and the rotation direction, or a combination of two or more thereof.

The specific aspect of the control device 22 is not particularly limited. For example, the control device 22 outputs a PWM (Pulse Width Modulation) signal, a CPU that controls the drive speed of the motor 21 by the duty ratio of the PWM signal, and four semiconductor switches (for example, FET) that are on / off controlled by the PWM signal. ) As an arm, an H-bridge circuit connected to the motor 21, and a current signal (that is, a drive signal) for forward or reverse rotation to the motor 21 depending on the ON state of the semiconductor switch connected to the H-bridge circuit. ) May be provided.

The control device 22 acquires a detection signal indicating the detection status of a passerby in the effective detection area (hereinafter, also referred to as the activation side effective detection area) of the activation sensor 3 described later from the activation sensor 3. When the control device 22 detects a passerby in the activation side effective detection area based on the acquired detection signal, the control device 22 performs open drive control for driving the door 5 in the open direction (that is, opening the door 5).

In the open drive control, the control device 22 acquires a position signal indicating the door position and a speed signal indicating the door speed from the motor 21, and drives and controls the motor 21 based on the acquired position signal and the speed signal. The specific mode of the position signal is not particularly limited as long as it can detect the door position. For example, the position signal is generated based on the phase of the Hall element of the motor 21. Further, the position signal may be a signal based on a rotary encoder that detects the rotation of the motor 21 or a linear encoder provided for detecting the open / closed position of the door 5.

In the open drive control of the door 5, the control device 22 performs control according to each of the plurality of control areas. More specifically, in the control device 22, the acceleration region AA, the high-speed region HA, the deceleration region DA, the low-speed region LA, and the cushion region CA are sequentially arranged from the fully closed position side to the fully open position side of the door 5. The speed of the door 5 is controlled according to each of the above.

The acceleration region AA is a control region that performs acceleration control for accelerating the door 5 in the door opening operation. In the acceleration control, the speed of the door 5 is gradually increased by, for example, increasing the duty ratio of the PWM signal described above in predetermined increments so as not to suddenly increase the door speed and give an impact to the door 5. You may perform soft start control which raises. Acceleration control continues until the door speed reaches the high speed control door speed.

The high-speed region HA is a control region that performs high-speed control for moving the door 5 at high speed in the door opening operation. The specific mode of the door speed for high-speed control is not particularly limited, and may be, for example, 400 mm / s. Further, the high-speed control performs acceleration control (for example, the final duty ratio of the PWM signal set in the acceleration region AA) for a certain period of time so that the door speed surely reaches the door speed of the high-speed control on the start side of the high-speed region HA. It may include a stable wait control to be held. Further, in high-speed control, the control device 22 may perform feedback control to match the door speed with the target speed based on the speed signal input from the motor 21. High-speed control is continued until a predetermined termination condition is satisfied. The predetermined end condition may be, for example, a condition indicating that the current door position is a deceleration start position at which the deceleration control needs to be started at the current door speed.

The deceleration area DA is a control area for performing deceleration control for decelerating the door 5 after high-speed control in the door opening operation. The deceleration control is continued until the door position becomes the start position of the low speed control described later. The control device 22 may control the door speed so that a constant deceleration gradient is maintained in the deceleration control. Further, the control device 22 may perform feedback control to match the door speed with the target speed based on the speed signal input from the motor 21.

The low-speed region LA is a control region for performing low-speed control for moving the door 5 at a low speed so that the kinetic energy of the door 5 is set to a predetermined kinetic energy (for example, 1.69 J) or less in the door opening operation. The low speed control is an aspect of impact mitigation control that alleviates the impact of the door 5 on the human body.

In the present embodiment, in the low speed control, the distance from the door tail 51 of the door 5 to the wall surface 12 located in the opening direction with respect to the door 5 is a predetermined distance D (hereinafter, a safe distance) capable of preventing the door 5 from being pressed against the human body. Also called) Starts when the following becomes. That is, the control device 22 switches from deceleration control to low speed control when the door position reaches the wall surface 12 at a safety distance D or less. The safety distance D is, for example, 200 mm. The low speed control may be terminated when the door position reaches a predetermined end position of the low speed control.

The door speed of the low speed control is slower than the door speed of the high speed control and faster than the door speed of the cushion control. For example, the door speed for low speed control may be faster than 40 mm / S and slower than 400 mm / s. Further, the door speed of the low speed control varies depending on the weight of the door 5, and the lighter the door 5, the faster the door speed, and the heavier the door 5, the slower the door speed.

By performing low-speed control at the door position of the safety distance D or less, the kinetic energy of the door 5 can be sufficiently reduced. Since the kinetic energy of the door 5 can be sufficiently reduced, even if a human body such as a head is sandwiched between the door 5 and the wall surface 12, the impact of the door 5 on the human body can be sufficiently mitigated. Further, since the door speed of the low speed control is faster than the door speed of the cushion control, it is possible to suppress the decrease of the door speed while sufficiently reducing the kinetic energy.
In addition to the low speed control, or instead of the low speed control, the output torque of the motor 21 may be temporarily reduced to reduce the impact force that the door 5 can give to the human body.

The cushion area CA is a control area for performing cushion control for stopping the door 5 after low speed control in the door opening operation. The cushion control is a control for moving the door 5 at a speed lower than the door speed of the low speed control. The specific mode of the door speed in the cushion control is not particularly limited, and may be, for example, 40 mm / s. According to the door speed of the cushion control, for example, the door hanger holding the door 5 at the fully open position of the door 5 can be brought into contact with the door stopper with a small impact to stop the door 5.

(Activation sensor 3)
As shown in FIG. 2, the activation sensor 3 is provided at the center of the transom light portion 6 of the automatic door 1, and more specifically, above the boundary portion between the two doors 5 in the fully closed state. The activation sensor 3 may be provided at a place other than the transom light 6 such as the ceiling.

The activation sensor 3 has an activation side effective detection area set.

Here, the activation side effective detection area is for detecting a passerby of the door 5 in the area on the floor surface 7 that can be detected by using the activation sensor 3 (hereinafter, also referred to as the activation side detection area A1). It is an area of at least a part of the set range. The activation side effective detection area may be set by the control device 22.

In the example of FIG. 2, the activation side detection area A1 is a plurality of small detection areas arranged at intervals in the opening / closing direction d1 of the door 5 and the front-rear direction d2 orthogonal to the opening / closing direction d1 of the two doors 5 (hereinafter,). , Also referred to as a small detection area on the activation side). The individual activation side small detection area A11 corresponds to, for example, a near-infrared light irradiation spot that is projected from each of the plurality of light emitting elements provided in the activation sensor 3 and received by the plurality of light receiving elements. ing.

The activation-side effective detection area in the example of FIG. 2 is composed of at least one activation-side small detection area A11 out of a plurality of activation-side small detection areas A11. In the example of FIG. 2, each activation side small detection area A11 has a circular shape. The activation side small detection area A11 may have a shape other than a circular shape such as an elliptical shape, a rectangular shape, and a polygonal shape.

With such an activation side effective detection area set in advance, the activation sensor 3 projects, for example, near-infrared light to all the light projecting elements toward the corresponding activation side small detection area A11. Let me. Then, the activation sensor 3 receives the reflected light of the near infrared light from each activation side small detection area A11 by all the light receiving elements provided corresponding to each of the projection elements. Then, the activation sensor 3 outputs a detection signal according to the amount of received light to the control device 22 for each activation side small detection area A11.

The control device 22 acquires the detection signal in the preset activation side effective detection area among the detection signals for each activation side small detection area A11 input from the activation sensor 3.

Then, the control device 22 detects a passerby based on the acquired detection signal in the activation side effective detection area. For example, the control device 22 detects a passerby based on whether or not the signal value of the detection signal reaches the threshold value for detecting a person. When a passerby in the activation side effective detection area is detected, that is, when the activation sensor 3 is in the detection state, the control device 22 opens the door 5 as described above.

In addition, the activation sensor 3 may project the near-infrared light only to the projection element corresponding to the activation side effective detection area instead of projecting the near-infrared light to all the projection elements. In this case, all of the activation side small detection area A11 to which the near infrared light is projected correspond to the activation side effective detection area. Power consumption can be reduced by projecting light only on the light projecting element corresponding to the effective detection area on the activation side. In addition, the life of the light projecting element can be extended.

Further, the activation sensor 3 detects the activation side effective detection area by a method such as transmitting a radio wave to the activation side small detection area A11 or imaging, in addition to projecting near-infrared light to the activation side small detection area A11. You may get the status.

(Control method of automatic door device 2)
Next, the control method of the automatic door device 2 will be described. FIG. 3 is a flowchart showing an operation example of the automatic door 1 according to the present embodiment. The process of the flowchart of FIG. 3 is repeated as necessary. FIG. 4 is a graph showing the door speed according to the door position in the operation example of the automatic door 1 according to the present embodiment. FIG. 5 is a plan view showing a safety distance D between the door 5 and the wall surface 12 in the operation example of the automatic door 1 according to the present embodiment. In FIG. 5, the opening direction of the opening / closing direction d1 of the door 5 shown in FIG. 1 is indicated by reference numeral d11.

In the initial state of FIG. 3, the door position is assumed to be the fully closed position of the door 5. Then, from the initial state, the control device 22 confirms the detection signal for each activation side small detection area A11 input from the activation sensor 3, and among the detection signals for each activation side small detection area A11, a preset activation is performed. Acquires the detection signal of the side effective detection area. Then, as shown in FIG. 3, the control device 22 determines whether or not the activation sensor 3 is in the passerby detection state based on the acquired detection signal of the activation side effective detection area (step S1). ..

When a passerby is detected (step S1: Y), the control device 22 starts opening drive of the door 5 by applying a drive signal to the motor 21 (step S2).

After the start of the open drive, the control device 22 first starts the acceleration control (step S3). After starting the acceleration control, the control device 22 determines whether or not the end condition of the acceleration control is satisfied (step S4). This determination may be performed, for example, based on whether or not the door speed indicated by the speed signal input from the motor 21 has reached the door speed of high-speed control.

When the end condition of the acceleration control is satisfied (step S4: Y), the control device 22 switches from the acceleration control to the high-speed control (step S5). By performing high-speed control, the door speed is maintained at a constant high speed as shown in the high-speed region HA of FIG. On the other hand, when the end condition of the acceleration control is not satisfied (step S4: N), the control device 22 continues the acceleration control and repeats the determination of whether or not the end condition of the acceleration control is satisfied (step S4). ..

After switching to the high-speed control, the control device 22 determines whether or not the end condition of the high-speed control is satisfied (step S6). This determination may be performed based on, for example, whether or not the door position indicated by the position signal input from the motor 21 is the deceleration start position at which the deceleration control needs to be started at the current door speed. ..

When the end condition of the high-speed control is satisfied (step S6: Y), the control device 22 switches from the high-speed control to the deceleration control (step S7). By performing the deceleration control, as shown in the deceleration region DA of FIG. 4, the door speed is decelerated to _{the door speed VL at the start of the low speed control.} On the other hand, when the end condition of the high-speed control is not satisfied (step S6: N), the control device 22 continues the high-speed control and repeats the determination of whether or not the end condition of the high-speed control is satisfied (step S6). ..

After switching to the deceleration control, the control device 22 determines whether or not the door position has reached the safety distance D or less to the wall surface 12 as shown in FIG. 5 based on the position signal input from the motor 21. (Step S8). As the opening operation progresses in the future, the distance between the door position and the wall surface 12 becomes even shorter.

As shown in FIG. 3, when the door position reaches the position of the safety distance D or less to the wall surface 12 (step S8: Y), the control device 22 switches from the deceleration control to the low speed control (step S9). By performing the low speed control, the door speed is maintained at a _{constant low speed VL as shown in the low speed region LA of FIG.} This low speed _VL is a door speed that suppresses the kinetic energy of the door 5 to a predetermined kinetic energy (for example, 1.69 J) or less that can sufficiently alleviate the impact of the door 5 on the human body. On the other hand, when the door position has not reached the position of the safety distance D to the wall surface 12 (step S8: N), the control device 22 continues the deceleration control, and the door position is set to the position of the safety distance D or less to the wall surface 12. The determination of whether or not it has been reached is repeated (step S8).

After switching to the low-speed control, the control device 22 determines whether or not the end condition of the low-speed control is satisfied (step S10). This determination may be performed, for example, based on whether or not the door position indicated by the position signal input from the motor 21 has reached the end position of the predetermined low-speed control.

When the end condition of the low speed control is satisfied (step S10: Y), the control device 22 switches from the low speed control to the cushion control (step S11). By performing the cushion control, the door speed is maintained at a constant speed lower than _{the door speed VL} of the low speed control, as shown in the cushion area CA of FIG. On the other hand, when the end condition of the low speed control is not satisfied (step S10: N), the control device 22 continues the low speed control and repeats the determination of whether or not the end condition of the low speed control is satisfied (step S10). ..

After switching to the cushion control, the control device 22 ends the opening drive of the door 5 when the door 5 comes into contact with the stopper and stops (step S12).

According to the present embodiment, by performing low-speed control when the door position reaches the wall surface 12 within the safety distance D, even if a human body such as a head is pinched between the door 5 and the wall surface 12. The impact of the door 5 on the human body can be sufficiently mitigated. As a result, even when the safety distance D cannot be secured between the door position when fully opened and the wall surface 12, it is possible to suppress a decrease in safety of the opening operation. Further, according to the present embodiment, the door 5 can be moved at a speed higher than the door speed of the low speed control until the door position reaches the wall surface 12 within the safety distance D, so that the deterioration of the passability is suppressed. be able to.

Further, according to the present embodiment, by switching from the deceleration control to the low speed control when the door position becomes the safety distance D or less to the wall surface 12, the vehicle decelerates after the door position becomes the safety distance D or less to the wall surface 12. The door 5 can be moved at a faster door speed than when control is continued. Thereby, the decrease in passability can be suppressed more effectively.

Further, according to the present embodiment, the low speed in the low speed control is set to a door speed that makes the kinetic energy of the door 5 equal to or less than a predetermined kinetic energy that can sufficiently alleviate the impact of the door 5 on the human body. The decrease in energy can be suppressed more effectively. Since the output torque of the motor 21 is temporarily reduced together with the low speed control or instead of the low speed control, the impact force that the door 5 can give to the human body can be reduced.

Further, according to the present embodiment, by setting the low speed in the low speed control to a speed higher than the door speed in the cushion control, it is possible to more effectively suppress the decrease in the passability.

Further, according to the present embodiment, the control can be simplified by setting the low speed in the low speed control to a constant speed.

(First modification)
Next, a first modification for linearly reducing the door speed of low-speed control will be described. FIG. 6 is a graph showing the door speed according to the door position in the operation example of the automatic door 1 according to the first modification of the present embodiment.

In FIG. 4, an example in which the door speed of the low speed control is a constant speed has been described. On the other hand, in the first modification, as shown in FIG. 6, the low speed control door speed is set to be a speed that linearly decreases to the cushion control door speed. The door speed at the start of the low speed region LA is a door speed at which the kinetic energy of the door 5 is set to a predetermined kinetic energy (for example, 1.69J) or less. According to the first modification, the door speed at the start of the low-speed region LA is set to a door speed in which kinetic energy is suppressed and is faster than the door speed of cushion control, thereby suppressing a decrease in safety and passability. Further, by setting the door speed at the end of the low speed region LA to be the door speed at which the kinetic energy is further suppressed, the decrease in safety can be further suppressed.

(Second modification)
Next, a second modification for quadratically reducing the door speed of the low speed control will be described. FIG. 7 is a graph showing the door speed according to the door position in the operation example of the automatic door 1 according to the second modification of the present embodiment.

In FIG. 6, an example in which the door speed of the low-speed control is set to a speed that linearly decreases is described. On the other hand, in the second modification, as shown in FIG. 7, the low speed control door speed is quadratically reduced to the cushion control door speed. The door speed at the start of the low speed region LA is a door speed at which the kinetic energy of the door 5 is set to a predetermined kinetic energy (for example, 1.69J) or less. As shown in FIG. 7, the door speed on the end side of the low speed region LA matches the door speed of the cushion control.

According to the second modification, the door speed at the start of the low-speed region LA is set to a door speed in which kinetic energy is suppressed and is faster than the door speed of cushion control, thereby suppressing a decrease in safety and passability. Further, by setting the door speed on the end side of the low speed region LA as the door speed of cushion control, it is possible to further suppress the decrease in safety.

(Third variant)
Next, a third modification in which cushion control is omitted will be described. FIG. 8 is a flowchart showing an operation example of the automatic door 1 according to the third modification of the present embodiment. The process of the flowchart of FIG. 8 is repeated as necessary. FIG. 9 is a graph showing the door speed according to the door position in the operation example of the automatic door 1 according to the third modification of the present embodiment.

In FIGS. 3 and 4, an example in which cushion control is performed after low speed control has been described. On the other hand, in the third modification, as shown in the flowchart of FIG. 8 and the graph of FIG. 9, the door 5 is driven to open to perform cushion control after performing low speed control in the low speed region LA. To finish. The door speed on the end side of the low speed region LA may be the same as the door speed of the cushion control.

According to the third modification, by omitting the cushion control, it is possible to simplify the drive control of the door 5 while suppressing the deterioration of safety and passability.

(Fourth modification)
Next, a fourth modification in which the opening drive of the door is controlled on the sensor side will be described. FIG. 10 is a block diagram showing an automatic door 1 according to a fourth modification of the present embodiment.

In FIG. 1, an example in which the open drive control of the door 5 is performed by the automatic door device 2 has been described. On the other hand, in the automatic door 1 of the fourth modification, the opening drive control of the door 5 is performed on the automatic door sensor 30 side.

Specifically, as shown in FIG. 10, the automatic door sensor 30 of the fourth modification includes a drive control unit 221 that constitutes a part of the control device 22 in addition to the activation sensor 3. Further, the automatic door device 2 of the fourth modification includes a drive unit 222 that forms a part of the control device 22. In other words, the control device 22 of the fourth modification is configured to straddle both the automatic door sensor 30 and the automatic door device 2.

The drive control unit 221 outputs a drive control signal corresponding to the detection signal input from the start sensor 3, the position signal input from the motor 21, and the speed signal to the drive unit 222. For example, the drive control unit 221 may be the CPU described above, and the drive control signal may be the PWM signal described above.

The drive unit 222 outputs a drive signal for driving the motor 21 to the motor 21 in response to the drive control signal input from the drive control unit 221. For example, the drive unit 222 may be the H-bridge circuit described above, and the drive signal may be a power supply current energized in the motor 21 through the H-bridge circuit described above.

Also in the fourth modification, the drive control unit 221 provided in the automatic door sensor 30 performs low-speed control at the door position where the distance from the wall surface 12 is the safety distance D or less, thereby ensuring the safety of the opening operation and the passage. It is possible to suppress the decrease in sex.

(Fifth variant)
Next, a fifth modification in which low-speed control is performed based on the detection state of the open protection sensor will be described. FIG. 11 is a block diagram showing an automatic door 1 according to a fifth modification of the present embodiment. FIG. 12 is a perspective view showing the automatic door 1 according to the fifth modification of the present embodiment.

As shown in FIGS. 11 and 12, the automatic door 1 of the fifth modification further includes an open protection sensor 4 which is an example of the automatic door sensor, in addition to the configuration of FIG.

(Open protection sensor 4)
As shown in FIG. 12, two open protection sensors 4 are provided on the transom portion 6 with the activation sensor 3 interposed therebetween. Each open protection sensor 4 is located above each of the left and right fixed portions 8.

An open protection side effective detection area is set in the open protection sensor 4 by the control device 22.

Here, the open protection side effective detection area is the area on the floor surface 7 that can be detected by using the open protection sensor 4 (hereinafter, also referred to as the open protection side detection area A2), from the wall surface 12 and the wall surface 12 to the door. It is an area of a part of a range set for detecting a person existing between a position separated from a safety distance D in the closing direction of 5.

As shown in FIG. 12, the open protection side detection area A2 is arranged at a position close to the activation side detection area A1 and is not used for detecting a person, and is arranged at a position close to the wall surface 12 and a person. It has a protected area A22 used for detecting the above. The non-protected area A21 is not used for detecting a person, but is a structurally unavoidable detection area of an existing sensor. The range of the opening / closing direction d1 of the protected area A22 extends to the wall surface 12 and a position separated from the wall surface 12 in the closing direction of the door 5 by a safety distance D.

The control device 22 sets the open protection side effective detection area in the protection area A22 and does not set the open protection side effective detection area in the non-protection area A21 among the open protection side detection areas A2. Further, the control device 22 does not set the always open protection side effective detection area in the protection area A22, but opens and protects the protection area A22 when the door position is equal to or less than the safety distance D from the wall surface 12 during the opening operation. Set the side valid detection area.

Further, in the example of FIG. 12, the open protection side detection area A2 is a plurality of small detection areas (hereinafter, open) arranged at intervals in the opening / closing direction d1 and the front-rear direction d2 in front of each of the two fixing portions 8. It is composed of A23 (also called a small detection area on the protection side). Each open protection side small detection area A23 corresponds to, for example, an irradiation spot of near-infrared light projected from a plurality of light projecting elements provided in the open protection sensor 4.

In the example of FIG. 12, each open protection side small detection area A23 has a circular shape. The diameter of the irradiation spot on the floor surface in this case can be any value between, for example, 10 cm and 30 cm. Further, the open protection side small detection area A23 may have a shape other than a circular shape such as an elliptical shape, a rectangular shape, or a polygonal shape.

The open protection sensor 4 causes, for example, all the light projecting elements to project near-infrared light toward the corresponding small detection area A23 on the open protection side. Then, the open protection sensor 4 receives the reflected light of the near infrared light from each open protection side small detection area A23 by all the light receiving elements provided corresponding to each of the light projecting elements. Then, the open protection sensor 4 outputs a detection signal according to the amount of received light to the control device 22 for each small detection area A23 on the open protection side.

The control device 22 extracts the detection signal of the open protection side effective detection area set in the protection area A22 from the detection signals for each open protection side small detection area A23 input from the open protection sensor 4. Then, the control device 22 detects a person in the protected area A22 based on the extracted detection signal of the open protection side effective detection area. For example, the control device 22 detects a person based on whether or not the signal value of the detection signal in the open protection side effective detection area reaches the threshold value for detecting the person.

Then, in the fifth modification, the control device 22 is low when a person is detected by the open protection sensor 4 between the wall surface 12 and a position separated from the wall surface 12 by a safety distance D in the closing direction of the door 5. Perform speed control. More specifically, the control device 22 switches from high-speed control to low-speed control when a person is detected by the open protection sensor 4 during high-speed control. Further, the control device 22 switches from the deceleration control to the low speed control when a person is detected by the open protection sensor 4 during the deceleration control.

In the open protection sensor 4, instead of projecting near-infrared light to all the projectile elements, the open protection sensor 4 may project light only to the projectile elements corresponding to the effective detection area on the open protection side. In this case, all of the open protection side small detection area A23 to which the near infrared light is projected correspond to the open protection side effective detection area. Power consumption can be reduced by projecting light only on the light projecting element corresponding to the effective detection area on the open protection side.

Further, the open protection sensor 4 is effective on the open protection side by a method such as transmitting radio waves to the small detection area A23 on the open protection side or imaging, in addition to projecting near infrared light to the small detection area A23 on the open protection side. The detection signal of the detection area may be acquired.

(Control method for automatic door 1)
Next, the control method of the automatic door device 2 in the fifth modification will be described. FIG. 13 is a flowchart showing an operation example of the automatic door 1 according to the fifth modification of the present embodiment. The process of the flowchart of FIG. 13 is repeated as necessary. FIG. 14 is a diagram showing an operating state of the protected area A22 of the open protection sensor 4 according to the door position in the operation example of the automatic door 1 according to the fifth modification of the present embodiment. FIG. 15 is a graph showing the door speed according to the door position in the operation example of the automatic door 1 according to the fifth modification of the present embodiment.

As shown in FIG. 13, in the fifth modification, the steps after the high-speed control (step S5) are different from the operation example of FIG.

Specifically, as shown in FIG. 13, after switching to high-speed control, the control device 22 determines whether or not the door position has reached the safety distance D or less to the wall surface 12 (step S8). When the door position reaches the position of the safety distance D or less to the wall surface 12 (step S8: Y), the control device 22 sets the open protection side effective detection area in the protection area A22 (step S22). The control device 22 may set the entire area of the protected area A22 as the open protection side effective detection area. As a result, as shown in FIG. 14, the protected area A22 is switched from invalid to valid, and detection of a person based on the detection signal from the protected area A22 is started. On the other hand, when the door position has not reached the position of the safety distance D or less to the wall surface 12 (step S8: N), the control device 22 continues high-speed control, and the door position is the position of the safety distance D or less to the wall surface 12. Is repeated (step S8).

After setting the open protection side effective detection area, the control device 22 determines whether or not the open protection side effective detection area is in the detection state based on the detection signal of the open protection sensor 4 (step S23). When the open protection side effective detection area is in the detection state (step S23: Y), the control device 22 switches from high-speed control to low-speed control (step S9). By performing the low speed control, the door speed is reduced to a _{constant low speed VL as shown in the low speed region LA_S23: Y in FIG.} After that, the same steps (steps S10 to S12) as in the example of FIG. 3 are performed.

On the other hand, when the open protection side effective detection area is not in the detection state (step S23: N), the control device 22 determines whether or not the end condition of the high-speed control is satisfied (step S6). When the end condition of the high-speed control is satisfied (step S6: Y), the control device 22 switches from the high-speed control to the deceleration control (step S7). By performing the deceleration control, the door speed is decelerated to the cushion-controlled door speed as shown in the deceleration region DA of FIG. On the other hand, when the end condition of the high-speed control is not satisfied (step S6: N), the control device 22 continues the high-speed control and repeats the determination of whether or not the open protection side effective detection area is in the detection state (step S23). ).

After switching to the deceleration control, the control device 22 determines whether or not the open protection side effective detection area is in the detection state based on the detection signal of the open protection sensor 4 (step S24). When the open protection side effective detection area is in the detection state (step S24: Y), the control device 22 switches from deceleration control to low speed control (step S9). By performing the low speed control, the door speed is reduced to a _{constant low speed VL as shown in the low speed region LA_S24: Y in FIG.} After that, the same steps (steps S10 to S12) as in the example of FIG. 3 are performed.

On the other hand, when the open protection side effective detection area is not in the detection state (step S24: N), the control device 22 determines whether or not the end condition of the deceleration control is satisfied (step S25). This determination may be performed, for example, based on whether or not the door speed has reached the cushion-controlled door speed.

When the end condition of the deceleration control is satisfied (step S25: Y), the control device 22 switches from the deceleration control to the cushion control (step S11). On the other hand, when the end condition of the deceleration control is not satisfied (step S25: N), the control device 22 continues the deceleration control and repeats the determination of whether or not the end condition of the deceleration control is satisfied (step S25). ..

According to the fifth modification, when the door position is within the safety distance D to the wall surface 12, when a person is detected between the door position and the wall surface 12, the low speed control can be switched. As a result, switching to low-speed control can be performed only when a person is detected and when necessary, so that safety at the time of necessity can be ensured and passability at times other than necessary can be improved.

Further, according to the fifth modification, the protection area A22 of the open protection sensor 4 is enabled when the door position reaches a position of the safety distance D or less to the wall surface 12, so that the protection area A22 is always effective. It is possible to reduce the power consumption as compared with the case of doing so.

(Sixth variant)
Next, a sixth modification in which the opening drive of the door is controlled on the sensor side will be described. FIG. 16 is a block diagram showing an automatic door 1 according to a sixth modification of the present embodiment.

In FIG. 11, an example in which the open drive control of the door 5 is performed by the automatic door device 2 has been described. On the other hand, in the automatic door 1 of the sixth modification, the opening drive control of the door 5 is performed on the automatic door sensor 30 side.

Specifically, as shown in FIG. 16, the automatic door sensor 30 of the sixth modification includes a drive control unit 221 that constitutes a part of the control device 22 in addition to the activation sensor 3 and the open protection sensor 4. .. Further, the automatic door device 2 of the sixth modification includes a drive unit 222 that forms a part of the control device 22. In other words, the control device 22 of the sixth modification has a configuration that straddles both the automatic door sensor 30 and the automatic door device 2.

The drive control unit 221 outputs a detection signal input from the start sensor 3, a detection signal input from the open protection sensor 4, a position signal input from the motor 21, and a drive control signal corresponding to the speed signal to the drive unit 222. To do. The drive unit 222 outputs a drive signal for driving the motor 21 to the motor 21 in response to the drive control signal input from the drive control unit 221.

According to the sixth modification, when the door position is the safety distance D or less to the wall surface 12 and a person is detected between the door position and the wall surface 12, the drive control unit 221 provided in the automatic door sensor 30 is provided. Since it is possible to switch to low-speed control, it is possible to ensure safety when necessary and improve passability when not necessary.

(7th variant)
Next, a seventh modification in which impact mitigation control for temporarily reducing the rigidity of the door 5 is performed will be described. FIG. 17 is a block diagram showing an automatic door 1 according to a seventh modification of the present embodiment. FIG. 18A is a diagram showing a non-driving state of the rigidity reducing portion 23 in the automatic door 1 according to the seventh modification of the present embodiment. FIG. 18B is a diagram showing a driving state of the rigidity reducing portion 23.

As shown in FIG. 17, the automatic door device 2 of the seventh modification has a rigidity lowering portion 23 in addition to the configuration of FIG. The rigidity reducing portion 23 of the seventh modification has a structure for reducing the rigidity of the door 5. As shown in FIGS. 18A and 18B, the rigidity reducing portion 23 includes a door body 5a, two vertical frames 5b fixed to both ends of the door body 5a in the opening / closing direction d1, and a door body 5a. Is provided at one end of the upper frame 5c in the door 5 provided with the upper frame 5c and the lower frame 5d that slidably hold the door 5 in the opening / closing direction d1.

Specifically, as shown in FIGS. 18A and 18B, the rigidity reducing portion 23 has a rod-shaped rod 231 extending in the vertical direction and a cylindrical solenoid 232. The rod 231 has magnetism and is arranged inside a through hole 5e provided in the upper frame 5c and a recess 5f provided in the upper end portion of the vertical frame 5b facing the through hole 5e. The solenoid 232 is arranged concentrically with the rod 231 on the upper part of the rod 231 and has an inner diameter larger than the outer diameter of the rod 231 so that the rod 231 can be sucked into the solenoid 232. The solenoid 232 is electrically connected to the control device 22.

In the rigidity lowering unit 23 having such a configuration, the solenoid 232 does not generate a magnetic field when a drive signal is not applied from the control device 22. Since no magnetic field is generated in the solenoid 232, the rod 231 is not attracted to the solenoid 232 and is located inside the through hole 5e and the recess 5f, as shown in FIG. 18A. That is, the rod 231 is in a state of protruding from the upper frame 5c into the vertical frame 5b. When the rod 231 protrudes inside the vertical frame 5b, the door body 5a fixed to the vertical frame 5b is prohibited from sliding along the upper frame 5c and the lower frame 5d. Therefore, when the drive signal is not applied to the solenoid 232, the rigidity of the door 5 is not reduced.

On the other hand, when a drive signal is applied from the control device 22, the solenoid 232 generates a magnetic field. When a magnetic field is generated in the solenoid 232, the rod 231 is attracted to the upper solenoid 232 by a magnetic force corresponding to the magnetic field, as shown in FIG. 18 (b). By being sucked by the solenoid 232, the rod 231 is in a state of being retracted upward from the inside of the vertical frame 5b. By retracting the rod 231 from the inside of the vertical frame 5b, the door body 5a fixed to the vertical frame 5b is allowed to slide along the upper frame 5c and the lower frame 5d. Therefore, when the drive signal is applied to the solenoid 232, the rigidity of the door 5 is reduced.

In the seventh modification, when the door position reaches the wall surface 12 to the safety distance D or less, the control device 22 applies a drive signal to the rigidity lowering portion 23, that is, the solenoid 232 as the impact mitigation control to reduce the rigidity of the rigidity lowering portion 23. Controls to drive. By driving the rigidity reducing portion 23, the rigidity of the door 5 is reduced. By reducing the rigidity of the door, the impact of the door 5 on the human body can be sufficiently mitigated.

The rigidity lowering portion 23 may be provided with an electric motor, an ultrasonic motor, or the like as an actuator for moving the rod 231 forward and backward instead of the solenoid 232.

(Control method for automatic door 1)
Next, the control method of the automatic door device 2 in the seventh modification will be described. FIG. 19 is a flowchart showing an operation example of the automatic door 1 according to the seventh modification of the present embodiment. FIG. 20 is a graph showing the door speed according to the door position in the operation example of the automatic door 1 according to the seventh modification of the present embodiment.

As shown in FIG. 19, in the seventh modification, the steps after the high-speed control (step S5) are different from the operation example of FIG.

Specifically, as shown in FIG. 19, after switching to high-speed control, the control device 22 determines whether or not the door position has reached the safety distance D or less to the wall surface 12 (step S8). When the door position reaches the position of the safety distance D or less to the wall surface 12 (step S8: Y), the control device 22 drives the rigidity lowering portion 23 (step S31). By driving the rigidity reducing portion 23, a state in which the rigidity of the door 5 is reduced starts as shown in the door rigidity reducing area of FIG. 20. On the other hand, when the door position has not reached the position of the safety distance D or less to the wall surface 12 (step S8: N), the control device 22 determines whether or not the door position has reached the position of the safety distance D or less to the wall surface 12. Is repeated (step S8).

After driving the rigidity lowering unit 23, the control device 22 determines whether or not the end condition of the high-speed control is satisfied (step S6). When the end condition of the high-speed control is satisfied (step S6: Y), the control device 22 switches from the high-speed control to the deceleration control (step S7). On the other hand, when the end condition of the high-speed control is not satisfied (step S6: N), the control device 22 continues the high-speed control and repeats the determination of whether or not the end condition of the high-speed control is satisfied (step S6). ..

After switching to the deceleration control, the control device 22 determines whether or not the end condition of the deceleration control is satisfied (step S25). When the end condition of the deceleration control is satisfied (step S25: Y), the control device 22 switches from the deceleration control to the cushion control (step S11). After that, the opening drive of the door is finished (step S12). On the other hand, when the end condition of the deceleration control is not satisfied (step S25: N), the control device 22 continues the deceleration control and repeats the determination of whether or not the end condition of the deceleration control is satisfied (step S25). ..

According to the seventh modification, when the door position reaches the wall surface 12 with a safety distance D or less, the rigidity reduction unit 23 controls the reduction of the door rigidity so that the head or the like is between the door 5 and the wall surface 12. Even if the human body is pinched, the impact of the door 5 on the human body can be sufficiently mitigated. As a result, even when the safety distance D cannot be secured between the door position when fully opened and the wall surface 12, it is possible to suppress a decrease in safety of the opening operation. Further, since low-speed control is not required, the high-speed region HA can be lengthened, so that a decrease in passability in the open operation can be suppressed.

(8th variant)
Next, an eighth modification example in which impact mitigation control for reducing the rigidity of the wall surface 12 is performed will be described. FIG. 21 is a diagram showing a rigidity reducing portion 23 in the automatic door 1 according to the eighth modification of the present embodiment.

In the seventh modification, an example of the rigidity reducing portion 23 for reducing the rigidity of the door 5 has been described. On the other hand, the rigidity reducing portion 23 of the eighth modification has a structure for reducing the rigidity of the wall surface 12.

Specifically, as shown in FIG. 21, the rigidity reducing portion 23 of the eighth modification communicates with the oil chamber 2301 provided inside the wall and the oil chamber 2301 and electrically connects to the control device 22. It has a connected pump 2302 and a tank 2303 that communicates with the pump 202 and stores oil. The rigidity reducing portion 23 can increase the rigidity of the wall and the wall surface 12 by supplying the oil stored in the tank 2303 to the oil chamber 2301 side by the pump 202. Further, the rigidity reducing portion 23 can reduce the rigidity of the wall and the wall surface 12 by sucking the oil in the oil chamber 2301 toward the tank 2303 by the pump 202.

In the eighth modification, when the door position reaches the wall surface 12 to the safety distance D or less, the control device 22 applies a drive signal to the pump 202 to suck the oil in the oil chamber 2301 as shock mitigation control. The pump 202 is controlled so as to be driven.

According to the eighth modification, when the door position reaches the wall surface 12 with a safety distance D or less, the rigidity of the wall is reduced by the rigidity reducing portion 23, so that the head or the like is formed between the door 5 and the wall surface 12. Even if the human body is pinched, the impact of the door 5 on the human body can be sufficiently mitigated. As a result, even when the safety distance D cannot be secured between the door position when fully opened and the wall surface 12, it is possible to suppress a decrease in safety of the opening operation. Further, since low-speed control is not required, the high-speed region HA can be lengthened, so that a decrease in passability in the open operation can be suppressed.

The wall surface 12 may be made of a shape memory alloy that is deformed by Joule heat generated by energization. In this case, when the door position reaches the wall surface 12 at a safety distance D or less, the control device 22 deforms the wall surface 12 in the opening direction by energizing the shape memory alloy constituting the wall surface 12 as impact mitigation control (that is,). , The wall surface 12 may be recessed). Also in this case, similarly to the case of reducing the rigidity of the wall surface 12, even when a human body such as a head is sandwiched between the door 5 and the wall surface 12, the impact of the door 5 on the human body can be sufficiently mitigated.

(9th variant)
The configuration of the automatic door 1 that performs impact mitigation control based on the safety distance D is not limited to the mode of the sliding door shown in FIG. For example, as shown in FIG. 22, the automatic door 1 can also be applied to a sliding door having a convex portion 15 between the door 5 and the wall surface 12.

Further, as shown in FIG. 23, the automatic door 1 is safe between the free end 501 of the door 5 and the wall surface 12 located in the opening direction d11 (clockwise in the example of FIG. 23) with respect to the door 5. It can also be applied to a hinged door where a distance D is required. Even in such a hinged door, the control device 22 performs impact mitigation control when the position (door position) of the free end 501, which is the end of the door 5 on the opening direction d11 side, is equal to or less than the safety distance D to the wall surface 12. With the configuration, deterioration of safety and passability can be suppressed.

Further, as shown in FIG. 24, the automatic door 1 can be applied to a folding door in which a safety distance D is required between the node 502 of the door 5 and the wall surface 12 located in the opening direction d11 with respect to the door 5. it can. Even in such a folding door, the control device 22 performs impact mitigation control when the position (door position) of the node 502, which is the end of the door 5 on the opening direction d11 side, becomes the safety distance D or less to the wall surface 12. With the configuration, deterioration of safety and passability can be suppressed.

The above-described embodiment and each modification may be combined as appropriate. In addition to the above-described configuration, various modifications can be applied. For example, if the control device 22 can detect the door position and the door speed by itself based on the output amount of the drive signal, the control device 22 does not have to feed back the position signal and the speed signal from the motor 21. Further, the safety distance D may be a fixed value, or may be changeable according to an input operation to the control device 22 or an operating state of the automatic door 1. For example, if the operating state such as the change in door speed from the fully closed position to the fully open position changes from the normal operating state due to aged deterioration or the like, the change is detected and the safety distance D is set. It may be increased.

The aspects of the present disclosure are not limited to the individual embodiments described above, but also include various modifications that can be conceived by those skilled in the art, and the effects of the present disclosure are not limited to the contents described above. That is, various additions, changes and partial deletions are possible without departing from the conceptual idea and purpose of the present disclosure derived from the contents defined in the claims and their equivalents.

1 Automatic door, 2 Automatic door device, 22 Control device, 3 Start sensor

Claims (12)

The door when the cause deceleration control deceleration after the high speed control or during the high-speed control for moving the door at a high speed in the door opening operation, the distance is the human body door from the door to the wall surface located in the opening direction with respect to the door An automatic door device comprising a control means for performing impact mitigation control for mitigating the impact of the door on a human body when the distance is equal to or less than a predetermined distance that can prevent the door from being sandwiched between the door and the wall surface. The automatic door device according to claim 1, wherein the control means switches from the high-speed control or the deceleration control to the shock mitigation control when the distance from the door to the wall surface becomes equal to or less than the predetermined distance. The impact mitigation control is a control for moving the door at a speed lower than the speed of the door at the time of the high-speed control and at a low speed such that the kinetic energy of the door is equal to or less than a predetermined kinetic energy. The automatic door device described in. After the shock mitigation control, cushion control for stopping the door is performed.
The automatic door device according to claim 3, wherein the low speed is a speed higher than the speed of the door during cushion control. The automatic door device according to claim 3 or 4, wherein the low speed is a constant speed. In the impact mitigation control, when the distance from the door to the wall surface is equal to or less than the predetermined distance , a person or a sensor is used between the wall surface and a position separated from the wall surface by the predetermined distance in the closing direction of the door. The automatic door device according to any one of claims 3 to 5, which is a control for moving the door at the low speed when an object is detected. The automatic door device according to claim 6, wherein the sensor can detect a person or an object when the distance from the door to the wall surface is equal to or less than the predetermined distance. The control means switches from the high-speed control to the shock mitigation control when a person or an object is detected by the sensor during the high-speed control, and when a person or an object is detected by the sensor during the deceleration control. The automatic door device according to claim 6 or 7, wherein the deceleration control is switched to the shock mitigation control. The automatic door device according to claim 1, wherein the shock mitigation control is a control for causing one or both of the door and the wall surface to be temporarily reduced in rigidity or temporarily deformed. The door is a sliding door
The control means
The automatic door device according to claim 1, wherein the impact mitigation control is performed when the distance from the door tail of the door to the wall surface located in the opening direction with respect to the door is equal to or less than the predetermined distance. Positioned in the opening direction from the door to the door during high-speed control in which the automatic door device moves the door at high speed in the door opening operation, or during deceleration control in which the automatic door device decelerates the door after the high-speed control. When the distance to the wall surface is less than or equal to a predetermined distance that can prevent the human body from being pinched between the door and the wall surface, the automatic door device is provided with an impact mitigation control that alleviates the impact of the door on the human body. An automatic door sensor that detects a person or an object between a wall surface located in the opening direction with respect to the door and a position separated from the wall surface by a predetermined distance in the closing direction of the door. Positioned in the opening direction from the door to the door during high-speed control in which the automatic door device moves the door at high speed in the door opening operation, or during deceleration control in which the automatic door device decelerates the door after the high-speed control. When the distance to the wall surface is less than or equal to a predetermined distance that can prevent the human body from being pinched between the door and the wall surface, the automatic door device is provided with an impact mitigation that alleviates the impact of the door on the human body. A method of controlling an automatic door device that controls it.

Images