JP7400753B2 - Control device - Google Patents

Description

The present invention relates to a control device for controlling the opening and closing operations of an automatic door.

An example of such a control device is disclosed in Japanese Patent Laid-Open No. 2000-345765 (Patent Document 1). Hereinafter, in the description of this background art, the reference numerals in Patent Document 1 will be cited in parentheses.

The control device (6) of Patent Document 1 detects the load torque (s6) of the motor (41) that drives the door (21) to open and close, and when the load torque (s6) exceeds the safe torque threshold (s9), , and is configured to output a drive signal (s3) to the motor (41) for safe operation. The control device (6) includes a safety function generator (65) that calculates a safe torque threshold (s9), and the safety function generator (65) generates an opening/closing position signal (s7) and an opening/closing speed signal (s8). In response to this, the safe torque threshold (s9) is calculated by adding the torque value that will be a hindrance external force to the door (21) to the torque value required to drive the door (21) (see paragraph 0015). . According to Patent Document 1, even in a transmission mechanism in which large torque fluctuations occur simply by opening and closing the door (21), by determining the safe torque threshold (s9) based on the torque fluctuations, the torque can be reliably controlled. It is said to be able to detect abnormalities.

Japanese Patent Application Publication No. 2000-345765

By the way, in paragraph 0018 of Patent Document 1, when the door is located between the fully open position and the fully closed position when the door opening/closing device initially operates, the reference position of the opening/closing position signal is not calibrated, so the door is moved slowly. It is described that the reference position of the door is calibrated by moving the door at a speed to a fully open position or a fully closed position. Malfunctions such as foreign objects being caught in automatic doors can occur when the return-to-origin operation occurs after the recognition accuracy of the current position of the door decreases, such as while the door is being moved to calibrate the reference position. It can also occur during execution. However, the technique disclosed in Patent Document 1 does not consider detecting an abnormality in operation during execution of such a return-to-origin operation.

Therefore, it is desired to realize a control device that can appropriately determine abnormal operation even during execution of the return-to-origin operation after the recognition accuracy of the current position of the door has deteriorated.

A control device according to the present disclosure is a control device that controls a door opening/closing operation of an automatic door, and includes a drive motor that generates a driving force for the door opening/closing operation, and a control section that controls the drive motor. The control unit includes a storage unit, an actual information acquisition unit, a return-to-origin processing unit, and a determination unit, and the control unit stores information indicating the torque of the drive motor that changes during the opening/closing operation of the door. As the torque information, the storage unit stores reference torque information that is the torque information during operation, which is a reference when the door normally opens and closes, and the actual information acquisition unit stores reference torque information that is the torque information during operation, which is a reference when the door normally opens and closes. When the actual torque information that is the in-operation torque information during the operation is acquired, and the origin return processing unit determines that a specific situation has occurred in which the recognition accuracy of the current position of the door is reduced, the executing a return-to-origin process in which the door is moved to a reference position at a speed lower than the limit speed, with a speed lower than an upper limit speed during the opening/closing operation of the door, and during execution of the return-to-origin process, Using the torque of the drive motor, which is set to a constant value, as a reference torque during recovery, the determination unit determines that during normal opening/closing operations of the door, the torque indicated in the actual torque information and the torque indicated in the reference torque information are determined. A first abnormality determination process is executed in which the operation is determined to be abnormal when the difference between the torque and the torque is equal to or greater than a first specified value, and during the execution of the return-to-origin process, the torque indicated in the actual torque information and the reference during return are executed. Execute a second abnormality determination process that determines that the operation is abnormal when the difference from the torque is equal to or greater than a second specified value that is the same as or different from the first specified value, only while the moving speed of the door is constant. do.

According to this configuration, during normal door opening/closing operations, abnormal operation can be determined by executing the first abnormality determination process, and after a specific situation occurs where the recognition accuracy of the current position of the door is reduced, While the return-to-origin process is being executed, an operational abnormality can be determined by executing the second abnormality determination process. Here, in the first abnormality determination process, the torque that is the criterion for determining the abnormality in operation (specifically, the torque that is compared with the torque shown in the actual torque information) is determined to be the torque shown in the reference torque information. On the other hand, in the second abnormality determination process, the torque used as the criterion for determining abnormality in operation is set to a constant value during recovery reference torque. The reference torque information is information indicating the torque that changes during the opening/closing operation when the door normally performs the opening/closing operation. Therefore, if the torque indicated in the reference torque information is used as a criterion for determining abnormal operation in a specific situation, there is a possibility that abnormal operation cannot be appropriately determined due to an error in recognition of the current position of the door. In contrast, in this configuration, in the second abnormality determination process, the reference torque during return, which is set to a constant value, is used as the determination standard for abnormal operation. It is possible to do it properly.

By the way, while the moving speed of the door is increasing or decreasing, generally larger torque ripples are more likely to occur than while the moving speed of the door is constant. Regarding this point, in this configuration, during the execution of the return-to-origin process, the second abnormality determination process is executed only while the moving speed of the door is constant. Therefore, even if the return reference torque set to a constant value is used as a criterion for determining abnormal operation, it is easy to appropriately determine abnormal operation.

As described above, according to this configuration, it is possible to appropriately determine an abnormality in operation even during the return-to-origin operation after the recognition accuracy of the current position of the door has deteriorated. There is.

Further characteristics and advantages of the control device will become clear from the following description of an embodiment with reference to the drawings.

Schematic plan view of article conveyance equipment equipped with automatic doors Control block diagram Explanatory diagram of the first abnormality determination process Explanatory diagram of the second abnormality determination process

Embodiments of the control device will be described with reference to the drawings. The control device 100 is a device that controls the opening/closing operation of the door 21 in the automatic door 20 . As shown in FIG. 1, the door 21 is provided to open and close the opening 22. As shown in FIG. The door 21 is, for example, a sliding door that opens and closes the opening 22 by sliding vertically or horizontally. Note that the door 21 may be of a form other than a sliding type, such as a swing type door that swings around a swing axis to open and close the opening 22. Moreover, the door 21 may be provided with a single door body or may be provided with a plurality of door bodies.

The automatic door 20 is provided in all kinds of equipment, and as an example, it is provided in an article conveyance equipment 30 as shown in FIG. In the example shown in FIG. 1, the article conveyance equipment 30 includes a storage shelf 33 that includes a plurality of storage sections 34 for storing articles 37, and a conveyor 36 that conveys the articles 37 to and from the storage section 35. , a stacker crane 31 that travels along rails 32 and transports articles 37 between the loading/unloading section 35 and the storage section 34. The automatic door 20 is provided on the conveyance path of the article 37 by the conveyor 36. Specifically, the conveyance path of the article 37 by the conveyor 36 is formed so as to pass through the wall 23 , and the door 21 of the automatic door 20 opens and closes the portion of the wall 23 through which the conveyance path passes. An opening 22 is formed. When the conveyor 36 is transporting the article 37, the door 21 is controlled to open the opening 22, and when the conveyor 36 is not transporting the article 37, the door 21 is controlled to close the opening 22.

In this way, in the example shown in FIG. 1, the opening 22 that is opened and closed by the door 21 is for passing the article 37, but the opening 22 that is opened and closed by the door 21 is not limited to this. For example, it may be a transport device (for example, stacker crane 31) that transports the article 37 or a device that allows a worker to pass through. Further, in the example shown in FIG. 1, the opening 22 that is opened and closed by the door 21 is provided in the wall 23, but the opening 22 is not limited to this, and may be provided in the floor, for example. . Further, the purpose of the door 21 is, for example, to ensure airtightness, but is not limited thereto, and may be for fire prevention or safety, for example.

As shown in FIG. 2, the control device 100 includes a drive motor 2 that generates a driving force for opening and closing the door 21. As shown in FIG. The drive motor 2 is, for example, a servo motor. The control device 100 further includes a drive transmission mechanism 3 that transmits the driving force of the drive motor 2 to the door 21. The drive transmission mechanism 3 is, for example, a belt-type transmission mechanism that transmits power using a pulley and a belt wound around the pulley. Note that the drive transmission mechanism 3 may be a transmission mechanism other than a belt type, such as a link type transmission mechanism that transmits power using links.

As shown in FIG. 2, the control device 100 includes a control section 1 that controls the drive motor 2. As shown in FIG. The control unit 1 includes a storage unit 16 , a real information acquisition unit 14 , a return-to-origin processing unit 11 , and a determination unit 13 . The control section 1 further includes a command section 10, a drive control section 12, a differential torque derivation section 15, a noise removal section 17, an input timing adjustment section 18, and a power supply section 19. Each function of the control unit 1 is realized through cooperation between hardware such as an arithmetic processing unit and a program executed on the hardware. The storage unit 16 includes, for example, a storage medium such as a flash memory or a hard disk. The plurality of components of the control unit 1 are configured to be able to exchange information with each other. Note that the components of the control unit 1 shown in FIG. 2 are at least logically distinct, and do not necessarily need to be physically distinct.

The command unit 10 is a functional unit that outputs commands to the drive control unit 12. In the present embodiment, the command unit 10 performs the following operations at each set time (each calculation cycle) according to the movement speed pattern of the door 21 (the movement speed pattern as illustrated in FIG. 3) for opening and closing the door 21. A target speed is generated and a speed command corresponding to the target speed is output to the drive control section 12. The movement speed pattern illustrated in FIG. 3 includes an acceleration period (period until time T1) in which the movement speed of the door 21 increases, and a constant speed period (period from time T1 to time T2) in which the movement speed of the door 21 is constant. ), and a deceleration period (period from time T2 to time T3) in which the moving speed of the door 21 decreases are defined in order. In addition, the movement speed pattern illustrated in FIG. A second constant speed period (period from time T13 to time T14), and a second deceleration period (period after time T14) are defined in this order. Note that the command unit 10 may be configured to generate a target position for each set time according to the movement speed pattern, and output a position command according to the target position to the drive control unit 12.

The movement speed pattern is a pattern for moving the door 21 from the current position to the target position. The target position is basically a fully open position or a fully closed position. The current position is basically the fully open position or the fully closed position, but if an abnormality is determined during the opening/closing operation of the door 21 and the movement of the door 21 is stopped, the current position may be the fully open position or the fully closed position. The position between can be the current position. If it is determined that an abnormal operation occurs during the opening/closing operation of the door 21, the command unit 10 moves the door 21 in the opposite direction (that is, reverses the movement) and then stops the door 21, for example. Although details will be described later, determination of abnormal operation is performed by the determination unit 13.

The drive control unit 12 is a functional unit that drives the drive motor 2 according to commands input from the command unit 10. The drive control unit 12 drives the drive motor 2 by feedback control so as to follow the command input from the command unit 10. Specifically, the drive control unit 12 generates a drive command (torque command) based on the deviation between the command input from the command unit 10 and the feedback value corresponding to the command. This feedback value is detected by a detector (for example, an encoder) provided in the drive motor 2, or is calculated based on the detection result by the detector. Then, the drive control unit 12 generates a current command according to the drive command, and controls the drive motor 2 so that the current according to the current command is supplied to the drive motor 2 to output the torque according to the drive command. drive is controlled. In this embodiment, the drive control unit 12 controls the drive motor 2 by speed feedback control so as to follow the speed command input from the command unit 10. For example, when the drive motor 2 is a servo motor, the drive control section 12 is a servo amplifier.

The power supply unit 19 is a functional unit that controls the state of power supply from a power source (not shown) to the drive control unit 12 . The drive control section 12 supplies electric power supplied from the power supply section 19 to the drive motor 2 to drive the drive motor 2 . The power supply unit 19 starts or stops supplying power to the drive control unit 12 in accordance with a command from the command unit 10 .

The command section 10 includes an origin return processing section 11. The origin return processing unit 11 is a functional unit that executes origin return processing when it is determined that a specific situation has occurred in which the recognition accuracy of the current position of the door 21 is reduced. In the origin return process, the speed limit V2 is set to a speed lower than the upper limit speed V1 during the normal opening/closing operation of the door 21 (in other words, during the opening/closing operation of the door 21 in a situation other than the specific situation) (see FIG. 4). ), the door 21 is moved to the reference position at a speed less than or equal to the speed limit V2. Here, the reference position is a position that is the starting point for controlling the opening/closing operation of the door 21, and is, for example, at least one of a fully open position and a fully closed position of the door 21. The control device 100 includes a sensor (for example, a limit switch) that detects that the door 21 is located at the reference position.

In this embodiment, the control device 100 does not include a sensor that detects the absolute position of the door 21 in the opening/closing direction and a sensor that detects the absolute position of the drive motor 2 in the rotational direction. Therefore, the control device 100 is configured to recognize the current position of the door 21 in the opening/closing direction based on the amount of movement of the door 21 from the above-mentioned reference position. The amount of movement of the door 21 from the reference position is obtained, for example, based on the detection result of an encoder provided on the drive motor 2 or an encoder that directly detects the amount of displacement of the door 21.

During normal opening/closing operations of the door 21, the movement start position of the door 21 is basically the reference position. Therefore, the control unit 1 (specifically, the command unit 10) recognizes the current position of the door 21 with relatively high accuracy based on the amount of movement of the door 21 from the reference position during the normal opening/closing operation of the door 21. can do. On the other hand, in the present embodiment, the control device 100 does not include a sensor that detects the absolute position of the door 21 in the opening/closing direction and a sensor that detects the absolute position of the drive motor 2 in the rotational direction. Therefore, if the door 21 is stopped due to an abnormal operation being determined during the normal opening/closing operation of the door 21, the recognition accuracy of the current position of the door 21 by the command unit 10 is improved by reversing the door 21, etc. is likely to decrease compared to when the door 21 is opened and closed normally. Furthermore, even after the power supply to the drive motor 2 is interrupted and then restarted (for example, after the power is turned on or after the power is restored after a power outage), the door 21 remains in the reference position. If not, the accuracy of subsequent recognition of the current position of the door 21 by the command unit 10 is likely to be lower than that during normal door 21 opening/closing operations. For example, when the power supply to the drive motor 2 is interrupted and then restarted, the information on the current position of the door 21 may be lost. Subsequent recognition accuracy of the current position of the door 21 by the command unit 10 may deteriorate.

Therefore, in the present embodiment, in a situation after an abnormal operation is determined during the normal opening/closing operation of the door 21, or in a situation after the power supply to the drive motor 2 is cut off and then restarted, the origin point is The return processing unit 11 is configured to execute origin return processing. That is, in the present embodiment, the specific situations in which the recognition accuracy of the current position of the door 21 decreases are a situation after it is determined that there is an abnormality in the operation during the normal opening/closing operation of the door 21, and a situation when the power supply to the drive motor 2 is interrupted. after the power supply is cut off and after the power supply is resumed; in this case, both. Note that, as described above, the information on the current position of the door 21 may disappear, and in this embodiment, even in the situation after the information on the current position of the door 21 disappears, the recognition accuracy of the current position of the door 21 decreases. This is a specific situation (specifically, a situation after the power supply to the drive motor 2 is restarted after being cut off).

During the opening/closing operation of the door 21, the torque of the drive motor 2 changes. Specifically, during the opening/closing operation of the door 21, the torque of the drive motor 2 is controlled so that the moving speed of the door 21 changes according to the moving speed pattern (see FIG. 3). It changes depending on the slope of the moving speed pattern (that is, the rate of change in speed). Further, during the opening/closing operation of the door 21, the torque of the drive motor 2 also changes due to torque ripple caused by the mechanical structure of the drive motor 2 and the drive transmission mechanism 3. For example, the torque of the drive motor 2 changes depending on the mechanical position of the drive motor 2 due to a torque ripple caused by the meshing frequency of the gears in the drive transmission mechanism 3 or eccentricity of the rotating shaft. In addition, the torque of the drive motor 2 changes due to torque ripple caused by backlash of the gears in the drive transmission mechanism 3, and the torque ripple caused by the backlash reverses the direction of rotation of the drive motor 2 and accelerates it. It becomes larger in certain situations such as during acceleration.

In this way, the torque of the drive motor 2 changes during the opening/closing operation of the door 21. Here, information indicating the torque of the drive motor 2 that changes during the opening/closing operation of the door 21 is referred to as in-operation torque information. In other words, the in-operation torque information is information indicating a temporal change in the torque of the drive motor 2 during the opening/closing operation of the door 21. The storage unit 16 stores reference torque information D1, which is in-operation torque information that serves as a reference when the door 21 opens and closes normally (that is, without any operational abnormalities such as foreign objects being caught). For example, reference torque information D1 when the door 21 normally performs an opening operation and reference torque information D1 when the door 21 normally performs a closing operation are stored separately in the storage unit 16. FIG. 3 shows an example of a temporal change in the torque (reference torque) shown in the reference torque information D1, but FIG. 3 shows the temporal change in the reference torque in a simplified manner.

Changes in the torque of the drive motor 2 while the door 21 is normally opening/closing are measured in advance, and information on the time change in the measured torque (that is, information on the measured torque during operation) is the reference torque information. It is stored in the storage unit 16 as D1. In this measurement, the conditions such as the opening/closing operation pattern of the door 21 (specifically, the moving speed pattern of the door 21) and the gain of the feedback control executed by the drive control unit 12 are the same as those for the normal opening/closing operation of the door 21. This is done under the following conditions. In the present embodiment, in the above measurement, the operating torque information while the door 21 normally performs the opening/closing operation is acquired by the actual information acquisition unit 14, which will be described later, and the acquired operating torque information is the reference torque information. It is stored in the storage unit 16 as D1. Furthermore, in the present embodiment, the in-operation torque information acquired by the actual information acquisition unit 14 is processed to remove harmonic components of torque by the noise removal unit 17, which will be described later, and then stored as reference torque information D1. It is stored in section 16.

The actual information acquisition unit 14 is a functional unit that acquires actual torque information D2 that is in-operation torque information while the door 21 is actually opening and closing. In this embodiment, the sampling period of the torque included in the reference torque information D1 is the same as the sampling period of the torque included in the actual torque information D2. The actual information acquisition unit 14 acquires information on the torque of the drive motor 2 output from the drive control unit 12 (specifically, the torque generated by the drive control unit 12) while the door 21 is actually opening/closing. command information) to obtain actual torque information D2. When the torque signal (specifically, the torque command signal) output from the drive control section 12 is an analog signal, the actual information acquisition section 14 includes a conversion circuit that converts the analog signal into a digital signal.

The differential torque deriving unit 15 is a functional unit that derives a differential torque that is the difference between the torque shown in the actual torque information D2 and the torque (reference torque) shown in the reference torque information D1. The differential torque derivation unit 15 compares the torque of the drive motor 2 acquired by the actual information acquisition unit 14 with the reference torque corresponding to the time point when the torque is acquired while the door 21 is actually performing the opening/closing operation. Then, derive the differential torque. That is, the differential torque deriving unit 15 derives the differential torque by aligning the time axes of the actual torque information D2 and the reference torque information D1 and comparing the torques shown in these two pieces of in-operation torque information.

The input timing adjustment section 18 derives the differential torque of the torque (reference torque) shown in the reference torque information D1 so that the time axes of the actual torque information D2 inputted to the differential torque derivation section 15 and the reference torque information D1 are aligned. This is a functional unit that adjusts the timing of input to the unit 15. The input timing adjustment unit 18 adjusts the actual torque information D2 and the reference so as to match the start time of the opening/closing operation of the door 21 (for example, the start time of the opening operation of the door 21 or the start time of the closing operation of the door 21). Align the time axis with the torque information D1. The input timing adjustment unit 18 takes into account the delay time from when the torque of the drive motor 2 is acquired by the actual information acquisition unit 14 until it is input to the differential torque deriving unit 15, and inputs the torque to the differential torque deriving unit 15. The input timing of the reference torque to the differential torque deriving unit 15 is adjusted so that the time axes of the actual torque information D2 and the reference torque information D1 match. The input timing adjustment unit 18 adjusts the input timing of the reference torque to the differential torque deriving unit 15 as described above, for example, by delaying the readout timing of the reference torque from the storage unit 16.

During the normal opening/closing operation of the door 21, the differential torque deriving unit 15 derives the difference between the torque shown in the actual torque information D2 and the torque (reference torque) shown in the reference torque information D1 as a differential torque. On the other hand, the torque of the drive motor 2, which is set to a constant value while the return-to-origin process is being executed, is used as the reference torque during return (see FIG. 4), and the differential torque deriving unit 15 calculates the The difference between the torque shown in the torque information D2 and the reference torque during return is derived as a differential torque. Information on the reference torque during return is stored in the storage unit 16, for example.

The noise removal unit 17 is a functional unit that removes harmonic components from the torque or differential torque shown in the actual torque information D2. The noise removal unit 17 performs first-order lag filter processing (low-pass filter processing) on the torque whose harmonic components are to be removed, and removes the harmonic components from the torque. In the example shown in FIG. 2, the noise removal unit 17 performs first-order lag filter processing on the differential torque to remove harmonic components from the differential torque.

The determination unit 13 executes the first abnormality determination process during the normal opening/closing operation of the door 21, and executes the second abnormality determination process only while the moving speed of the door 21 is constant during the execution of the return-to-origin process. This is a functional section that performs Here, the first abnormality determination process determines that the operation is abnormal when the difference between the torque shown in the actual torque information D2 and the torque (reference torque) shown in the reference torque information D1 is greater than or equal to the first specified value A. It is processing. That is, in the first abnormality determination process, when it is detected that the torque shown in the actual torque information D2 deviates from the torque region surrounded by two dashed lines in FIG. (or if it is detected continuously for a set time or longer), it is determined that the operation is abnormal.

As described above, the torque ripple of the drive motor 2 can become large in specific situations such as during direction reversal acceleration where the rotation direction of the drive motor 2 is reversed and accelerated. In view of this, in the present embodiment, the determination unit 13 sets the first specified value A while the moving speed of the door 21 is increasing or decreasing to the first specified value A while the moving speed of the door 21 is constant. It is configured to be set larger than the specified value A (see FIG. 3). Note that the determination unit 13 determines only one of the first specified value A while the moving speed of the door 21 is increasing and the first specified value A while the moving speed of the door 21 is decreasing (for example, , only the first specified value A while the moving speed of the door 21 is increasing) may be set larger than the first specified value A while the moving speed of the door 21 is constant.

The second abnormality determination process determines that the operation is abnormal when the difference between the torque shown in the actual torque information D2 and the reference torque during recovery is equal to or greater than a second specified value B that is the same as or different from the first specified value A. This is the process of That is, in the second abnormality determination process, when it is detected that the torque shown in the actual torque information D2 is out of the torque region surrounded by two dashed lines in FIG. (or if it is detected continuously for a set time or longer), it is determined that the operation is abnormal. In this embodiment, the second specified value B is a value smaller than the first specified value A. Since the movement start position of the door 21 in the return-to-origin process changes each time, the operating conditions of the door 21 in the return-to-origin process are not constant, but the reference torque during return, which is set to a constant value, is used to determine whether an abnormal operation occurs By using it as a reference, it is possible to appropriately determine whether there is an abnormality in operation even during execution of the return-to-origin process.

During execution of the origin return process, the determination unit 13 executes the second abnormality determination process only while the moving speed of the door 21 is constant. In the example shown in FIG. 4, the second abnormality determination process is executed during the first constant speed period (the period from time T11 to time T12) and the second constant speed period (the period from time T13 to time T14). be done. For example, the determination unit 13 determines whether the moving speed of the door 21 is constant based on the signal output from the drive control unit 12, and performs the second abnormality determination only while the moving speed of the door 21 is constant. Execute processing. In addition, in the origin return process, the speed limit V2 is lower than the upper limit speed V1 during the normal opening/closing operation of the door 21, and the door 21 is moved at a speed less than or equal to the speed limit V2. The period of increase or decrease is basically shorter than that during normal opening/closing operations of the door 21. Therefore, even if the execution period of the second abnormality determination process is limited to a period when the moving speed of the door 21 is constant, it is possible to suppress a delay in detecting an operational abnormality.

Note that the technical features of the control unit 1 disclosed in this specification can also be applied to a method of controlling the drive motor 2, and the method of controlling the drive motor 2 is also disclosed in this specification. This control method includes a step in which the reference torque information D1 is stored in the storage unit 16, a step in which the actual information acquisition unit 14 acquires the actual torque information D2, a step in which the origin return processing unit 11 executes the origin return processing, and The process includes a step in which the determination unit 13 executes a first abnormality determination process and a second abnormality determination process. In this embodiment, this control method further includes a step in which the differential torque deriving section 15 derives the differential torque, and a step in which the noise removing section 17 removes harmonic components from the torque or differential torque shown in the actual torque information D2. , a step in which the input timing adjustment unit 18 adjusts the input timing of the torque indicated by the reference torque information D1 to the differential torque deriving unit 15, a step in which the command unit 10 outputs a command to the drive control unit 12, and The process includes a step in which the control section 12 drives the drive motor 2 in accordance with a command input from the command section 10.

[Other embodiments]
Next, other embodiments of the control device will be described.

(1) In the above embodiment, the configuration in which the second specified value B is smaller than the first specified value A has been described as an example. However, the present disclosure is not limited to such a configuration, and may be configured such that the second specified value B is greater than or equal to the first specified value A.

(2) In the above embodiment, the determination unit 13 sets the first specified value A while the moving speed of the door 21 is increasing or decreasing to the first specified value A while the moving speed of the door 21 is constant. A configuration in which the value is set larger than A has been described as an example. However, the present disclosure is not limited to such a configuration, and for example, the determination unit 13 determines the first specified value A while the moving speed of the door 21 is increasing or decreasing, and the first specified value A while the moving speed of the door 21 is constant. It may also be configured to be set to the same value as the first specified value A for a certain period of time.

(3) In the above embodiment, the control unit 1 has been described as an example of a configuration including the noise removal unit 17 and the input timing adjustment unit 18. However, the present disclosure is not limited to such a configuration, and if the possibility of false detection of operational abnormality can be maintained low, the control unit 1 may control one or both of the noise removal unit 17 and the input timing adjustment unit 18. It is also possible to have a configuration without this.

(4) In the above embodiment, an example has been described in which the sampling period of the torque included in the reference torque information D1 is the same as the sampling period of the torque included in the actual torque information D2. However, the present disclosure is not limited to such a configuration, and the sampling period of the torque included in the reference torque information D1 may be different from the sampling period of the torque included in the actual torque information D2.

(5) Note that the configuration disclosed in each of the embodiments described above may be applied in combination with the configuration disclosed in other embodiments unless there is a conflict. combinations) are also possible. Regarding other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of the present disclosure.

[Summary of the above embodiment]
An overview of the control device described above will be described below.

A control device for controlling a door opening/closing operation of an automatic door, comprising: a drive motor that generates a driving force for the door opening/closing operation; and a control section that controls the drive motor, and the control section has a memory. a storage unit that stores information indicating the torque of the drive motor that changes during the opening/closing operation of the door as in-operation torque information; , the reference torque information that is the in-operation torque information serving as a reference when the door normally performs the opening/closing operation, and the actual information acquisition unit stores the Upon acquiring actual torque information that is in-operation torque information, the origin return processing unit determines that a specific situation has occurred in which the recognition accuracy of the current position of the door decreases, the return-to-origin processing unit performs a A return-to-origin process is executed in which the door is moved to a reference position at a speed less than or equal to the limit speed, with a speed lower than the upper limit speed as the limit speed, and during the execution of the return-to-origin process, the Using the torque of the drive motor as a reference torque during return, the determination unit determines that during normal opening/closing operations of the door, the difference between the torque indicated in the actual torque information and the torque indicated in the reference torque information is determined by a first regulation. A first abnormality determination process is executed in which it is determined that the operation is abnormal when the value is equal to or greater than the value, and during the execution of the return-to-origin process, the difference between the torque indicated in the actual torque information and the reference torque during return is A second abnormality determination process in which it is determined that the operation is abnormal when the second specified value is equal to or greater than the first specified value is executed only while the moving speed of the door is constant.

According to this configuration, during normal door opening/closing operations, abnormal operation can be determined by executing the first abnormality determination process, and after a specific situation occurs where the recognition accuracy of the current position of the door is reduced, While the return-to-origin process is being executed, an operational abnormality can be determined by executing the second abnormality determination process. Here, in the first abnormality determination process, the torque that is the criterion for determining the abnormality in operation (specifically, the torque that is compared with the torque shown in the actual torque information) is determined to be the torque shown in the reference torque information. On the other hand, in the second abnormality determination process, the torque used as the criterion for determining abnormality in operation is set to a constant value during recovery reference torque. The reference torque information is information indicating the torque that changes during the opening/closing operation when the door normally performs the opening/closing operation. Therefore, if the torque indicated in the reference torque information is used as a criterion for determining abnormal operation in a specific situation, there is a possibility that abnormal operation cannot be appropriately determined due to an error in recognition of the current position of the door. In contrast, in this configuration, in the second abnormality determination process, the reference torque during return, which is set to a constant value, is used as the determination standard for abnormal operation. It is possible to do it properly.

By the way, while the moving speed of the door is increasing or decreasing, generally larger torque ripples are more likely to occur than while the moving speed of the door is constant. Regarding this point, in this configuration, during the execution of the return-to-origin process, the second abnormality determination process is executed only while the moving speed of the door is constant. Therefore, even if the return reference torque set to a constant value is used as a criterion for determining abnormal operation, it is easy to appropriately determine abnormal operation.

As described above, according to this configuration, it is possible to appropriately determine an abnormality in operation even during the return-to-origin operation after the recognition accuracy of the current position of the door has deteriorated. There is.

Here, the second specified value is preferably a smaller value than the first specified value.

According to this configuration, it is possible to improve the detection sensitivity of an operational abnormality in the second abnormality determination process, compared to a case where the second specified value is set to a value equal to or greater than the first specified value. In addition, in the origin return process, the speed limit is lower than the upper limit speed during normal door opening/closing operation, and the door is moved at a speed lower than the limit speed, so the range of torque fluctuation due to torque ripple is smaller than the normal speed limit. It is basically smaller than during the door opening/closing operation. Therefore, even if the second specified value is smaller than the first specified value, it is possible to reduce the possibility that an operational abnormality will be erroneously detected in the second abnormality determination process.

Further, neither a sensor for detecting the absolute position of the door in the opening/closing direction nor a sensor for detecting the absolute position of the drive motor in the rotational direction is provided, and the specific situation occurs during the normal opening/closing operation of the door. Preferably, the situation is at least one of a situation after the abnormal operation is determined, and a situation after power supply to the drive motor is restarted after being cut off.

As in this configuration, if neither a sensor that detects the absolute position of the door in the opening/closing direction nor a sensor that detects the absolute position of the drive motor in the rotational direction is provided, abnormal operation may occur during normal door opening/closing operations. There may be certain situations in which the accuracy of recognizing the current position of the door decreases after the determination is made or after the power supply to the drive motor is interrupted and then restarted. According to the control device of the present disclosure, it is possible to appropriately determine an abnormal operation even during execution of the return-to-origin process after a specific situation occurs, so that an abnormal operation can be determined during normal door opening/closing operations. Even if a specific situation occurs after the power supply to the drive motor is stopped or after the power supply is restarted after the power supply to the drive motor has been cut off, the return-to-origin process can be performed while determining an operational abnormality.

Further, the control section further includes a differential torque deriving section, a noise removing section, and an input timing adjusting section, and the differential torque deriving section is configured to control the torque indicated in the actual torque information and the torque indicated in the reference torque information. The noise removal section removes harmonic components from the torque indicated in the actual torque information or the differential torque, and the input timing adjustment section derives a differential torque that is the difference between the torque indicated in the actual torque information and the differential torque. It is preferable to adjust the input timing of the torque indicated by the reference torque information to the differential torque deriving section so that the time axes of the actual torque information input to the section and the reference torque information are aligned.

According to this configuration, in the first abnormality determination process, the noise that may be a cause of erroneous detection of an operational abnormality is reduced by the noise removal unit, and the actual torque information and reference torque information that may be a cause of erroneous detection of an operational abnormality are reduced. The time axis deviation between the two can be suppressed to a small value by the input timing adjustment section. Therefore, it is possible to improve the accuracy of determining the operational abnormality in the first abnormality determining process.

Further, it is preferable that the sampling period of the torque included in the reference torque information is the same as the sampling period of the torque included in the actual torque information.

According to this configuration, by matching the sampling period of the torque included in the reference torque information with the sampling period of the torque included in the actual torque information, the torque shown in the actual torque information and the torque shown in the reference torque information are It is possible to prevent the difference from increasing due to a change in torque that is not due to an abnormal operation included in the actual torque information (for example, a change in torque due to torque ripple). Therefore, it is possible to improve the accuracy of determining the operational abnormality in the first abnormality determining process.

Further, it is preferable that the determination unit sets the first specified value while the moving speed of the door is increasing or decreasing to be larger than the first specified value while the moving speed of the door is constant. It is.

According to this configuration, in consideration of the fact that while the moving speed of the door is increasing or decreasing, a large torque ripple is generally more likely to occur than while the moving speed of the door is constant, the first abnormality is The specified value can be set so that false detection of operational abnormality in the determination process is suppressed.

The control device according to the present disclosure only needs to be able to achieve at least one of the above-mentioned effects.

1: Control unit 2: Drive motor 11: Origin return processing unit 13: Determination unit 14: Actual information acquisition unit 15: Differential torque derivation unit 16: Storage unit 17: Noise removal unit 18: Input timing adjustment unit 20: Automatic door 21 : Door 100: Control device A: First specified value B: Second specified value D1: Reference torque information D2: Actual torque information V1: Upper limit speed V2: Limit speed

Claims (6)

A control device for controlling the opening/closing operation of an automatic door,
a drive motor that generates a driving force for opening and closing the door;
A control unit that controls the drive motor,
The control unit includes a storage unit, a real information acquisition unit, an origin return processing unit, and a determination unit,
information indicating the torque of the drive motor that changes during the opening/closing operation of the door as operating torque information;
The storage unit stores reference torque information that is the operating torque information that serves as a reference when the door normally performs opening and closing operations,
The actual information acquisition unit acquires actual torque information that is the in-operation torque information while the door is actually performing an opening/closing operation,
When it is determined that the recognition accuracy of the current position of the door is reduced in a specific situation, the origin return processing unit sets a speed lower than the upper limit speed during the normal opening/closing operation of the door to the limit speed. executing a return-to-origin process of moving the door to a reference position at a speed lower than the speed;
The torque of the drive motor set to a constant value during the execution of the return-to-origin process is set as a reference torque during return;
The determination unit determines that during normal door opening/closing operations, an abnormal operation occurs when a difference between the torque indicated by the actual torque information and the torque indicated by the reference torque information is equal to or greater than a first specified value. A first abnormality determination process is executed, and while the return-to-origin process is being executed, the difference between the torque indicated in the actual torque information and the reference torque during return is a second value that is the same as or different from the first specified value. A control device that executes a second abnormality determination process of determining an operational abnormality when the value is equal to or higher than a specified value, only while the moving speed of the door is constant. The control device according to claim 1, wherein the second specified value is a smaller value than the first specified value. Neither a sensor that detects the absolute position of the door in the opening/closing direction nor a sensor that detects the absolute position of the drive motor in the rotational direction is provided,
The specific situation is at least a situation after the operation is determined to be abnormal during the normal opening/closing operation of the door, and a situation after the power supply to the drive motor is restarted after being cut off. The control device according to claim 1 or 2, which is either one. The control unit further includes a differential torque derivation unit, a noise removal unit, and an input timing adjustment unit,
The differential torque deriving unit derives a differential torque that is a difference between the torque indicated in the actual torque information and the torque indicated in the reference torque information,
The noise removal unit removes harmonic components from the torque indicated in the actual torque information or the differential torque,
The input timing adjustment section is configured to input the torque indicated by the reference torque information to the differential torque deriving section so as to align the time axes of the actual torque information input to the differential torque deriving section with the reference torque information. The control device according to any one of claims 1 to 3, which adjusts input timing. The control device according to any one of claims 1 to 4, wherein a sampling period of torque included in the reference torque information is the same as a sampling period of torque included in the actual torque information. The determining unit sets the first specified value while the moving speed of the door is increasing or decreasing to be larger than the first specified value while the moving speed of the door is constant. 6. The control device according to any one of 1 to 5.

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