JPH0228672B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a door collision detection device for an automatically opening/closing door.

An automatic door opens and closes by winding a belt around a driving pulley and a driven pulley that are rotated forward and backward by a motor, connecting this belt to the door, and automatically opening and closing the door by rotating the motor forward and backward. .

Conventional control devices include a switch for detecting the deceleration point and stopping point on the door movement path, and a dock for turning the switch on and off, and when the dot turns on the switch for detecting the deceleration point, There is a known device that decelerates the motor and stops the motor when a switch for detecting a stop point is turned on, thereby allowing the door to open and close smoothly.

However, with this structure, wiring to each switch is troublesome, and each switch must be correctly installed at a predetermined position.

Therefore, the applicant first detected counting pulses from the AC waveform from the tachogenerator driven by the motor that moves the door to open and close them, and used a counting circuit to calculate the counting pulses and the predetermined door stroke. An application has been filed for a control device that indexes and detects the current position of the door by addition and subtraction, and controls the door to move at low speed and stop based on the index.

However, when the door is opened and closed using the conventional control device described above and the control device previously applied for, the door sometimes collides with a human body due to problems with the human body detection switch.

In such a case, it is extremely dangerous to continue moving the door in the same direction as before the collision.

In particular, if the door collides with a human body while closing the door, continuing to close the door increases the danger to the human body and is extremely dangerous.

For this reason, when a door collides with a human body, it is necessary to immediately detect the collision and minimize the harm by stopping the door or moving the door in the opposite direction at low speed. .

The present invention has been made in view of the above circumstances, and its purpose is to provide a door collision detection device for an automatically opening/closing door that detects when the door collides with an obstacle such as a human body.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an overall schematic explanatory diagram, in which a motor M is connected to a drive pulley 2 via a reducer 1, a belt 4 is wound around the drive pulley 2 and a driven pulley 3, and the belt 4 is provided with a door. 5 are connected by a connector 6, and the door 5 is configured to be opened and closed by rotating a motor M in forward and reverse directions.

A tachogenerator (alternating current generator) 7 is connected to the motor M, the output of which is inputted to a main control circuit 11 via a rectifying and smoothing circuit 8, a speed control circuit 9, and a pulse generation circuit 10, as well as a main control circuit 11. A human body detection signal R ₁ is inputted to the circuit 11 from a human body detector 12 such as a mat switch or a phototube, and a predetermined control signal is inputted to the speed control circuit 9 based on the signal R ₁ to drive and control the motor M.

Next, each member will be explained in detail.

As shown in FIG. 2, the tachogenerator 7 is connected to the rotating shaft of the motor M, and generates a light current voltage waveform by the rotation of the motor M. The generated voltage and the frequency of the generated AC waveform change when the rotation speed of the motor M is high. It is high, and becomes low when it is small.

As shown in FIG. 2, the rectifying and smoothing circuit 8 is for full-wave rectification of the output voltage (AC waveform) of the tachogenerator 7 using a diode bridge circuit 13 and converting it into a DC voltage using a smoothing circuit 14. An output voltage V ₁ proportional to V 1 is input to the speed control circuit 9 .

As shown in FIG. 2, the pulse generation circuit 10 half-wave rectifies the AC waveform from the tachometer generator 7, takes out the (+) part, rectifies it, and generates a plurality of rectangular waves proportional to the door movement amount as pulses for counting. It is output to the main control circuit 11 as _P1 .

The speed control circuit ₉ , as _shown in _FIG . A speed control pulse generation circuit 17 outputs gate pulses for speed control to the first and second AND gates 16 ₁ , 16 ₂ , and the output voltage V ₁ is the high speed/low speed setting voltage V _H , V The operational amplifier 18 outputs a brake signal to the third AND gate ₁₆₃ when the signal becomes larger than _L , and the brake gate pulse is output to the third AND gate 1 by the brake signal of the operational amplifier 18.
Brake pulse generation circuit 19 outputting to 6 ₃ ,
It is equipped with a stop switch 20, etc. that causes the output voltage _V1 to flow to ground in response to a stop signal ST, and the forward rotation command _R2 is input to the first AND gate ₁₆₁ , and the reverse rotation command _R3 is input to the second AND gate ₁₆₂ . , the outputs of the first and second AND gates 16 ₁ and 16 ₂ are input to the first and second OR gates 21 _{1 and 21 2, and the outputs of the first and second AND gates 16 1} and 16 ₂ are input to the third AND gate 16 .
The output of _{No. 3} is input to the first and second OR gates 21 ₁ and 21 ₂ , and when the forward rotation command R ₂ is input, the gate pulse for speed control is sent from the first AND gate 16 ₁ to the first OR gate 21 ₁ is output after
Gate G ₁ of triax 22 ₁ for forward rotation of motor M
is input. When the reverse rotation command R ₃ is input, it is input from the second AND gate 16 ₂ to the gate G ₂ of the reverse rotation triax 22 ₂ of the motor M via the second OR gate 21 ₂ .

Because of this, the motor M is maintained and driven at the set high speed and low speed, and when the stop signal ST is input, the stop switch 20 is turned ON and the motor M is controlled, so that the door 5 is high speed/
It is opened and closed at low speed and then stopped.

As shown in FIG. 3, the main control circuit 11 includes a counting circuit 23 that counts the counting pulse P ₁ from the pulse generating circuit 10 and detects the current position of the door;
A command circuit 24 that controls the door opening/closing sequence and counting circuit 23, a door opening/closing stroke setting device 25, an opening movement deceleration point setting device 26, and a closing movement deceleration point setting device 2.
7, first and second comparison circuits 28 ₁ and 28 ₂ , a collision detection device 29, and the like.

As shown in FIG. 4, the collision detection device 29 includes rise/fall detection circuits 30, 31 that detect the rise and fall of the counting pulse _P1 , and a reference oscillator 32 that oscillates a reference pulse P' at a constant frequency. , a counter 33 that counts the reference pulse P', a counter 33
A latch circuit 34 that latches the contents of , a setting device 3
5, an adder 36, a comparator 37, a flip-flop 38, etc., and operates as follows.

That is, the latch circuit 34 is latched by the falling signal P ₁ ' of the counting pulse P ₁ , and the falling signal P ₁ ' is sent to the counter 33 via the delay circuit 39 to reset it.

As a result, the counter 33 counts the number N 1 of reference pulses oscillated from the reference oscillator 32 during one cycle of the previous counting pulse P ₁ of the input falling signal P ₁ ′, and the number N ₁ of reference pulses is counted by the counter ₃₃ . is latched (stored) in the latch circuit 34 and the comparator 3
At the same time, the counter 33 is reset by the falling signal P ₁ ' from the delay circuit 39, and the counter 33 prepares to count the reference pulse P' to be oscillated during the next cycle.

As a result, the latch circuit 34 receives pulses for counting.
A value proportional to the rotation speed of motor M in one cycle before the falling point of _P1 is latched.

On the other hand, the setting device 35 contains a value inversely proportional to the sensitivity of collision detection, as described later, that is, ₁ of the counting pulse P 1 when the tachogenerator 7 is driven at a speed at which the motor decreases when the door 5 suddenly stops. A reference pulse number N ₂ to be oscillated during a cycle is set, and an adder 36 adds the set reference pulse number N ₂ and the counting reference pulse number N ₁ latched by the latch circuit 34 .
The comparator 37 compares the addition result (N ₁ +N ₂ ) with the content N ₁ of the counter 33 counted during one cycle of the next counting pulse P ₁ .
When N ₁ >(N ₁ +N ₂ ), a signal is input to the D terminal of flip-flop 38.

At the rising edge signal P ₁ ″ of the counting pulse P ₁ , the signal at the D terminal of the flip-flop 36 is latched to the Q terminal, and the collision signal S is input to the command circuit 24 .

In summary, the number of reference pulses counted during the next cycle is greater than the reference pulse number N ₁ counted during one cycle of counting pulse P ₁ .
When N ₁ ' increases by the number of pulses N ₂ set by the setting device 35 or more, a collision signal S is input to the command circuit 24.

For example, when the motor M is rotating at high speed, the pulse for counting is
Assuming that the frequency of P ₁ is 300Hz, the oscillation frequency of the reference oscillator 32 is 3KHz, and the setting value of the setting device 35 is 20,
When the door 5 is moving at high speed, the counter 33 counts (10) during one cycle of the counting pulse _P1 ,
(30) is input from the adder 36 to the comparator 37. Even in the next cycle, the counter 33 counts (10), so (10) is input to the comparator 37, and 30
Since (N ₁ +N ₂ )>10(N ₁ '), the comparator 37 does not output a signal.

However, if the door 5 collides with an obstacle such as a human body and the speed decreases to, for example, 1/3 of the normal speed,
Since the rotational speed of motor M also decreases to less than 1/3,
The frequency of counting pulse P ₁ is less than (10)0Hz and 1
During the cycle, the reference pulse P' is counted by the counter 33 (30) or more, and it becomes larger than the sum (30) of the count 10 of the counter 33 before one cycle and the set number of pulses (20), so (N ₁ + N ₂ )<N ₁ ', and the collision signal S is input to the command circuit 24. The setting device 35 corresponds to the set pulse number 20 in this case, and when the number is large, the detection sensitivity decreases,
The smaller the value, the higher the detection sensitivity.

In addition, only for a certain time after the door 5 is decelerated (in other words, when the door 5 reaches the stroke end)
If collision detection is to be prohibited or the flip-flop 38 is to be reset, a reset signal _S1 is input from the command circuit 24 to the reset terminal of the flip-flop 38.

Next, along with the normal opening/closing operation of the door 5, the main control circuit 1
1 will be explained in detail.

When the human body detection signal R ₁ is input to the command circuit 24 with the door 5 closed, the door open signal (that is, normal rotation command) R ₂ is sent to the speed control circuit 9, the first AND gate 30 ₁ , and the counting circuit 23 and input the start signal _R4 to the counting circuit 23,
A high speed signal H is input to the speed control circuit 9.

As a result, the motor M is rotated forward at high speed, and the door 5 is moved open at high speed.

At the same time, the counting pulse P ₁ is sent to the counting circuit 2.
However, since the counting circuit 23 is in the down count mode due to the door opening signal _R2 , the stroke value set by the door opening/closing stroke setting device 25 is sequentially subtracted by the clock pulse _P1 . The results are then sequentially input to the first comparison circuit ₂₈₁ .

When the subtraction result (actual door current position) input to the first comparison circuit ₂₈₁ matches the set value of the opening movement deceleration point setter 26, the coincidence signal _R5 is inputted to the first AND gate ₃₀₁ . The low speed signal L is ANDed with the door open signal _R2 and inputted from the OR gate 31 to the speed control circuit 9, and the motor M is switched to low speed.

Then, when the door 5 is fully opened and reaches the stroke end, the motor M becomes even slower, and the counting pulse is
Since the pulse interval of _P1 becomes longer, this is detected by a detection circuit (not shown), the detection signal is input to the command circuit 24, and a stop signal ST is output to the speed control circuit 9 to stop the motor M.

Thereafter, the command circuit 24 sends a door close signal (that is, a reverse rotation command) _R3 to the second AND gate ₃₀₂ and the speed control circuit 9 based on the door opening/closing sequence, and also switches the counting circuit 23 to the up-count mode ( (addition mode).

Then, in the same manner as described above, the closing movement is performed at high speed until the value indicating the current door position, that is, the door stroke value, matches the setting value of the closing movement deceleration point setter 27, and then the second comparison circuit 28 ₂ , the second AND gate 30 ₂ , and the low speed command L from the OR gate 31 are input to the speed control circuit 9, and the subsequent steps are the same as described above.

Further, when the door 5 collides with an obstacle such as a human body during normal opening/closing movement, a door collision signal S is input from the collision detection device 29 to the command circuit 24, and the counter circuit 23
Regardless of the contents of , the door 5 is stopped or moved in the opposite direction at a low speed by stopping the motor M or driving the motor M in a low speed reverse direction.

Therefore, the harm caused when the door 5 collides with an obstacle such as a human body can be minimized, and in particular, the harm caused to the human body when the door 5 collides with a human body while moving to close can be minimized. It is possible and safe.

The present invention is as described above.
The reference pulse number N' counted by the setter 35
Since the circuit outputs a collision signal S when the set reference pulse number N ₂ or more increases, the moving speed of the door 5 increases to the set reference pulse number N ₂ regardless of the moving speed of the door 5.
When the collision signal S suddenly drops below a value commensurate with
Therefore, whether the door 5 is moving at high speed or low speed, the collision signal S is output when the door 5 collides with a human body etc. and the moving speed of the door 5 suddenly decreases. Not only can a collision be detected by using this method, but also the reduction in the moving speed of the door 5 when outputting a collision signal can be set arbitrarily by setting the reference pulse number _N2 of the setting device 35, and the sliding resistance of the door 5 can be changed. If the moving speed of the door 5 is slightly reduced due to such reasons, it is possible to prevent the collision signal from being output.

In addition, instead of outputting a collision signal when the counting pulse is no longer output, the reference pulse number counted during the next cycle as described above is used.
Since a collision signal is output when N' increases by more than the set reference pulse number N ₂ than the reference pulse number N counted during the previous cycle, the door 5 will collide with a human body etc. and the door will stop completely. Since a collision signal can be output when the moving speed of the door 5 has suddenly decreased by an amount corresponding to the set reference pulse number _N2 , the collision detection sensitivity is good, and for example, the collision signal can be used to reverse the motor M. When moving the door 5 in the opposite direction, if the door 5 slightly collides with a human body, etc., the motor M can be immediately reversed and the door 5 can be moved in the direction away from the human body. It is safe because it reduces the impact force on the body.

[Brief explanation of drawings]

The drawings show embodiments of the present invention.
2 and 3 are detailed explanatory diagrams of each circuit, FIG. 4 is a detailed explanatory diagram of the collision detection device, and FIG. 5 is a table diagram explaining its operation. 5 is a door, 7 is a tachometer generator, 32 is a reference oscillator, 33 is a counter, and 37 is a comparator.

Claims (1)

[Claims] 1 In an automatic opening/closing door that opens and closes the door using a motor M, there is a circuit that outputs a counting pulse proportional to the amount of movement of the door 5, and a circuit that outputs a counting pulse proportional to the amount of movement of the door 5, and a circuit that outputs a counting pulse from the reference oscillator 32 during one cycle of the counting pulse output from the circuit. A counter 34 that counts the number of oscillated reference pulses
, a setter 35 in which a predetermined number _of reference pulses N ₂ is set, and the sum (N ₁
+N ₂ ) and the reference pulse number N' ₁ counted by the counter 34 during the next cycle and find that N' ₁ >
A collision detection device for an automatically opening/closing door, comprising a circuit that outputs a door collision signal S when (N ₁ +N ₂ ).