JPH0627452B2 - Automatic door control device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic opening / closing door, and more particularly to a device for controlling opening / closing operation of the door.

2. Description of the Related Art An automatic opening / closing door is one in which a belt is wound around a driving pulley and a driven pulley that are normally and reversely rotated by a motor, the belt is connected to the door, and the motor is normally and reversely rotated to automatically open and close the door.

As an automatic opening / closing door, the door is opened and closed once at low speed when the power is turned on, the stroke value of the door is measured at this time, and the deceleration control and stop are performed based on the measured door stroke value during the subsequent normal opening / closing. It is known to do so.

However, this has the excellent advantage that the door stroke value that matches the door opening width can be automatically measured, but on the other hand, the door stroke is unnecessarily opened and closed because the door stroke value is measured. It has a problem that it must be operated.

Therefore, the applicant previously applied for an automatic opening / closing door that allows the door to open and move slowly when the human body detection signal is detected after the power is turned on (Japanese Patent Application No. 57-91396). Since the door position is not detected and it is dangerous to open and move the door at high speed, the first passer-by must wait longer than usual until the door is open enough for a person to pass through. No, I didn't like it.

An object of the present invention is to provide an automatic door that does not need to open and close the door unnecessarily when a human body detection signal is not input within a fixed time after the power is turned on and that can open and move at high speed when the human body detection signal is first sensed. With the goal.

Configuration of the Invention A counting pulse that is proportional to the amount of movement of the door 5 that is opened and closed by the motor M is detected, and the current position of the door is detected based on this counting pulse and the door opening / closing stroke value. In the automatic opening / closing door that controls opening / closing movement of the door 5, when a human body detection signal is input within a fixed time after the power is turned on, a means for opening the vehicle at a low speed and then moving the door at a low speed is closed Means for closing the door 5 at a low speed when not operated, an origin switch 13 for issuing a signal R ₇ indicating that the door 5 is at the origin position when the door 5 is closed, and an origin signal R ₇ from the origin switch 13. human body detection signal door 5 by the R _1, comprising means for distance fast opening movement than the smallest of the door stroke in various automatic door different door stroke by subtracting the low-speed open and moving distance Automatic opening and closing door of the control device to be.

Embodiment FIG. 1 is an overall schematic explanatory view showing a control device for an automatic door, in which a motor M is connected to a drive pulley 2 via a speed reducer 1, and a drive pulley 2 and a driven pulley 3 are connected to a door drive belt 4.
The door 5 is connected to the belt 4 by a connecting tool 6, and the door 5 is opened and closed by rotating the motor M forward and backward.

A tachogenerator (alternating current generator) 7 is connected to the motor M, and its output is input to a speed control circuit 8.

In addition, the automatic opening / closing door senses (detects) the state in which the door 5 is closed.
The origin switch 13 is provided.

The origin switch 13 is, as shown in FIG. 8, a sensor 13a attached to the connecting tool 6 of the door 5 through a fitting 15 and a sensed apparatus installed in the door horizontal frame 14 such as a blind. 13b, and the sensor 13a and the sensor 13b may be a magnetic material such as a magnet and a lead switch, a dock and a limit switch, or a photosensor light emitter and light receiver, You may make it use a proximity switch.

Then, the origin signal R ₇ of the origin switch 13 is input to the main control circuit 12 described later.

A detector 10 is provided so as to face the door drive belt 4, and a detection signal from the detector 10 is input to the main control circuit 12 via the direction determination circuit 11.

The the main control circuit 12 Matsutosuitsuchi, human body detection signal R ₁ from the human body detector A photocells, etc., are input, the signal R ₁
Accordingly, a predetermined control signal is input to the speed control circuit 8 to drive the motor M.

That is, the high speed signal V _H , the low speed signal V _L , the normal rotation signal R ₂ , and the reverse rotation signal R ₃ are input to the speed control circuit 8 from the main control circuit 12 to drive the motor M at high speed, low speed, normal rotation, reverse rotation. Drive control.

The detector 10 has a door driving belt 4 as shown in FIG.
The first light projector 40 ₁ and the first light receiver 41 ₁ and the second light projector 40 ₂ and the second light device 41 ₂ are arranged to face each other in the width direction on both sides of the first light projector 40 ₁ . The distance l between the optical axis 42 ₁ and the optical axis 42 ₂ of the second projector 40 ₂ is It is said.

Here, p is the pitch of the door drive belt 4, and n is an integer (0,
1, 2 .........).

That is, the door drive belt 4 becomes the timing belt, when the optical axis 42 ₁ of the first projector 40 ₁ is located in the portion 4a of the mountain so that the optical axis 42 of the _second projector 40 ₂ is located at the portion 4b of the trough It is arranged with a 90 ° phase shift with respect to the waveform of the timing belt.

As shown in FIG. 3, the first and second light projectors 40 ₁ and 40 ₂ are light emitting diodes, the first and second light receivers 41 ₂ and 41 ₂ are phototransistors, and the output side thereof is the first of the direction discriminating circuit 11. It is connected to the _first and _{second one-} shot circuits 43 ₁ and 43 ₂ .

That is, in the one-shot circuit 43, when an input is input to the I terminal, a pulse having a constant width is output from the O terminal, and when a signal is input to the INH terminal, the output of the O terminal is prohibited regardless of the input of the I terminal. A first light receiver configured to
41 together is input to the second Wanshiyotsuto 43 ₂ I terminal via the ₁ and inverter 44 is input to the first Wanshiyotsuto circuit 43 of _the I terminal, the first from the second photodetector 41 _2,
They are input to the INH terminals of the _{second one-} shot circuits 43 ₁ and 43 ₂ , respectively.

The O terminal of the first one-shot circuit 43 ₁ is connected to the S terminal of the flip-flop 45 and the NOR gate 46,
The O terminal of the second one-shot circuit 43 ₂ is connected to the R terminal of the flip-flop 45 and the NOR gate 46, the direction signals R and L are input to the main control circuit 12 from the Q terminal of the flip-flop 45, and the NOR gate 46 of the main control circuit 12 outputs.
A counting clock pulse P ₁ proportional to the speed of the door drive belt 4 is input to.

Because of this, when the door drive belt 4 is moving in the direction of the arrow in FIG. 2 (when opening the door 5),
The second light receivers 41 ₁ and 41 ₂ are O as shown in the range of FIG.
The reference signal is output from the first photoreceiver 41 ₁ after being turned off and on,
The second light receiver 41 ₂ outputs a direction determination signal that is 90 degrees out of phase with the reference signal.

As a result, the first one-shot circuit 43 ₁ to the first light receiver 4 1
With pulse is output with a constant width at 1 ₁ rising, from the second Wanshiyotsuto circuit 43 ₂ because pulses are not output, pulse P ₁ for counting from the NOR gate 46 is proportional to the moving speed of the door drive belt 4 At the same time as the output, the flip-flop 45 is set and the open signal R is output from the Q terminal.

Further, when the door drive belt 4 moves in the direction opposite to the above (when the door 5 is closed), the first and second light receivers 41 ₁ , 41 ₂
Is turned on and off as shown in the range of FIG. 4 (b) and the direction discrimination signal is output first, and then the reference signal is output with the phase shifted by 90 degrees.

As a result, the first one-shot circuit 43 ₁ does not output a pulse, the second one-shot circuit 43 ₂ outputs a pulse of a certain width when the first photoreceiver 41 ₁ is lowered, and the flip-flop 45 is reset and closed from the Q terminal. The signal L is output, and the counting clock pulse P ₁ is output from the NOR gate 46 in proportion to the movement amount of the door drive belt 4.

As described below, the reference signal and the direction determination signal detected by the detector 10 are input to the direction determination circuit 11 to determine the opening / closing operation of the door 5 and the counting clock pulse proportional to the movement amount of the door drive belt 4. Detect P ₁ .

The main control circuit 12, as shown in FIG. 5, the first adding or subtracting the count for clock pulse P ₁ than direction detection circuit 11 movement direction discrimination signal R of the door, in accordance with L, the second counting circuit 20 _1, 20 ₂ , door stroke value storage register 21, closing movement deceleration distance setting device 22, opening movement deceleration distance setting device 23, minimum stroke value setting device 24, first to fourth comparison circuits 25 ₁ to 2
5 _4,閉減speed point arithmetic circuit 26, a pulse interval Chie poke circuit 27, the collision detection circuit 28, the command circuit 29, a flip flop 30 or the like for the abnormal signal storage.

Next, the details of each circuit of the main control circuit 12 will be described together with the operation.

Power is supplied to the power supply circuit 9 (including after power failure)
Command circuit 29 resets flip-flop 30, sets first timer 31 ₁ (set time, eg, 10 seconds), and resets signal RS ₁ to turn the first timer 31 _{1 on} ( ₁ second).
The content of the counting circuit 20 ₁ becomes zero. (Reset.) In this state, if the human body detection signal R ₁ is input before the first timer 31 ₁ times out, the command circuit 29 sends the forward rotation signal R ₂ to the speed control circuit 8 and the door. Opening signal O
P is first AND gate 32 _1, sent to the first OR gate 33 _1, the low-speed command SL third OR gate 33 from ₃ fed to the third OR gate 33 ₃ than the low speed signal V ₁ is the speed control circuit 8
Sent to

As a result, the motor M is driven in the normal direction at a low speed to move the door 5 at a low speed.

Then, when the human body detection signal R ₁ disappears (when a person passes), or when the door hits an obstacle or reaches the stroke end and stops, the signals R ₂ and OP are stopped. The motor 5 is stopped by stopping the motor M to stop the door 5 at the open position.

That is, while the door 5 is moving, the pulse interval check circuit 27 monitors the pulse interval of the counting clock pulse P ₁ output from the direction determination circuit 11, and when the pulse interval is longer than the predetermined pulse interval. It is judged that the door has stopped and the door stop signal R ₄ is input to the command circuit 29.

After this, the command circuit 29 sends the reverse rotation signal R ₃ to the speed control circuit 8
, The door closing signal CL and the low speed command SL are output, and the low speed signal V _L is input to the speed control circuit 8 in the same manner as described above. To do.

At this time, the count command R ₅ is sent to the second counting circuit 20 ₂ to set the content to 0, the counting clock pulse P ₁ is started to count the moving distance L _{n of the} door.

That is, the close signal L is input from the direction discriminating circuit 11 to enter the up count mode, and the counting clock pulse P ₁ is added and counted.

When the door 5 reaches the closing stroke end position, the pulse interval check circuit 27 sends a door stop signal R ₄ to end the above-mentioned counting, and at the same time, the motor M is stopped to close the door 5 at the closing stroke end. Stop in position.

As a result, the actual door door movement distance Ln when the door 5 moves closed
Are counted and stored in the second counting circuit 20 ₂ .

Then, the actual door movement distance Ln is compared with the minimum stroke value ST set by the minimum stroke value setting device 24 in the first comparison circuit 25 ₁ , and if Ln> ST, the actual door movement value Ln is stored in the door stroke value storage register 21. The stroke value Ln is stored as the next door opening / closing stroke data, and the read signal RD ₁ is output to prepare for normal door operation, and the door stroke value Ln is input to the first counting circuit 20 ₁ . If Ln <ST, there is a possibility that there are obstacles such as dust and pebbles in the door operation range, or the door is locked. Therefore, the initial abnormality signal AB is input to the command circuit 29, which will be described later. Performs an error handling operation at the initial stage.

Here, the minimum stroke value is a minimum value of a door to which an automatic door is applied, or a value corresponding to an opening width through which a person can pass.

With the above operation, it is possible to determine whether the stroke value with which the door 5 can move is larger or smaller than the minimum stroke value.

Further, when the human body detection signal R ₁ is not input (if not come people until after the first timer 31 _first set time after power-on) while the first timer 31 ₁ after power-on of the above is Taimuatsupu is Assuming that there is no intention to confirm the operation of the automatic door, a signal is sent from the first timer 31 ₁ to the command circuit 29, and the reverse rotation signal R ₃ , the low speed command SL, and the door closing signal CL are generated as described above.
Is output to move the door at a low speed and stop at the door stop signal R ₄ .

Thereby, the door 5 which is being opened can be closed.

At this time, when the door 5 is closed, the origin switch 13 is turned on, and the origin signal R ₇ is input to the command circuit 29.

When the human body detection signal R ₁ is input to the command circuit 29 in this state, the command circuit 29 reads the minimum stroke value read signal RD.
₂ is sent to the door stroke value recording register 21, the minimum stroke value ST of the minimum stroke value setter 24 is input to the door stroke value storage register 21, and the minimum stroke value ST is sent to the first counting circuit 20 ₁ . Is entered.

At the same time, the normal rotation signal R ₂ is sent from the command circuit 29 to the speed control circuit 8, and the door opening signal OP is sent to the first AND gate.
Since it is output to 32 ₁ and the first OR gate 33 ₁ , the high speed signal V _H is sent to the speed control circuit 8 from the third AND gate 32 ₃ .

That is, the signal from the first OR gate 33 ₁ to the third AND gate 32 ₃ is input, a third OR gate 33 ₃ is the third OR gate 33 signals to the third OR gate 33 ₃ by the inverter 34 do not output the signal is input ₃ The higher speed signal V _H is output.

As a result, the motor M is driven at high speed in the normal direction to move the door 5 at high speed.

When the door 5 moves open at high speed, the open signal R is input from the direction discriminating circuit 11 to the first and second counting circuits 20 ₁ and 20 ₂ to enter the down count mode. The clock pulse P ₁ is sent to the first counting circuit 20 ₁ and is sequentially subtracted and counted from the previously input minimum stroke value ST, and the value is sequentially input to the third comparison circuit 25 ₃ to open movement deceleration distance. The open movement deceleration distance y from the setter 23 is compared.

Then, the value from the first counting circuit 20 ₁ and the open movement deceleration distance y
When and are equal, the first OR gate 32 _{1 is} output from the third comparator 25 ₃ .
Signal is output to the door opening signal OP and and and outputs a signal to the connexion second OR gate 33 _2, third OR gate 3 outputs a signal from the second OR gate 33 ₂ to the third OR gate 33 ₃
3 ₃ outputs the low speed signal V _L to the speed control circuit 8.

As a result, the door 5 thereafter slowly opens and moves, and the human body detection signal
When R ₁ is exhausted, or when the stroke end is reached and the door is opened and the door stop signal R ₄ is output from the pulse interval check circuit 27 as described above, the motor M is stopped and the door 5 is stopped.

After this, the command circuit 29 sends the reverse rotation signal R ₃ to the speed control circuit 8
, The door closing signal CL is output, and the high speed signal V _H is input to the speed control circuit 8 through the first OR gate 33 ₁ and the third AND gate 32 ₃ in the same manner as described above. The door 5 is closed at a high speed by the high speed reverse rotation drive.

At this time, the count command R ₅ is sent to the second counting circuit 20 ₂ to set the content to 0, the counting clock pulse P ₁ is started to count the moving distance Ln of the door.

That is, the close signal L is input from the direction discriminating circuit 11 to enter the up count mode, and the counting clock pulse P ₁ is added and counted.

On the other hand, the content of the first counting circuit 20 ₁ is also in the up-count mode by the closing signal L, and the counting clock pulse P ₁ is sequentially added and counted as the door 5 closes at a high speed, and the value thereof is successively counted. 2 is input to the comparison circuit 25 ₂ . At the same time, the closing movement deceleration distance x from the closing movement deceleration distance setter 22 and the door movement distance Ln from the door stroke value storage register 21 are input to the closing deceleration point calculation circuit 26 and calculated (Ln
-X), and the operation result (Ln-x) is successively obtained by the second comparison circuit.
25 ₂ is inputted, when the calculation result and (Ln-x) and the value of from the first counting circuit 20 ₁ is equal to (A = B), the second comparator circuit 25 ₂ from the second AND gate 32 ₂ to the signal Is output,
And a and connexion second a door closed signal CL at the second Ando gate 32 _2, enter the third OR gate 33 _2, 33 ₃ through connexion low velocity signal V _L to the speed control circuit 8.

As a result, the door 5 is closed at a low speed thereafter.

When the door 5 reaches the closing stroke end position, the pulse interval check circuit 27 sends a door stop signal R ₄ to end the above-mentioned counting, and at the same time, the motor M is stopped to close the door 5 at the closing stroke end. Stop in position.

As a result, the actual door distance movement Ln when the door 5 moves closed
Are counted and stored in the second counting circuit 20 ₂ .

As described above, when the origin signal R ₇ and the human body detection signal R ₁ from the origin switch 13 are input, the door 5 is opened and closed at high speed,
The actual door movement distance Ln when the door 5 is closed can be quickly counted.

The counted actual door movement distance Ln is processed in the same manner as described above.

If the human body detection signal R ₁ is input while the door is being closed or the human body detection signal R ₁ is input after the door 5 is closed, the above-described operation is performed.

The above operation is represented by a flow chart as shown in FIG.

Next, the normal operation will be described.

When the actual door movement distance Ln is stored in the register 21, the read signal RD ₁ is output from the command circuit 29 to set the door stroke value Ln to the first counting circuit 20 ₁ and the closing deceleration point calculation circuit 26 Closed deceleration distance setter 22 from value Ln
In calculating the set closing movement deceleration distance x, the value L _n -x
Is the deceleration point data.

When the human body detection signal R ₁ is input in this state, the command circuit 29
The door open signal OP and the normal rotation signal R ₂ are output.

At this time, the content of the first counting circuit 20 ₁ is L _n, which is sent to the third comparison circuit 25 ₃ and compared with the open movement deceleration distance y set by the open movement deceleration distance setter 23. _{Since n} > y, no signal is output from the third comparison circuit 25 ₃ to the first AND gate 32 ₁ .

For this reason, the signal is not output from the first AND gate 32 ₁ and the second OR gate 32 ₂ does not output the signal either. Therefore, the signal is sent to the third AND gate 32 ₃ by the inverter 34, and the output signal of the first OR gate 33 ₁ is output. And the high speed signal V _H
Is sent to the speed control circuit 8.

As a result, the motor M is driven to rotate in the normal direction at high speed, and the door 5 moves at high speed to open.

When the door 5 moves open, the direction discriminating circuit 11 outputs the open signal R and the counting clock pulse P ₁ to the first and second counting circuits 20 ₁ and 20 _2.
In the down count mode, the first counting circuit 20 ₁ subtracts from the previous door movement distance L _n sent from the register 21. At this time, the second counting circuit 20 ₂
The counting command R ₅ is not input to and counting does not work.

The subtracted value of the first counting circuit 20 ₁ is sent to the third comparison circuit 25 ₃ and compared with the open movement deceleration distance y. When it becomes smaller than the value y (A ≧ B), a signal is sent to the first AND gate 32 _1. Output.

As a result, the first AND gate 32 ₁ outputs a signal to the second OR gate 33 ₂ , the second OR gate 33 ₂ outputs a signal to the third OR gate 33 ₃ , and the low speed signal V _L is sent to the speed control circuit 8. As a result, the motor M enters a low-speed forward rotation driving state, so that the door 5 moves at a low speed.

That is, when the door 5 passes through the opening movement deceleration point, it opens and moves at a low speed.

When the human body detection signal R ₁ is no longer input, or when the door stop signal R ₄ is input from the pulse interval check circuit 27, the door open signal OP is stopped (OF
F) to stop the motor M, and at the same time give the count command R ₅ to the second
Output to the counting circuit 20 _2, because further outputs a door close signal CL and reverse rotation signal R _3, and reverse rotation signal R ₃ to the speed control circuit 8 and the high speed signal V _H is input, the motor M is fast reverse drive The door 5 closes at high speed.

As a result, the direction determining circuit 11 causes the first and second counting circuits to operate.
The closed signal L and the counting clock pulse P ₁ are input to 20 ₁ and 20 ₂ to enter the up count mode, and the counting clock pulse P ₁ is added and counted.

At the same time, the closing movement deceleration point calculation circuit 26 subtracts the closing movement deceleration distance x from the previous door movement distance L _n , and the value (L _n −
x) is compared with the count value (current position of the door) of the first counter circuit 20 ₁ by the second comparison circuit 25 ₂ and when the count value becomes larger than (Ln−x), a signal is sent to the second AND gate 32 ₂ . And output
Similarly to the above, the low speed signal V _L is sent to the speed control circuit 8 to move the door 5 at a low speed.

When the door 5 reaches the stroke end and is closed, the pulse interval check circuit 27 outputs a door stop signal R _4, the motor M is stopped, and the door 5 is stopped.

On the other hand, the second counting circuit 20 ₂ adds the counting clock pulse P ₁ to the origin (o) at the position where the door stopped on the opening side as the origin (o) until the door closes to the stroke end, and actually moves to the closing side of the door 5. The distance L _n +1 is counted.

This value L _n +1 is used by the first comparison circuit 25 ₁ for the previous door movement distance L _n.
When L _n +1> L _n , the value of L _n +1 is replaced and stored in the register 21 and used as data for controlling the next door opening / closing operation.

That is, the previous door movement distance L _n and the current door movement distance L _n +1
And the larger value is stored in the register 21.

The above operation is shown in a flowchart of FIG.

By the above operation, the actual door movement distance is counted for each opening / closing operation, and the door movement distance is compared with the previous door movement distance, and a larger value can be used as the data for the next opening / closing operation control. For any door opening width dimension and door opening / closing width, the door itself measures the door stroke value and performs deceleration and stop operations, so it is easy without any adjustment when installing the door. Can be installed on.

In addition, the door stop command is output by detecting that the door is actually stuck regardless of the stroke value, so it suffices to set a rough value as the minimum stroke value in advance. It does not need to be set strictly according to the door.

Further, the door moving distance L _n +1 is also counted in the first counting circuit 20 ₁ until the door 5 is completely closed and the door stop signal R ₄ is output from the pulse interval check circuit 27, and this value and the register 21 If the values are compared by the fourth comparison circuit 25 ₄ and they are equal, the origin area signal R ₆ is output, and if they are not equal (the position where the door starts to open and the position where it is determined that the door is fully closed deviate by a certain value or more). In the case), it is determined that a person is hung between the door and the door stop and the door is not completely closed, and the normal-time abnormal signal R ₉ is sent to the fourth AND gate 32 ₄ to perform the normal-time abnormal processing described later. Take action.

It is possible to determine whether the door 5 is completely closed by the following operation.

Next, the initial abnormality processing operation will be described. When the door movement distance L _n at the first door low speed opening / closing movement after power-on is smaller than the minimum stroke value ST, the initial abnormality signal AB is input to the command circuit 29. To be done.

As a result, the second timer 31 ₂ is set. Then, when the set time of the second timer 31 ₂ (for example, 30 seconds) has elapsed,
Alternatively, when the human body detection signal R ₁ is input, the command circuit 29
Outputs a low speed command SL, a door opening signal OP, and a normal rotation signal R ₂ to move the door 5 at a low speed as described above.

At this time, _one first counting circuit 20 is excisional the minimum stroke value ST, subtracts counted in the counting clock pulse P ₁ in open signal R from the direction detection circuit 11 as a down count mode.

Then, the door 5 is moved at a low speed regardless of the presence or absence of the human body detection signal R ₁ until the content of the first counting circuit 20 ₁ becomes 0, and it is confirmed whether the door can be moved by the minimum stroke value ST.

That is, when the content of the first counting circuit 20 ₁ becomes 0 and the 0 signal is input to the command circuit 29, or when the first counting circuit 20 1
Before the content of ₁ becomes 0, the vehicle moves slowly until the door stop signal R ₄ is input, and then the human body detection signal R ₁ disappears, and then the command circuit 29 outputs the low speed instruction SL, the reverse rotation signal R _3, and the door close. The signal CL is output and the door 5 is slowly closed until the door stop signal R ₄ is input.

At this time, the door moving distance L _{n is set} to the second counting circuit 20 ₂ as described above.
In counting, a minimum stroke value by the first comparator circuit 25 ₁ compares the ST and the door moving distance L _n, <usually includes the opening and closing operation is judged to be normal if L _n, ST> ST L _n If the initial The time abnormality signal AB is output and the above operation is repeated.

By the above operation, if there is an obstacle such as pebbles in the door movement path, if the obstacle is removed by the door, it can be automatically restored to the normal state where the door can be opened and moved by the minimum stroke value, and it is locked. If the normal state cannot be restored due to the above conditions, the above operation can be repeated several times to operate the buzzer, lamp, etc., so that the door manager can sense the abnormal state.

Next, the normal abnormality processing operation will be described.

When the current door movement distance L _n +1 is smaller than the previous door movement distance L _n after the normal opening / closing operation, that is, when the origin region signal R ₆ is not output from the fourth comparison circuit 25 ₄ during the normal opening / closing operation, the inverter From 34, a normal time abnormal signal (out-of-origin region signal) R ₇ is input to the fourth AND gate 32 ₄ .

In such a case, when the door collides with the human body or the like and the door becomes an origin return abnormality, and a foreign object such as the human body is sandwiched between the door and the door stop, the collision detection signal R ₈ from the collision detection circuit 28,
Alternatively, either one of the door stop signals R ₄ from the pulse interval check circuit 27 is input to the fourth OR gate 33 ₄ and its output signal is sent to the fourth AND gate 32 ₄ .

As a result, the normal-time abnormal signal AB ₁ is input to the command circuit 29, the flip-flop 30 is set, and the low speed command SL, the forward rotation signal R ₂ , and the door opening signal OP are immediately output, and the door is slowly moved to open in the same manner as described above. To do.

At this time, the open signal R is input to the first counting circuit 20 ₁ to enter the down count mode, and the content thereof is subtracted and counted by the counting clock pulse P ₁ .

Then, regardless of the presence or absence of the human body detection signal R _1, the low speed open movement is performed until the content of the first counting circuit 20 ₁ becomes zero.

When the content of the first counting circuit 20 ₁ becomes 0 and the 0 signal is input to the command circuit 29 and the human body detection signal R ₁ disappears, the low speed command SL, the reverse rotation signal R ₃ , and the door opening / closing signal CL are output and the above-mentioned is performed. Similarly, the door is slowly closed until the door stop signal R ₄ is input.

At this time, if the origin region signal R ₆ is output, it is determined to be normal, and the flip-flop 30 is reset to prepare for normal opening / closing operation, and the origin region signal R ₆ is not output to the fourth AND gate 32 ₄ by the inverter 34. When the out-of-origin region signal R ₇ is input and the collision detection signal R ₈ is output from the collision detection circuit 28 or the door stop signal R ₄ is output from the pulse interval check circuit 27, it is judged as abnormal and the fourth AND gate 32 ₄ normally outputs. The time abnormality signal AB ₁ is output again.

As a result, a signal is sent from the fourth AND gate 32 ₄ to the fifth AND gate 32 ₅ and is ANDed with the output signal of the flip-flop 30 to input the abnormal second signal to the command circuit 29.

In this case, it is determined that there is something abnormal on the opening / closing path of the door, and the signals R ₃ , SL, CL are immediately stopped and the motor M is stopped to stop the door.

At the same time, the second timer 31 ₂ is set, and the above operation is repeated after the set time has elapsed or when the human body detection signal R ₁ is input.

Then, when it is restored normally, the flip-flop 30
In preparation for normal opening / closing operation, if a normal operation is not restored even after repeating a predetermined number of times, a buzzer, a lamp, etc. can be operated to notify the door administrator of the abnormality.

As described above, when the abnormal signal is input during normal operation, the door is moved by the distance stored as the door stroke value and the confirmation operation is performed.
If the abnormal state continues, the door itself can automatically confirm the abnormality because it waits for the set time of the second timer 31 ₂ to perform the reconfirmation operation by itself.

Also, since the door always moves at low speed during the abnormality confirmation operation,
For example, even if a person continues to be pinched, it is possible to give time to easily escape, and it is safe even if the person collides again.

Effect of the Invention When the human body detection signal is not input within a certain time after the power is turned on, the door is closed at a low speed, the origin signal R ₇ can detect that the door is in the closed position, and the human body is detected when the door is in the closed position. When a detection signal is input, the door is opened and moved at a high speed by the distance obtained by subtracting the low-speed opening movement distance from the minimum door stroke of various automatic doors with different door strokes. the first human body detection signal R ₁ without unnecessarily opening and closing the door prior to sensing, immediately can be a door to high speed opening movement when sensing the first human body detection signal R ₁ when the signal is not input, human It is safe because there is no need to wait and the door that moves at high speed does not collide at the stroke end.

Further, when a human body detection signal is input within a fixed time after the power is turned on, the door is opened at low speed and then closed at low speed, so that a passerby can pass through.

[Brief description of drawings]

The drawings show an embodiment of the present invention, FIG. 1 is an overall explanatory diagram, FIG. 2 is an explanatory diagram of a detector, FIG. 3 is an explanatory diagram of a detector and a direction discriminating circuit, and FIG. 5 and 5 are detailed explanatory views of the main control circuit, FIG. 6 is an operation flow chart table at power-on, FIG. 7 is an operation flow chart table at normal operation, and FIG. 8 is an origin switch attachment. It is explanatory drawing which shows a state. 5 is a door and 13 is an origin switch.

Claims (1)

[Claims] 1. A counting pulse proportional to the amount of movement of a door 5 which is opened and closed by a motor M is detected, and the present position of the door is detected by this counting pulse and a door opening / closing stroke value. In an automatic opening / closing door that controls opening / closing movement of the door 5 based on a human body detection signal input within a fixed time after power is turned on, a means for moving the vehicle at a low speed and then a low speed closing movement; Means for moving the door 5 at a low speed when is not inputted, an origin switch 13 for issuing a signal R ₇ indicating that the door 5 is at the origin position when the door 5 is closed, and an origin signal from the origin switch 13. the door 5 by R ₇ and the human body detection signal R _1, a device for causing only fast opening movement distance from the minimum of the door stroke in various automatic door different door stroke by subtracting the low-speed open travel Control apparatus for an automatic door, characterized by comprising Te.