JPS5880082A - Opening and closing control of automatic door - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides an automatic system that performs door stop buffer control based on the door passing speed when passing through a braking position. 17 Regarding the door opening/closing control method As is well known, automatic vJ doors that open and close at high speed not only completely stop the door at the stop positions at the end of closing and opening, but also stop the door at the stop position at the end of closing and opening. In order to reduce the impact and not cause anxiety to busy passers-by, brake positions for closing and opening are provided before each stop position.1 The door moves at high speed to near the stop position. When the door passes this braking position, the door is braked once to sufficiently reduce the speed, and then the door is started to be driven again, and door stop buffer control is performed so that the door reaches the stop position at a low speed. This braking position is such that when the door begins to move, increases its speed sufficiently, reaches the high normal opening/closing speed that is the commanded speed of the drive device, and then passes the braking position, it is neither too slow nor does it pass. The distance between the braking position and the stopping position is determined so that the door can decelerate smoothly and stop at the stopping position accurately.
However, automatic doors do not necessarily have to travel the entire distance between the stop position at the end of closing and the stop position at the end of opening. If the door starts to open or someone touches the door halfway!
In some cases, such as when a door is once stopped, it may stop once in the middle of the opening/closing process and then start moving again, passing the braking position before the speed reaches the predetermined normal opening/closing speed. Therefore, when applying nK braking, braking will continue to be applied for a certain period of time after passing the braking position or until the door reaches a certain distance without detecting that the door speed has reached zero. With automatic doors that perform stop buffer control, as shown in Figure 1, when the door starts moving from the other stop position A1, the door speed sufficiently reaches the normal opening/closing speed. Therefore, if the brake is applied for a certain period of time or a certain distance from the braking position B, the speed can be sufficiently reduced at the position D1 and stopped smoothly at the stop position EK, but when the door passes the braking position B, Since the speed of the door only reaches the passing speed Vm, which is lower than the normal opening/closing speed Vf, if braking is applied over a certain period of time or a certain distance when the door is busy, the door will completely stop at position Dz and will not move. Furthermore, depending on the type of braking device, even if the speed V of the door becomes zero, a driving force in the opposite direction is still applied, so there is a risk that the door will start moving in the opposite direction from the position Da.

Therefore, as shown in Figure 2, the door is driven at a high normal opening/closing speed Vf until it reaches the braking position BK, and when the door passes the braking position B and is braked, the door speed V becomes zero. If this is detected, the door speed is controlled so that it is driven at a low buffer speed Vs and reaches the stop position E, and the door speed ■ is detected to be zero, and the door is moved to the braking position B. Even if the door only reaches a passing speed Vm lower than the normal opening/closing speed Vf when passing the braking position B'jk because it started moving from a position Ai close to , braking is applied to the door and the door speed V becomes zero. Even though the position Dλ that has become is a position farther from the stop position E than the position D1 where the speed V of the door becomes zero when it starts moving from the other stop position fit A1,
From position DZ, it will be detected that the door speed has become zero, and it will be driven at buffer speed Vs by speed control.
There is no longer a possibility that the door will start moving in the opposite direction at position D. In this case, the position DA where the door speed V is zero does not match the normal position D1, giving the impression that the door movement is unstable, and the door movement is delayed for a long period of time when the door is driven at the buffer speed Vs. This invention was developed in view of the above circumstances, and it applies braking immediately when the door passes the braking position. The darkness, which moves the braking holding distance set based on the passing speed at that time, drives 1% at this passing speed, and stops at the door after completing the braking holding distance! It is an object of the present invention to provide an automatic door opening/closing control method capable of performing reliable and smooth door stop buffer control by adding II.

Embodiments of the invention will be described based on the drawings.

Regarding the automatic door l, as shown in Figures 4 and 5,
The motor 2, which will be explained using a single-pull opening/closing automatic door that opens and closes by moving one 1% 3' sheet in the left and right direction by the rotation of the motor 2, is a capacitor motor that can freely rotate forward and reverse, and is controlled by a feedback chopper. In addition, by connecting the tachogenerator 4 to the motor 2, the door 3 can be driven by freely changing the rotation speed in forward and reverse rotations, and the speed of the door can be controlled over a wide range. , this tachogenerator 41 outputs a signal with a frequency corresponding to the rotational speed of the motor 2. The control device of this automatic JFj11 converts the output frequency 'jIr:A-D of the tacho generator 4, counts the number of pulses, and continues to integrate the number of pulses from the set reference position depending on the moving direction of the door 3. Okay, door number 30! Separation distance from tt-y fixed reference position and...
To explain the normal opening/closing operation of the door 3 of this automatic door l, when the door 3 opens,
As shown in FIG. 3, a braking position B is provided at a certain distance from the stop position E in the opening direction of the door 3 in the closing direction, and the door 3 moves from the stop position A in the closing direction where it touches the door stop 5. When starting, speed control is performed to drive at a high normal opening/closing speed up to the braking position B. Since the control device detects #3 position tit by the tacho generator 4, when it detects that the door 3 has passed the braking position @Bt-, it immediately applies braking, and the output from the tacho generator 4 becomes zero, that is, #3. When it is detected that the speed of #3 has become zero, the brake is released and the speed is controlled so that #3 moves at a predetermined buffer speed of low speed, and #3 reaches the stop position IIE in the opening direction where it contacts the stopper 6. When the control device 1 detects that this has been reached, the drive # is stopped and the door finishes opening. When the door 3 closes, as shown in FIG. 4, the stop position E in the closing direction of n3
A braking position Bft is provided at a certain distance from the opening direction side, and the door 3 starts moving from the stopping position A in the opening direction where it contacts the stopper 6, until it reaches the braking position flBK, similar to the opening operation of the door 3. , moves at a high normal opening/closing speed, and immediately applies braking to stop once passing the braking position B, then moves at a low speed at a predetermined buffer speed, and closes at a stopping position E in the closing direction where it touches the door stop 5. Finish.

The stop buffer control from when n3 of the automatic door 1 passes through the braking position until it changes to the stop position is performed by controlling the passing speed of the door 3 when it passes through this braking position using the tachogenerator 4.
The 0 brake hold distance which is detected from Fc and set based on the passing speed is the distance that the busy door 3 moves after passing the brake position until it starts to apply the brake, This calculation process calculates the passing speed when the door 3 starts moving from the position A1, which is sufficiently far away from the braking position B, and passes through the braking position B, as shown in the figure. If vr11 is different from the normal opening/closing speed VfK, the calculation process is performed so that the braking holding distance x1 becomes zero, and the same operation is performed as in the case of the normal opening/closing operation of door 3! As soon as 1CM3 passes the braking position ftB, braking is applied. Then, when the door 3 starts moving from a position close to the braking position B or from A3, the passing speed ζ, 1m6 when passing the braking position B does not reach the normal opening/closing speed VfK, so this passing speed - .

Calculation processing is performed so that the braking retention distance X21 xi becomes longer as - is lower.As shown in FIG. 1 because the braking holding distance @xxax3 becomes longer.
Even if you start losing control late like this,
As a result of the door 3 being decelerated according to the braking characteristic that represents the relationship between the position #3 and the decelerated speed V in the case of the normal opening/closing operation of the door 3, in which case is the position where the speed V of the door 3 becomes zero? will be in the same position, and from then on, #3 will be driven at a predetermined buffer speed Vs, and door 3Fi can be moved under the same conditions until it stops at stop position @E.011%3 is a normal opening/closing operation like this Since the vehicle is decelerated according to the braking characteristics, the one-pass speed Vm and the braking reservation distance X are calculated based on the following relationship. First, when n3 passes the braking position B and the passing speed Vmi at that time is detected, the door 3 moves to the braking position 1 at the normal opening/closing speed Vf, as in the case of the normal opening/closing operation of JFI3.
11B and immediately apply braking, the predicted distance yt that the door 3 will move from the braking position B due to inertia while the speed V of the door 3 decelerates to the detected passing speed Vm.
−Determined from the braking characteristics in this case. Note that if this braking characteristic immediately linearly decelerates the door 3 from the braking position B, the distance yt that the door 3 is predicted to move can be set as the braking holding distance X, but generally, this braking characteristic is The period from when the command to start braking is received until the predetermined braking force is applied effectively follows a curve, so door 3. In the example shown in FIG. 6, the first door 3 is gradually braked from the braking position B, with correction based on the braking characteristics. Since there is a braking characteristic that decelerates linearly after a slight delay, this difference is determined as the corrected distance 2, and this corrected distance 2 is subtracted from the distance y that the door 3 is predicted to move forward. Calculate the braking holding distance Xt. When the braking holding distance #lfx is set in this way, Ji! 3 at the current passing speed Vm, #3 rate braking holding distance * x
Motor 2 so that it starts applying braking after it has finished moving k.
Performs speed control. - As explained above, in this invention, even if the door 3 starts moving from a stopped state in the middle of the opening/closing process, the door 3 is decelerated according to the braking characteristics of the normal opening/closing operation of the door 3. Since tLD is always at the same position where the speed V of door 3 becomes zero, reliable and smooth stop buffer control of the door 3 can be performed. When driving at the buffer speed Vs, if the automatic door l is such that the speed V of n3 does not rise sufficiently to the buffer speed Vs even when the door 3 reaches the stop position EK, the speed V of the door 3 will be zero. When the position changes, the speed V of #3 when it reaches the stop position E also changes, so the inertial force of the door 3 changes, and if there is no stop position E, the stop position 1tEK door 3t changes. - As a result of changing the braking distance to stop Jn3, the distance W at which Jn3 stops may deviate. Therefore, as in the example, the position 't#' of door 3 can be determined by integrating the moving distance of 3. , in an automatic door l that performs opening/closing control of the door 3 in such a way as to integrate the moving distance of the next door 3 from the stopped position of the door 3 when the door 3 reaches the stop position E without using the stopper 6, the door 3 If the position where the speed V of #3 becomes zero changes and the position where the door 3 stops shifts, all the positions of the door 3 that are grasped by the control device thereafter will shift, but this invention Since the position of the door 3 is always the same, there is no possibility of the door 3 being misaligned like this.

In addition, #3 is braking position 11Bt - passing speed V when passing
If m is slower than slow speed Vs, door 3
Door 3, except when there is a risk that the stopping position may shift.
There is little point in driving the door at this slow passing speed Vm, so it is also possible to control the door to be driven at the buffer speed Vs immediately from the braking position B. Since n3 does not necessarily have to stop completely, the detection may be performed by detecting that the speed V of the door 3 has fallen sufficiently below the buffer speed Vs.

In addition, it is not necessarily necessary for the control device to constantly detect the position of the door 3 as in the automatic door l of the embodiment, and the fact that the door 3 has passed the braking position Bi is determined by a micro switch installed on the opening/closing stroke of the door 3. etc., and that the door 3 has completed moving the brake holding distance X- means that the door 3 has finished moving the brake holding distance Detection may be performed by converting the time to the time when the door 3 passes the braking position Bi and measuring the time from when the door 3 passes the braking position Bi. ``The automatic J%l is not limited to the single-pull opening/closing method as in the embodiment, nor is it dependent on the drive device using the electric motor 2. When controlling the stop buffer of the door 3, The speed V of the door 3 (i-) can be detected and controlled by any automatic means as long as it can detect that the door 3 has passed the braking position Bi and that it has completed moving the braking holding distance X. wJIi% may also be used.

The present invention can be implemented by using a microcomputer as a control device, and in this case, the opening and closing control of the automatic door 1, including the speed control of the drive device, can all be performed by the microcomputer.

[Brief explanation of the drawing]

Figures 1 and 2 are charts showing the relationship between the door position and door speed to explain the conventional automatic door stop buffer control, respectively. Figures 3 and 4 are diagrams showing the relationship between the door position and the door speed, respectively, to explain the stop buffer control of the conventional automatic door. FIG. 5 is a front view for explaining the door opening/closing operation of an automatic door used in the invention, and FIG. The figure also shows a chart showing the relationship between door passing speed and brake hold distance. 1...Automatic door, 2...Motor, 3...Door, vf.
...Normal opening/closing speed, vm...Passing speed, Vs...Buffer speed, braking position for B, D...Position where the door speed becomes zero, E...Stop position, X...Braking Holding distance, y...
- Distance that the door is predicted to move forward, 2... Corrected distance. Patent applicant: Japan Air Brake Co., Ltd. Agent: 5 Hiko Watanabe Figure 1 Figure 2

Claims (1)

[Claims] L When the door stops at the end of closing and opening, a braking position for closing and opening is provided before the valley stop position, and once the door passes through the closing and opening braking positions 11, the door is stopped once!
# In addition, after detecting that the speed has decreased sufficiently, the door is driven again at a low buffer speed to reach the stop position.In automatic doors, when passing the braking position, Based on the passing speed of the door, if the door reaches the braking position at the normal opening/closing speed and immediately applies braking, calculate the total distance that KJi is expected to move from the braking position due to inertia while decelerating to this passing speed). Modify the distance based on the braking characteristics and set this as the braking hold distance before starting to apply braking to the door. A method for controlling the opening and closing of an automatic door, characterized by controlling a door driving device so as to drive the door at a certain speed and start applying braking immediately after the door finishes moving the braking holding distance.