JPS64555B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic door opening/closing control method that performs door stop buffer control based on the door passing speed when passing through a braking position.

As is well known, automatic doors that open and close at high speed not only stop the door at the stop positions at the end of closing and opening, but also reduce the shock when the door stops and cause anxiety to passersby. In order to prevent this from happening, a closing and opening braking position is provided before each stop position, and when the door moves at high speed near the stop position and passes this braking position, the door is braked once. In addition, door stop buffer control is performed so that the door starts driving again after slowing down sufficiently and reaches the stop position at a low speed. This braking position is neither too slow nor too fast when the door passes through the braking position after it has started moving and has sufficiently increased its speed to reach the high-speed normal opening/closing speed that is the speed instructed by the drive device. The distance from the braking position to the stopping position is determined so that the door can be smoothly decelerated and stopped accurately at the stopping position. However, automatic doors do not necessarily just go back and forth the entire distance between the stop position at the end of closing and the stop position at the end of opening. In such cases, or in cases where a person temporarily stops the door halfway with their hand,
There are times when the door stops once during the opening/closing stroke and then starts moving again, passing through the braking position before its speed reaches the predetermined normal opening/closing speed. Therefore, when applying braking to the door, the braking is 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 become zero. In an automatic door that performs stop buffer control so that the buffer is continuously applied, as shown in Figure 1, when the door starts moving from the other stop position _A1 , the door speed is sufficiently adjusted to the normal opening/closing speed Vf. If the door is braked for a certain period of time or a certain distance from the braking position B, the speed can be sufficiently reduced at position _D1 and stopped smoothly at the stopping position E. However, if the door is close to the braking position B If you start moving from _A2 , the speed of the door when passing braking position B will only reach the passing speed Vm, which is lower than the normal opening/closing speed Vf. The door is in position when braking is applied.
At D ₂ , the door will completely stop and not move, and depending on the type of braking device, even if the speed V of the door becomes zero, a driving force in the opposite direction will still be applied, so the door will move in the opposite direction from position D ₂ . There was a risk that it would start.

Therefore, as shown in Figure 2, the door is moved to the braking position B.
The door is driven at the high normal opening/closing speed Vf until it reaches the brake position B, and when the door passes the braking position B and is braked, it is detected that the door speed V has become zero, and the door is driven at the low buffer speed Vs. If we control the speed of the door so that it reaches the stop position E and detect that the door speed V has become zero, the door will be at a position A ₂ close to the braking position B.
_Even if the speed Vm, which is lower than the normal opening/closing speed Vf, is reached when passing through the braking position B because the door starts moving from Other stop position A ₁
It is detected that the door speed has become zero from position D2, even though the door speed V is further away from the stop position E than position _D1 , where the door speed V becomes zero when it starts moving from position _D2 . By speed control, the buffer speed Vs
Therefore, there is no fear that the door will start moving in the opposite direction at position _D2 . However, even with such an automatic door, if the door starts moving from a position _A2 close to the braking position B, the door speed V becomes zero.
D ₂ does not match the normal position D ₁ , giving the impression that the door movement is unstable. Also, the section where the door is driven at the buffer speed Vs is long and the door operation becomes redundant, making smooth door stop buffer control impossible. It had the disadvantage that it could not be done.

This invention was made in view of the above circumstances, and does not apply braking immediately after the door passes the braking position, but instead applies braking while the door moves through a braking holding distance that is set based on the passing speed at that time. We developed an automatic door opening/closing control method that can perform reliable and smooth door stop buffer control by driving the door at this passing speed and applying braking to the door after it has traveled the braking holding distance. The purpose is to provide.

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

As shown in FIGS. 4 and 5, the automatic door 1 will be explained using a single-pull automatic door that opens and closes one door 3 by moving it in the left-right direction by the rotation of a motor 2. The motor 2 is a capacitor motor that can freely rotate in forward and reverse directions, and by performing feedback chopper control, it freely changes the rotation speed between forward and reverse rotations to drive the door 3, and the speed of the door can be controlled over a wide range. It can be performed. Also, this motor 2
A tachometer generator 4 is connected to the tachometer generator 4, and the tachometer generator 4 outputs a signal with a frequency corresponding to the rotational speed of the motor 2. The control device for this automatic door 1 is
The output frequency of the tachometer generator 4 is A-D converted, the number of pulses is counted, and the number of pulses is continuously integrated from the set reference position depending on the direction of movement of the door 3, thereby changing the position of the door 3 to the set reference position. The opening/closing control of the door 3 is performed by detecting the separation distance from the door 3. To explain the normal opening/closing operation of the door 3 of this automatic door 1, when the door 3 is opened, as shown in FIG. A braking position B is provided, and when the door 3 starts moving from a stop position A in the closing direction in contact with the door stop 5, speed control is performed so that the door 3 is driven at a high normal opening/closing speed until the braking position B is reached. As mentioned above, the control device detects the position of the door 3 by the tachometer generator 4, so when it detects that the door 3 has passed the braking position B, it immediately applies braking, and the output from the tachometer generator 4 becomes zero, that is, the speed of the door 3. When it is detected that has become zero, the brake is released and the speed is controlled so that the door 3 moves at a low predetermined buffer speed, and the door 3 reaches the stop position E in the opening direction where it contacts the stopper 6. When the control device detects this, the drive is stopped and the door finishes opening. When the door 3 closes, as shown in FIG. It starts moving from the stop position A and moves at a high normal opening/closing speed until it reaches the braking position B, similar to the opening operation of the door 3, and as soon as it passes the braking position B, braking is applied to temporarily stop it. Thereafter, it moves at a low predetermined buffer speed and finishes closing at a stop position E in the closing direction where it contacts the door stop 5.

The stop buffer control from when the door 3 of the automatic door 1 passes through the braking position until it reaches the stop position is performed by detecting the passing speed of the door 3 when it passes this braking position using the tachogenerator 4. Set braking hold distance based on passing speed. The braking holding distance is the distance that the door 3 moves from passing through the braking position to starting to apply braking, and is determined by performing arithmetic processing on the passing speed. As shown in FIG. 5, this calculation process starts when the door 3 starts moving from position A1, which is sufficiently far away from braking position B, _and then moves to braking position B.
The passing speed Vm ₁ when passing through is the normal opening/closing speed
If Vf has been reached, braking holding distance
Arithmetic processing is performed so that x ₁ becomes zero, and braking is applied immediately when the door 3 passes the braking position B, similar to the normal opening/closing operation of the door 3. When the door 3 starts moving from a position _A2 or _A3 close to the braking position B, the passing speed when passing the braking position B is
Since Vm ₂ and Vm ₃ have not reached the normal opening/closing speed Vf, calculation processing is performed so that the lower the passing speeds Vm ₂ and Vm ₃ are, the longer the braking reservation distances x ₂ and x ₃ are.
In other words, as shown in FIG. 5, the passing speed Vm ₂ ,
The lower Vm ₃ is, the longer the braking holding distances x ₂ and x ₃ to the positions C ₂ and C ₃ where braking starts, so even if braking is started late like this, normal door 3 A position D where the speed V of the door 3 becomes zero as a result of the door 3 being decelerated according to the braking characteristic that represents the relationship between the position of the door 3 and the decelerated speed V in the case of the opening/closing operation.
is the same position in either case, and thereafter the door 3 is driven at a predetermined buffer speed Vs and can move under the same conditions until it stops at the stop position E.
Since the door 3 is thus decelerated in accordance with the braking characteristics in the case of normal opening/closing operation, the passing speed Vm and the braking holding distance x are calculated based on the following relationship. First, when the door 3 passes through the braking position B and the passing speed Vm at that time is detected, the door 3 reaches the braking position B at the normal opening/closing speed Vf and immediately applies braking, as in the case of normal opening/closing operation of the door 3. In this case, the distance y that the door 3 is predicted to travel from the braking position B due to inertia while the speed V of the door 3 is decelerated to the detected passing speed Vm is 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 y that the door 3 is predicted to move can be directly used as the braking holding distance x, but generally, this braking characteristic follows a curve from when the command to start braking is received until the predetermined braking force is effectively applied, so the distance y that door 3 is predicted to move is modified based on the braking characteristics to obtain the braking holding distance x. . In the case of the embodiment, as shown in FIG. 6, the door 3 has a braking characteristic in which the door 3 is gradually braked from the braking position B, and after a slight delay, the deceleration is linearly decelerated thereafter. z, and by subtracting this corrected distance z from the distance y that the door 3 is predicted to advance, the braking retention distance x is determined. When the braking holding distance x is set in this way, the door 3 is driven at the passing speed Vm at that time while the door 3 passes this braking holding distance x after passing the braking position B, and the door 3 is driven at the passing speed Vm at that time. The speed of the motor 2 is controlled so that the brake starts to be applied after the motor has traveled the braking reservation distance x.

As explained above, in the present invention, even when the door 3 starts moving from a stopped state in the middle of the opening/closing stroke, the door 3 is decelerated according to the braking characteristics of the normal opening/closing operation of the door 3. Since the position D where the speed V of the door 3 becomes zero is always the same position, reliable and smooth stop buffer control of the door 3 can be performed. Furthermore, when driving the door 3 at the buffer speed Vs from the position D where the speed V of the door 3 is zero, even if the door 3 reaches the stop position E, the speed V of the door 3 is still at a sufficient buffer speed.
In the case of automatic door 1 that does not rise to Vs,
When the position D where the speed V of the door 3 becomes zero changes, the speed V of the door 3 when it reaches the stop position E also changes, so the inertia of the door 3 changes, and the stopper 6 moves to the stop position E.
When the door 3 is not provided, the braking distance for stopping the door 3 at the stop position E also changes, and as a result, the stopping position of the door 3 may shift. Therefore, as in the embodiment, the position of the door 3 is grasped by integrating the moving distance of the door 3, and the door 3 is moved by detecting that the door 3 has reached the stop position E without using the stopper 6. Stop the door 3 and then move on to the next door 3 from the stopped position.
In an automatic door 1 that performs opening/closing control of the door 3 such as integrating the moving distance of Although the positions of the doors 3 will all be shifted, in this invention, the position D where the speed V of the door 3 becomes zero is always the same position, so there is no fear that the positions of the doors 3 will shift in this way.

In addition, if the passing speed Vm when the door 3 passes through the braking position B is slower than the buffer speed Vs, the door 3 is moved at this slow speed, except when there is a risk that the stopping position of the door 3 will shift as described above. Since there is little point in driving at the passing speed Vm, it is also possible to perform control such that the driving is performed at the buffer speed Vs immediately from the braking position B.

Furthermore, in order to detect that the speed V of the door 3 has become zero, it is not necessary for the door 3 to stop completely, so the speed V of the door 3 must be sufficiently reduced so that the speed V of the door 3 reaches the buffer speed Vs.
It may also be possible to detect a further drop.

Further, it is not necessarily necessary for the control device to constantly detect the position of the door 3 as in the case of the automatic door 1 of the embodiment, and the fact that the door 3 has passed the braking position B is determined by a microcontroller installed on the opening/closing stroke of the door 3. Detected with a switch etc.
The fact that the door 3 has completed moving the braking holding distance x is calculated by dividing this braking holding distance x by the passing speed Vm at that time and converting it into the time required for the door 3 to finish moving the braking holding distance x. Alternatively, the detection may be performed by measuring the time from the time when No. 3 passes the braking position B.

The automatic door 1 is not limited to the single-pull opening/closing method as in the embodiment, nor is it limited to the driving device using the electric motor 2. What kind of automatic door can be used as long as it can detect the speed V and perform speed control, and can detect that the door 3 has passed the braking position B and has completed moving the braking holding distance x? Good too.

The present invention can be implemented using a microcomputer as a control device, and in this case, the opening/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, and Figures 3 and 4 are diagrams showing the relationship between the door speed and the stop buffer control of the conventional automatic door, respectively, and Figures 3 and 4 are diagrams showing the relationship between the door speed and 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 present invention, and FIG. 6 is a diagram showing the relationship between the door position and door speed for explaining the door stop buffer control of the present invention. Similarly, a chart showing the relationship between the door passing speed and the braking holding distance is shown. 1...Automatic door, 2...Motor, 3...Door, Vf...Normal opening/closing speed, Vm...Passing speed, Vs...Buffer speed, B...
Braking position, D...Position where the speed of the door becomes zero, E...Stopping position, x...Braking hold distance, y...Distance where the door is predicted to advance, z...Correction distance.

Claims (1)

[Claims] 1. When the door stops at the end of closing and opening, a closing and opening braking position is provided in front of each stop position, and once the door passes through these closing and opening braking positions, the door is braked once to ensure sufficient speed. After detecting that the door has fallen, the door is controlled to stop by driving the door again at a low buffer speed to reach the stop position. Based on this, if the door reaches the braking position at the normal opening/closing speed and immediately applies braking, calculate the distance that the door is expected to move from the above braking position due to inertia while decelerating to this passing speed, and calculate this distance. Modifications are made based on the braking characteristics, and this is set as the braking hold distance before applying braking to the door, and once the door passes the braking position, the door is then driven at this passing speed while traveling this braking holding distance. A method for controlling the opening and closing of an automatic door, comprising: controlling a door driving device so as to start applying braking immediately after the door finishes moving the braking holding distance.