KR101490022B1 - Apparatus for controlling automatic door - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic door controller, and more particularly, to an automatic door controller that switches control of opening and closing of a door when a device for opening and closing a door of the automatic door is broken. And a controller for controlling the door open / close operation of the automatic door opening / closing door to open / close the door of the automatic door by the opening / closing command signal, And a control unit for generating an adjacent door opening / closing drive signal for opening / closing a door of an automatic door connected to the adjacent door control unit according to whether the adjacent door control unit is faulty .

Description

Apparatus for controlling automatic door < RTI ID = 0.0 >

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic door controller, and more particularly, to an automatic door controller that switches control of opening and closing of a door when a device for opening and closing a door of the automatic door is broken.

Generally, a train or a PSD (Platform Screen Door) is composed of a plurality of vehicles. At this time, one vehicle includes a plurality of door systems, and one door system may include a door control device, a motor, an engine part for transmitting the rotational force of the motor, and a door panel. Also, the doorway system may further include various sensors and actuators for implementing essential functions required for the doorway system and a driving mechanism specialized by the designer.

The door control device includes a control algorithm capable of organically operating each of the components included in the doorway system. The door control device performs an internal signal processing process and an operation process for driving the motor after receiving an open / close command from an upper system (for example, a train control monitoring system or a command from a driver) Automatically controls the opening and closing of the door. Each door control device is connected to a network including a passenger channel, and the doors of one side are opened and closed in a lump.

When all doors are normally closed, a series closed loop is constructed, which is transmitted to the host system to enable the generation of the next open condition signal, the low speed signal and the open condition signal (Enable Signal).

In the case where manual opening by an emergency steering wheel operation is attempted while the vehicle is moving, the door control device controls so that manual opening is possible only when a low-speed signal is generated, in order to prevent a safety accident. Further, the door control device can detect an object placed between the door panels and perform an appropriate operation. When the vehicle is moving, the door control device controls the door in the closing direction.

The door control device has a function of "Circuit Operation Self Test", "Storing the main error state in the CPU", and "Software (software)" so that self diagnosis can be made on errors that may occur in data processing or control processing Quot; monitoring and reprocessing function ", and the like, so that it is possible to recover the temporary operation error. Therefore, it is possible to clearly diagnose faults in the door system and it is easy to repair and maintain during the operation period of the system.

The type of failure of the door system can be divided into the failure of the door control device and the failure of the external component (mechanical part) of the door control device constituting the door system. If it is difficult to recover a fault due to a serious fault situation where the door system is no longer controllable, the door control system can not guarantee the normal operation of the door system, so that the door control device displays a failure state and waits for the bypass step to be performed.

In the bypass of the door, the failure determination process is terminated through the upper system, the lock of the door is automatically closed by the locking device, and the position information of the door where the door is broken is displayed through the monitor, After the position information of the door is recognized, the crew manually operates the bypass switch, and a delay occurs during this process. Delay in train operation or safety problems may occur during such delay time.

In addition, in the door system, when the door is not fully opened or closed, the door control device loses its control function, and automatic control in the closing direction is impossible.

The controller and the peripheral circuit included in the general door control device are designed in a single structure, and the instruction processing system for performing required functions is also designed in a single path. At this time, if door control is not smooth due to an internal operation error, a temporary failure may occur. In this case, it is possible to recover through a self-recovery technique by detecting a defect after the self test or a power initialization method by monitoring the system.

The control unit included in the general door control unit has an advantage that it is simple in implementation but in case of a defect in the door control unit, the judgment basis for determining whether there is a failure is insufficient, and in case of temporary failure in which self recovery is possible, There is a disadvantage that the probability of entry is increased. Accordingly, the number of times the door control apparatus is shifted to the failure state is increased, and the rate of carrying out the bypassing step becomes higher, so that it is difficult to satisfy the quantitative target value for the availability.

Therefore, according to the conventional technology, as the probability of entering the bypass step increases, the operation is delayed and the safety of the passengers is often a problem, and it is necessary to introduce a technique to solve such a problem.

Korean Patent Laid-Open Publication No. 10-2010-0011872 (entitled: Automatic door control system including a dual control unit, hereinafter referred to as first prior art) and Korean Patent Registration No. 10-1201357 According to the second prior art, there is disclosed an invention in which, when a single door control unit fails by applying a redundant device, the door can be controlled to be opened and closed by another door control unit. However, according to the first prior art and the second prior art described above, two cases are included in one case (that is, two processors are used for the door control unit for opening / closing one door) It is exposed and may be broken at the same time. Particularly, in the second prior art, two door control units 11 and 12 are contained in the same case 10 for opening and closing one door. Therefore, when the first door control unit 11 is in operation, the second door control unit 12 does not operate, and thus the power supplied to the second door control unit 12 is also cut off. Thus, the second prior art is composed of two control units 31, 81 and two motor driver units 21, 71, and the door control units 11, 21 are not independent of each other. This point is different from the present invention.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a door control apparatus and a door control method thereof, There is provided a door switching control right switching control method for controlling a door connected to a door control unit which has failed by a control unit.

However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

The above object of the present invention can be also achieved by a door control apparatus for an automatic door control apparatus, comprising an input section for receiving an opening / closing command signal for opening and closing a door of an automatic door, a failure signal monitoring section for monitoring a failure signal of the adjacent door control unit, And a controller for generating a door opening and closing drive signal for opening and closing the door and generating an adjacent door opening and closing drive signal for opening and closing a door of an automatic door connected to the adjacent door control unit according to whether the adjacent door control unit is malfunctioning And a door opening / closing device.

Further, the control unit generates an adjacent door opening / closing drive signal for opening / closing the door of the automatic door immediately adjacent to the door of the automatic door, which is grouped in one direction, when a plurality of automatic doors are provided.

Further, the control unit generates an adjacent door opening / closing drive signal for opening / closing the door of the automatic door, which is opposite to the door of the automatic door, which is grouped in both directions when a plurality of automatic doors are provided.

The door control unit may further include a self diagnosis unit for sensing a self state of the door control unit and generating a failure signal corresponding to a failure of the door control unit.

The door control unit is composed of a plurality of door control units. The door control unit generates a door open / close signal of the door connected to the door control unit, Thereby switching control over the opening and closing of the door.

According to the present invention as described above, the control right for opening and closing the door is mutually switched in the door control units independent of each other, so that the effect is independent of external disturbance.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate preferred embodiments of the invention and, together with the description, serve to further the understanding of the technical idea of the invention, It should not be construed as limited.
1 is a configuration diagram showing an overall configuration of a door control apparatus according to the present invention,
2 is a configuration diagram showing the configuration of a pair of door control units according to the present invention,
3 is a configuration diagram showing a configuration between a vehicle control monitoring apparatus and a door control unit according to the present invention,
FIG. 4 is a view showing a grouping of door control units in one direction as a pair,
Fig. 5 is a view showing a grouping of door control units in a pair in a direction facing each other.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. In addition, the embodiment described below does not unduly limit the content of the present invention described in the claims, and the entire structure described in this embodiment is not necessarily essential as the solution means of the present invention.

≪ Configuration and function of control device for duplication of vehicle automatic door >

The duplication control apparatus for opening and closing the automatic door according to the present invention roughly includes an upper control monitoring apparatus 10, a door control unit (DCU, 100a, ..., 100h), a driving unit 200a, ..., , 200h, and door portions 300a, ..., 300h. In addition, the portable control and monitoring device 20 may be further added as needed. Hereinafter, the configuration of a duplication control apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

First, the vehicle described in the present invention is a vehicle that generally carries passengers and regularly runs a certain route, and is a vehicle that opens and closes at least a plurality of doors at the same time or at a predetermined time interval to get passengers to get on and off. An example of such a vehicle is a subway (light rail), a light rail, a train, and a high-speed train. As another example to which the automatic door controller of the present invention can be applied, a PSD (Platform Screen Door) or an elevator can be used. The automatic door of the PSD may be a door provided on an entry platform of a train or a train to allow passengers to enter and exit, and an automatic door of the elevator may be a door installed in an elevator in which two or more elevators are operated at the same time. However, the present invention is not limited to the above-described embodiment, but may be applied to all of the embodiments of the present invention, such as a vehicle equipped with a plurality of doors for getting on and off a passenger or an automatic door access control device for automatically opening / .

Hereinafter, in order to explain one embodiment of the present invention, control of automatic door opening and closing provided on both sides of a vehicle will be described.

1 and 3, the upper control and monitoring apparatus 10 includes an input / output module 12 for transmitting a door open / close command signal to the door control units 100a, ..., 100h, And a communication module 11 for requesting fault information and receiving information in response to the fault information.

The upper control monitoring apparatus 10 monitors status information of various electronic control apparatuses inside a passenger compartment of a vehicle in real time, stores a failure history and the like, and displays this information to a driver through a display device (e.g., an LED or a monitor) .

The door of the vehicle is the most direct and safety factor for the passengers getting on and off the train vehicle. Therefore door systems should be designed exclusively from all possible risk factors. Signals related to door opening and closing are physically transmitted between the upper control monitoring apparatus 10 and the door control units 100a, ..., 100h using a hard wire signal (Voltage Low or High ). Therefore, it is preferable not to transmit data on the door control signal using the communication protocol. The input / output module 12 is interfaced with the hard wire between the upper control monitoring device 10 and the door control units 100a, ..., 100h so as to transmit signals related to door opening and closing.

The conditions for the door to be opened and closed safely are when the vehicle is enabled, the door normal state, and the opening / closing command is applied to the door control unit. If neither of these is satisfied, the door control unit does not operate the door, and immediately sends a warning to the crew. As a signal of a condition for the door to be safely opened and closed, for example, there may be a signal for a speed control signal, a door open command signal, a door close command signal, a door close and a lock (safety loop).

If all the doors of the vehicle are closed, the door interlock of the vehicle is closed (Satety Loop), and a signal indicating that all the doors are normally closed is sent to the upper control monitoring device 10. This signal can be used as a signal for vehicle departure and gate confirmation. The phosphorus line described in the present invention means that a communication line can be performed by exchanging electrical signals using a voltage level of 100 V DC to minimize computer intervention in inputting and outputting a door control command. The implementation of such a passive channel can be realized by using an electric signal control element such as a relay as an example.

As an exception to this door opening / closing command signal, an emergency manual opening / closing command signal is provided in the vehicle. The emergency manual opening / closing command signal allows the door to be opened manually when the vehicle low speed signal is activated after the vehicle is stopped by the operation of the emergency manual opening device in an emergency.

The communication module 11 preferably uses the RS485 protocol to transmit and receive information to and from the door control units 100a, ..., 100h. However, such a serial communication protocol may use RS232c when there is little noise due to a short distance between the devices. Therefore, the serial communication protocol described in the present invention can not be limited to any one protocol, and furthermore, the communication module 11 can be implemented wirelessly as needed. In the case of wireless, a communication protocol such as Wi-Fi or ZigBee can be used.

The information transmitted through the communication module 11 may be status information of the vehicle and failure information of the vehicle. The state information of the vehicle is transmitted to the upper control monitoring apparatus 10 as a response to the case in which the upper control monitoring apparatus 10 transmits a state information request command (e.g., SDR, Status Data Request) to the door control unit. And transmits information on the current state of the vehicle to the vehicle. In addition, the failure information of the vehicle is transmitted to the upper control monitoring apparatus 10 as a response to a request for a failure information (e.g., TDR, Trace Data Request) to the door control unit 10 to transmit information about the fault condition of the vehicle.

Examples of the state information of the vehicle include a current state of the door control unit (only the door control unit itself state), a state in which the door is not closed, a door shutoff state, a door fully open state, a door control unit failure state, An Emergency Egress Device (EED) internal emergency handler operating state, an Emergency Access Device (EAD) external emergency handle operating state, and the like.

Examples of vehicle fault information include door control unit failures, warning and motor circuit failures, DLS (Door Locking Switch) failures, DCS1 (Door Closing Switch) failures, DCS2 failures, unexpected unlocking failures, door lock failures , Failure detection failure during closing, door open failure failure, trace recording quantity (i.e., number of failures), and the like.

The self diagnosis unit 170 monitors the current state and the failure of the vehicle, and the contents of the state information and the failure information of the vehicle are collected by the self diagnosis unit 170, Through the communication module 11.

Additional means for processing and transmitting information may be added between the upper control monitoring apparatus 10 and the door control unit 100a as required.

On the other hand, the portable control and monitoring apparatus 20 shown in Fig. 1 is provided. The portable control and monitoring device 20 performs the inspection and monitoring of the door control device and can be connected to the door control device using the USB communication method.

As shown in FIG. 1, the first to fourth door control units 100a, 100b, 100c and 100d of the door control unit described in the present invention generate a driving signal for opening and closing a door provided on the right side of the vehicle Unit. The fifth to eighth door control units 100e, 100f, 100g, and 100h are units for generating a driving signal for opening and closing a door provided on the left side of the vehicle. The driving portion and the door portion corresponding to the first to eighth door control units are shown in Fig.

As shown in FIG. 2, the first door control unit 100a for opening / closing the door of the right first door 200a and the door of the second door 200b adjacent to the first door 200a are opened / A second door control unit 100b is shown. The first door control unit is connected to the first driving unit 200a for opening and closing the first door and the second door control unit is connected to the second driving unit 200b for opening and closing the second door, Respectively.

Since the first door control unit 100a and the second door control unit 100b have the same configuration, the same components are denoted by the same reference numerals, and the other door (the first door control unit) Control unit) will be omitted. However, only different configurations and functions will be described in the present invention.

The first door control unit roughly includes a power module 110, an input / output module 120, a communication module 130, a processor 140, a first motor driver 150, a second motor driver 160, (170), and a monitoring unit (180). The power module 110 generates various power sources such as digital and analog power, isolated and uninsulated power required for the door control unit, and also provides a filtered power supply for powering the motor and the external switch. The power supply module 110 receives power from the external power supply 30 as shown in FIG.

As shown in FIG. 3, the input / output module 120 is interfaced with the input / output module 12 of the upper control and monitoring device to generate a physical signal for the door open / close command signal generated from the upper control monitor device 10 Receive. The communication module 130 transmits the current state information and the failure information of the vehicle to the host control monitoring apparatus 10 by using the same protocol as that used in the communication module 11 of the host control monitoring apparatus. The definitions of the signals for the input / output module 120 and the communication module 130 are shown in Table 1 below. At this time, the signals to be connected are composed of all common signals, left / right common and left / right individual signals. The entire common signal is a signal that is connected to only one door control unit in common, and the left / right individual signal has a left side and a right side when viewed in the vehicle traveling direction, and is a signal input to each door individually.

Therefore, a signal connected to a dual system (a pair of door control units) must be connected to a pair of door control units together with a signal of the own door and the door. That is, in FIG. 3, the signal S4 connected to the dual system is transmitted from the door engine of the own door (the door engine includes a hanger device, a lock device, a screw, a motor, And transmits the generated signal to the door control unit of the counterpart. Accordingly, when the door control right is switched to the opposite door control unit, the door control unit which receives the control right to know whether the door of the opposite door is properly opened and closed can know.

number Item Usage (Function) Remarks One Enable and Zero Speed Train departure signal All common signals (parallel) 2 Safety loop Check door is locked loop Fail if loop connection fails 3 OPEN / CLOSE (+) Door Open / Closed Left / Right common signal (parallel) 4 OPEN / CLOSE (-) unused Left / Right common signal (parallel) 5 RE-OPEN Door reopening Left / Right common signal (parallel) 6 DODBPS No fault detection Common signal (parallel) 7 Isolation (Internal Bypass) By pass in case of failure Left / Right DCU Individual 8.9 2 DCS Door Closing Switch 1, 2 Left / Right DCU Individual 10,11 1 DLS Confirm door locking switch (mechanical lock) Left / Right DCU Individual 12,13 Two emergency In case of emergency, Left / Right DCU Individual 14,15 2 communication 485 Communication with control monitor system All common signals (parallel) 16,17 2 motors Motor control line Left / Right DCU Individual 18,19 2 power sources DC100V main power All common signals (parallel)

The processor 140 processes a command signal transmitted from the host control monitoring apparatus 10 and input to the input and output module 120 and the communication module 130 and outputs the command signal to the self diagnosis unit 170, (180). The processor 140 itself has a built-in Watch Dog Time (WDT) function. If the processor 140 has no built-in function, such functions can be implemented externally. The watchdog timer is a function for resetting the processor 140 and enabling rebooting when the processor 140, which is processing data, stops operating for some reason. Therefore, in the present invention, when the processor or the like is abnormal due to the watch dog timer function and thus it is impossible to generate a smooth door open / close command, the processor can be reset to generate a door open / close driving signal. However, when the door opening / closing drive signal is not properly generated by the watch dog timer function, the door opening / closing drive signal using the adjacent door control unit, which is a feature of the present invention, is generated as described later.

The processor 140 generates a door opening / closing drive signal corresponding to a command signal for opening / closing the door from the input / output module 12, The door opening / closing drive signal is a signal for providing to the first motor driver 150. The first motor driver 150 receives a pulse width modulation (PWM) signal from the processor 140 and generates a signal for smoothly driving the motor provided in the first driver 200a. The signal generated at this time will be a current amplified signal for smooth driving of the motor. The first door 300a is opened or closed by driving the motor of the first driving part 200a. The safety of the door according to the closing of the door must be solved as described above, and the opening or closing condition of the door that can guarantee the safety of the passenger when the foreign substance is caught in the door or abnormal operation can be constituted. These conditions are general in nature and may be added to and described in connection with the present invention as required.

The second motor driver 160 of the first door control unit 100a transmits a driving signal to the second driving unit 200b in order to open and close the second door 300b when the second door control unit 100b fails . The driving signal of the second motor driver 160 is transmitted to the first door control unit 100a by sensing the failure signal of the second door control unit 100b in the monitoring unit 180 of the first door control unit 100a, Lt; RTI ID = 0.0 > 140 < / RTI >

The self diagnosis unit 170 monitors the status information and the failure information of the vehicle described above. As an example for monitoring the status information or the failure information of the vehicle, if the door is not properly closed, it can physically generate a high or low signal and recognize the state of the vehicle by receiving such a signal. When the processor 140 is not normally operating, the signal of the normal operation is output to the TTL level by using the specific port of the processor, and the self diagnosis unit 17 recognizes the state of the current door control unit Or fault information. The self diagnosis unit 17 collects the current state information or the failure information of the vehicle and transmits the information to the processor 140. The processor 140 transmits the information to the host control unit 10 ). The state information and the failure information of the vehicle may allow the driver to recognize the current state of the vehicle. Of course, the self diagnosis unit 170 may directly transmit the status information and the failure information of the vehicle to the communication module 130.

In the present invention, a faulty door control unit (when it is judged as a failure by the diagnosis of the self diagnosis unit) is reset by using the watch dog timer function built in the processor 140 in the first place. The reset of the failed door control unit is executed by itself by the watch dog timer provided in the processor of each door control unit. If it is determined that the failed door control unit fails to operate normally (that is, if it is determined by the diagnosis of the self-diagnosis unit that the failure has occurred) even after the reset, the door control unit Thereby switching control over opening and closing. The switching of control over the opening and closing of the door will be described later.

The monitoring unit 180 includes three pins, for example. The first input pin is a pin for receiving failure information of a door control unit adjacent to each other as a physical signal S3 (for example, a TTL level or a passive line). Further, the second output pin outputs information on the failure of the door control unit itself to the adjacent door control unit. The third pin is the ground pin. The monitoring unit 180 of the first door control unit and the monitoring unit 180 of the second door control unit may be physically interfaced with each other. The first door control unit 100a can detect the failure information of the adjacent door control unit 100b by the interface of the monitoring unit 180 and can detect the failure information of the second door control unit 100b according to the failure information of the second door control unit 100b. (300b) can be opened or closed.

(Adjacent door  The fault signal (s) between the control units (100a, 100b) monitoring  And door  Switching method of switching control)

In the meantime, a description will be given of a method of opening and closing the second door 300b assuming that the first door control unit 100a is in a normal operation and the second door control unit 100b is in failure . As described above, the presence or absence of the failure of the counterpart can be recognized by the interface of the monitoring unit 180 of the first door control unit 100a and the second door control unit 100b, respectively. Monitoring can be continuously detected by setting a specific period or it can be detected by an interrupt. At this time, the interrupt is detected when the signal is switched from the signal of the initial state to the signal of the other state, and the interrupt is performed with the programmed contents. Such an interrupt implementation is a function embedded in most processors 140. Here, since the second door control unit 100b is malfunctioning, the first door control unit 100a detects the failure of the second door control unit 100b by sensing the second door control unit failure signal S3.

The first door control unit 100a which detects a failure of the second door control unit 100b outputs a pulse width modulation signal to the second motor driver 160 to drive the second door 300b. The second motor driver 160 amplifies the current and outputs a control signal to the second driving unit 200b to drive the motor to open and close the second door 300b. At this time, the first door 300a and the second door 300b are simultaneously controlled by the first door control unit 100a. It is therefore natural that sufficient power must be supplied to enable such simultaneous control.

Figures 4 and 5 show a pair of door control units. 4, a first door control unit 100a and a second door control unit 100b provided to open and close the right door are formed of a pair 40a, and the third door control unit 100c and the second door control unit 100b And the four-door control unit 100d comprises a pair 40b.

Similarly, a fifth door control unit 100e and a sixth door control unit 100f, which are provided to open and close the left door, are formed of a pair 40c, and the seventh door control unit 100g and the eighth door control The unit 100h is composed of a pair 40d. The door control unit of each pair will be able to switch control over the opening and closing of the door to each other.

In FIG. 5, unlike FIG. 4, the door is turned into a pair so that the opening / closing control right for the door facing each other can be switched. (See FIG. 4) or a pair of door control units facing each other (FIG. 5), the control of opening and closing of the door is only made by a pair of door control units configured on the same side The principle is the same.

Although the foregoing description has been made on the case where the first door control unit is normal and the second door control unit is malfunctioning, the principle of the same invention is also applicable to the case where the second door control unit is normal and the first door control unit is failed It can be understood.

Although the functions have been described separately for convenience of explanation in the present invention (for example, various functions may be divided), the functions may be combined as necessary. In addition, contents omitted from the description of the present invention may be cited within the scope of the technical idea of the present invention and the content of the prior art document described above as needed.

Although the present invention has been described with reference to the embodiment thereof, the present invention is not limited thereto, and various modifications and applications are possible. In other words, those skilled in the art can easily understand that many variations are possible without departing from the gist of the present invention.

S1: adjacent door opening / closing drive signal
S2: adjacent door opening / closing drive signal
S3: Neighboring door control unit failure signal
S4: Signals that are connected to each other
S5: All common signal, left / right common signal
10: Upper control monitoring device
11: Communication module
12: I / O module (I / O module)
20: Portable monitoring system
30: Power supply
40a, ..., 40d: a pair of door control units
100a, ..., 100h: Door control unit (DCU)
110: power module
120: I / O module (I / O module)
130: Communication module
140: Processor (CPU)
150: first motor driver
160: second motor driver
170:
180: Monitoring section
200a, ..., 200h:
300a, ..., 300h:

Claims (5)

A plurality of door control units are paired with each other to generate a door open / close signal of the door connected to the failed door control unit in the event of a failure, and an automatic door As a control device,
Each door control unit comprises:
An input unit for receiving an open / close command signal for opening and closing a door of an automatic door;
A self-diagnosis unit for detecting a self-condition and generating a failure signal corresponding to a failure of the door control unit;
A fault signal monitoring unit for monitoring a fault signal of the adjacent door control unit, and
Closing door signal for opening and closing the door of the automatic door by the opening / closing command signal and for opening / closing the door of the automatic door door connected to the adjacent door control unit in accordance with the failure of the adjacent door control unit And a control unit for generating a driving signal,
Wherein the control unit switches the door open / close control right to the other door control unit when the control unit firstly resets the door control unit after generating a failure signal from the self diagnosis unit,
Automatic door control device.
The method according to claim 1,
Wherein,
When a plurality of automatic doors are provided
Closing drive signal for opening and closing a door of an automatic door immediately adjacent to a door of the automatic door group grouped in one direction.
The method according to claim 1,
Wherein,
When a plurality of automatic doors are provided
Closing drive signal for opening and closing a door of a facing automatic door of a door of the automatic door which is grouped in both directions.
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