WO2023058610A1

WO2023058610A1 - Automatic door, diagnostic device for automatic door, diagnostic method for automatic door, and diagnostic program for automatic door

Info

Publication number: WO2023058610A1
Application number: PCT/JP2022/037006
Authority: WO
Inventors: 良有清政; 寅貴西井
Original assignee: ナブテスコ株式会社
Priority date: 2021-10-06
Filing date: 2022-10-03
Publication date: 2023-04-13
Also published as: JPWO2023058610A1

Abstract

This automatic door 100 comprises: a controller 20 that controls an opening/closing operation of a door part 10 provided to an opening; a sensor 30 having a detection area around the door part 10; an operation phase acquisition unit 210 that acquires, from the controller 20, operation phase information about the door part 10; a sensor information acquisition unit 220 that acquires detection information from the sensor 30 when it has been determined that the door part 10 is in a prescribed operation phase on the basis of the operation phase information acquired by the operation phase acquisition unit 210; and an assessment unit 230 that assesses the presence/absence of a prescribed event at the door part 10 on the basis of the operation phase information acquired by the operation phase acquisition unit 210 and the detection information acquired by the sensor information acquisition unit 220.

Description

automatic door, diagnostic device for automatic door, diagnostic method for automatic door, diagnostic program for automatic door

The present invention relates to automatic doors.

As an automatic door that automatically opens and closes with electric power, there is a known automatic door in which multiple infrared detection spots are formed in the detection area around the door (Patent Document 1). According to the detection information of each detection spot, it is possible to detect not only the normal opening and closing of the door, but also the occurrence of undesirable abnormal events such as erroneous opening and closing, opening, and repeated reversal of the door.

JP 2015-17990 A

When accumulating detection information from each detection spot in the memory of an automatic door for diagnosis of abnormal events on the door, if the accumulation period is long, the memory capacity increases. There is a problem of leakage.

The present invention has been made in view of this situation, and its purpose is to provide an automatic door that can efficiently detect the occurrence of a predetermined event at the door.

In order to solve the above-described problems, an automatic door according to one aspect of the present invention includes a control unit that controls opening and closing operations of a door provided at an opening, a sensor that has a detection area around the door, and a door from the control unit. An operation phase acquisition unit that acquires operation phase information, and a sensor information acquisition unit that acquires sensor detection information when it is determined that the door is in a predetermined operation phase based on the operation phase information acquired by the operation phase acquisition unit. and a determination unit that determines whether or not a predetermined event has occurred at the door based on the operation phase information acquired by the operation phase acquisition unit and the detection information acquired by the sensor information acquisition unit.

According to this aspect, it is possible to efficiently detect the occurrence of a predetermined event on the door by acquiring the detection information of the sensor when the door is in the predetermined operation phase.

Another aspect of the present invention is an automatic door diagnostic device. This device includes an operation phase acquisition unit that acquires operation phase information of a door provided at the opening of an automatic door, and determines that the door is in a predetermined operation phase based on the operation phase information acquired by the operation phase acquisition unit. Then, based on the sensor information acquisition unit that acquires the detection information of the sensor that has a detection area around the door, and the operation phase information acquired by the operation phase acquisition unit and the detection information acquired by the sensor information acquisition unit, a determination unit that determines whether or not a predetermined event has occurred.

It should be noted that any combination of the above constituent elements, and any conversion of the expression of the present invention between methods, devices, systems, recording media, computer programs, etc. are also effective as embodiments of the present invention.

According to the present invention, it is possible to efficiently detect the occurrence of a predetermined event at the door.

It is a front view which shows an automatic door roughly. FIG. 2 is a diagram schematically showing various constituent devices capable of communicating with each other inside and outside the automatic door; 4 schematically shows how light is projected and received by an activation sensor; 4 schematically shows a detection area on the floor around the door where light is emitted and received by the activation sensor. 4 shows an example of trajectory information of a detection spot that can be acquired from an activated sensor. 1 is a functional block diagram showing a diagnosis device for an automatic door; FIG. A method for judging erroneous opening/closing by an erroneous opening/closing judging unit is shown. A method of determining openness by an open determination unit will be shown. A method of determining repeated inversion by a repeated inversion determination unit will be described.

First, with reference to FIGS. 1 and 2, an outline of an automatic door 100 to which an embodiment of the present invention is applied will be described. FIG. 1 is a front view schematically showing an automatic door 100 according to an embodiment of the invention. The automatic door 100 includes a door portion 10 that is driven to open and close, a controller 20 that controls the entire automatic door 100, a sensor 30 that detects a passerby (general term for a start sensor 31 and an auxiliary sensor 32), and a door that generates power. It mainly includes an engine 40 and a power transmission section 50 that transmits power to the door section 10 . In the following description, the left-right direction in FIG. 1 is the horizontal direction, and the up-down direction in FIG. 1 is the vertical direction. is not limited to

The door portion 10 overlaps with a first movable door 11L and a second movable door 11R, which are horizontally movable, respectively, and when the first movable door 11L and the second movable door 11R are in an open state. A first fixed door 12L and a second fixed door 12R provided at positions, and a guide mechanism 13 for guiding horizontal movements of the first movable door 11L and the second movable door 11R are provided. The first movable door 11L, the second movable door 11R, the first fixed door 12L, and the second fixed door 12R are configured in a vertically long rectangular shape with a vertical dimension larger than a horizontal dimension. When the door portion 10 is driven to open, the first movable door 11L shown on the left side in FIG. 1 is driven leftward, and the second movable door 11R shown on the right side in FIG. 1 is driven rightward. When the door portion 10 is driven to close, the first movable door 11L is driven to the right and the second movable door 11R is driven to the left, contrary to when the door portion 10 is driven to open. The number and shape of the doors constituting the door section 10 are not limited to those described above, and can be appropriately designed according to the needs of the installation location. Similarly, the movable direction of the door portion 10 is not limited to the horizontal direction, and may be a direction inclined from the horizontal direction.

The guide mechanism 13 includes a travel rail 131 , a door roller 132 , a guide rail 133 , and an anti-vibration portion 134 . The running rail 131 is a columnar rail member extending horizontally over the entire movable range above the

movable doors

11L and 11R. Two door rollers 132 are provided above each of the

movable doors

11L and 11R, and the

movable doors

11L and 11R are suspended from the running rail 131. As shown in FIG. When the

movable doors

11L and 11R are driven to open and close in the horizontal direction, the door rollers 132 roll on the travel rails 131, enabling smooth opening and closing operations. The guide rail 133 is a groove-shaped rail member extending horizontally over the entire movable range below the

movable doors

11L and 11R. The anti-vibration part 134 projects from the lower part of the

movable doors

11L and 11R and is accommodated in the groove-shaped guide rail 133. - 特許庁When the

movable doors

11L and 11R are driven to open and close in the horizontal direction, the anti-vibration portion 134 moves along the guide rails 133, so that the direction of projection of the

movable doors

11L and 11R (the direction perpendicular to the paper surface of FIG. 1) Vibration can be suppressed.

Various parameters related to the opening and closing of the door section 10 can be set by the controller 20. For example, opening/closing speed, opening/closing strength, opening width, etc. can be set. The opening/closing speed is the horizontal speed of the first movable door 11L and the second movable door 11R, and the speed directions of both doors are opposite to each other. Although it is preferable that both doors have the same speed (speed), they may have different speeds. Also, the opening/closing speed may be set to different values for normal opening/closing and other times. For example, in the case of so-called reversal switching to open drive in order to urgently avoid a passerby being caught in the closed

movable doors

11L and 11R during the normal closing drive of the door section 10, the movable door 11L during the open drive, The speed of 11R may be set to a value different from the speed during normal open drive. Further, even if the opening speed and closing speed when the door section 10 is driven by the temporary power supplied from the battery in an emergency such as a power failure when the normal power source cannot be used are set to values different from those during normal driving. good.

The opening/closing strength is the magnitude of the force when opening and closing the

movable doors

11L and 11R, and is controlled by the torque value generated by the motor 42, which will be described later. Similar to the opening/closing speed described above, basically, it is preferable that the

movable doors

11L and 11R have the same opening/closing strength. Also, different opening/closing strengths may be set for normal opening/closing and other times. The opening width is typically the horizontal distance between the first movable door 11L and the second movable door 11R when the door portion 10 is fully open. As shown in FIG. 1, W1 is the moving distance between the fully closed position and the fully open position of the first movable door 11L, and W2 is the moving distance between the fully closed position and the fully open position of the second movable door 11R. Then, the aperture width is represented by W1+W2. Here, the moving distances W1 and W2 can be individually set within a range within the horizontal dimension of the automatic door 100 . In an emergency such as a power outage when the normal power source cannot be used, the opening width of the door portion 10 is reduced when the door portion 10 is driven by temporary power supplied from the battery. Power consumption due to opening/closing drive may be suppressed.

In FIG. 1, as an example of the sensor 30, an activation sensor 31 as an optical sensor and an auxiliary sensor 32 are provided. The activation sensor 31 is a photoelectric sensor provided on the surface of the blind 60 above the door portion 10 . The activation sensor 31 includes a light projecting portion that projects light such as infrared rays toward the floor surface and a light receiving portion that receives reflected light from the floor surface. When an object such as a passerby approaches the automatic door 100 and blocks the light, the amount of light received by the light receiving unit changes, so the object can be detected. When such information detected by the activation sensor 31 is input to the controller 20, the door section 10 is opened by driving the door engine 40. As shown in FIG. The activation sensor 31 is provided on the indoor side (for example, the front side of the page of FIG. 1) and the outdoor side (for example, the back side of the page of FIG. 1), and can detect a passerby approaching from either side. In the following, when it is necessary to distinguish between the two, they are referred to as an indoor-side starting sensor 31I and an outdoor-side starting sensor 31O, respectively.

It should be noted that the activation sensor 31 may be configured to detect a passerby by reflection of radio waves such as microwaves or ultrasonic waves. Further, as indicated by 31A in FIG. 1, the door section 10 may be driven when a passerby presses a touch plate provided on at least one of the

movable doors

11L and 11R. Further, in tourist facilities, amusement parks, etc., in addition to or in place of the detection and operation of passers-by, it is also assumed that the door section 10 is driven by the operation of a staff member of the facility. At this time, the facility staff can remotely drive the door section 10 using an operation panel provided at a position away from the door section 10 or an operation terminal capable of communicating with the automatic door 100 .

The auxiliary sensor 32 as a passage sensor for detecting a person or an object (hereinafter collectively referred to as a detection object) passing through the door portion 10 or passing through the opening is provided between the first fixed door 12L of the door portion 10 and the second fixed door 12L. It is a photoelectric sensor provided on the door 12R. The auxiliary sensor 32 includes a light projecting part provided on one of the first fixed door 12L and the second fixed door 12R and a light receiving part provided on the other. The light projecting part and the light receiving part are provided at the same height from the floor surface, and the light receiving part receives light such as infrared rays projected horizontally from the light projecting part. When a passerby passes through the opening of the door part 10 and blocks the light, the amount of light received by the light receiving part changes, so that the passerby can be detected. The main purpose of the auxiliary sensor 32 is to protect against closing. When the auxiliary sensor 32 detects a passerby during the closing operation of the

movable doors

11L and 11R, the controller 20 stops the closing drive and performs reverse control to switch to the opening drive. . As a result, it is possible to prevent a passerby from being caught between the closed

movable doors

11L and 11R. In such a closed protection control, by using the detection information of the activation sensor 31 composed of a photoelectric sensor in the same way as the auxiliary sensor 32, the passerby detection accuracy can be increased and the safety can be further improved.

The auxiliary sensor 32 may be configured to detect passers-by by reflecting radio waves such as microwaves or ultrasonic waves. Also, the auxiliary sensor 32 may be provided at a location different from the fixed

doors

12L and 12R. For example, it may be installed on the blind 60 like the activation sensor 31, or may be installed on the ceiling in the vicinity of the automatic door 100. FIG. If a plurality of such auxiliary sensors 32 are provided, the cost will be increased, but the safety will be dramatically improved.

The activation sensor 31 and the auxiliary sensor 32 are equipped with an amplifier in the output stage, and amplify detection information from each sensor to a predetermined level that can be handled by the controller 20 in the subsequent stage. Therefore, when the detection intensity of the sensor is low, the amplification factor is high, and when the detection intensity of the sensor is high, the amplification factor is low. Thus, the amplification factor of each sensor is data indicating the detection strength of each sensor.

The door engine 40 includes a motor drive section 41 , a motor 42 and a drive pulley 43 . The motor drive unit 41 is composed of an intelligent power module (IPM), and supplies voltage or current to drive the motor 42 under the control of the controller 20 as a control unit that controls the opening and closing operation of the door 10 provided in the opening. generate. The motor 42 as a power source for generating rotational power can be configured as various known motors, but in this embodiment, as an example, a brushless motor provided with an encoder using Hall elements is used. The position of the rotor of the motor 42 detected by the encoder is input to the motor drive unit 41, and the corresponding drive voltage or drive current is applied to the motor 42 to generate desired rotational power. A drive pulley 43 that is rotationally driven by the motor 42 is connected to the rotor of the motor 42 via a gear mechanism (not shown) and rotates in conjunction therewith.

The power transmission section 50 transmits the power generated by the door engine 40 to the door section 10 to open and close the

movable doors

11L and 11R. The power transmission section 50 includes a power transmission belt 51 , a driven pulley 52 and a connecting member 53 . The power transmission belt 51 is an annular timing belt having a number of teeth formed on its inner peripheral surface, and is wound around the driving pulley 43 on the right side in FIG. 1 and around the driven pulley 52 on the left side in FIG. In this state, the horizontal dimension of the power transmission belt 51 is equal to the horizontal distance between the drive pulley 43 and the driven pulley 52, and is approximately equal to the horizontal dimension of the movable range of the

movable doors

11L and 11R. When the drive pulley 43 is rotated by the motor 42 , the driven pulley 52 is interlocked and rotated via the power transmission belt 51 .

The connecting member 53 connects the

movable doors

11L and 11R to the power transmission belt 51 and drives them to open and close. Here, one movable door is connected to the upper side of the power transmission belt 51 and the other movable door is connected to the lower side of the power transmission belt 51 . In the example of FIG. 1, when the power transmission belt 51 rotates counterclockwise, the first movable door 11L moves to the left and the second movable door 11R moves to the right for opening, and the power transmission belt 51 rotates clockwise. When rotated, the first movable door 11L moves to the right and the second movable door 11R moves to the left for closing operation.

In the automatic door 100 configured as described above, when the activation sensor 31 detects a passerby, the door engine 40 generates counterclockwise rotational power under the control of the controller 20 to drive the door section 10 to open. Further, when a passerby is not detected for a predetermined period of time after the opening drive, the door engine 40 generates clockwise rotational power under the control of the controller 20 to drive the door section 10 to close. When the auxiliary sensor 32 or the activation sensor 31 detects a passerby during the closing drive, the controller 20 performs reversal control to switch from the closing drive to the opening drive.

FIG. 2 schematically shows various constituent devices that can communicate with each other inside and outside the automatic door 100 . The automatic door 100 has a bus 2 to which constituent devices are connected and which performs data communication between the constituent devices. The bus 2 is configured according to any communication standard, such as CAN (Controller Area Network). CAN is designed so that constituent devices can communicate with each other without the intervention of a host computer, and is widely used to transmit control information of various systems, not limited to automatic doors. Each constituent device connected to the bus 2 can transmit information to other constituent devices via the bus 2, and can selectively receive information necessary for itself among the information transmitted to the bus 2 by the other constituent devices. .

FIG. 2 shows, as components connected to the bus 2, a controller 20, an activation sensor 31, a touch plate 31A, an auxiliary sensor 32, an operation panel 33, an authentication device 34, an electric lock controller 35, an external interface 36, a display device 37, and a display device 37. are exemplified, and any component constitutes the automatic door 100 . It should be noted that this figure lists and exemplifies configuration devices that can be connected to the bus 2, and configuration devices that are not shown in FIG. 1 are also included. In addition, the components provided in the actual automatic door 100 can be selected according to the purpose, and it is not necessary to provide all the illustrated components. For example, in the automatic door 100 that drives the door portion 10 only by detecting or operating a passerby, it is not necessary to provide the operation panel 33 for operation by a staff member or the like. Conversely, in a tourist facility, an amusement park, etc., in an automatic door 100 in which the door portion 10 is driven only by the operation of the staff of the facility, there is no need to provide the activation sensor 31 and the touch plate 31A for detecting and operating the passers-by. do not have. However, the controller 20 that controls the entire automatic door 100 is an essential component in many cases.

Among the illustrated components, the controller 20, the activation sensor 31, the touch plate 31A, and the auxiliary sensor 32 have been described above, so descriptions thereof will be omitted. The operation panel 33 is a control panel that is operated by a staff member of a tourist facility, an amusement park, or the like to drive the door section 10 . For example, in an attraction in which the user moves between different rooms at a predetermined timing, the attendant operates the operation panel 33 in accordance with the movement timing to control the opening and closing of the door section 10 of each room so that the user can move smoothly. can move. The operation panel 33 may be fixedly installed in the facility, or may be carried by the staff. Also, the function of the operation panel 33 may be implemented in a communication terminal such as a tablet or a smartphone capable of communicating with the controller 20 or the like via an external interface 36, which will be described later.

The authentication device 34 authenticates passers-by who should be permitted to pass in places where a high level of security is required, such as the entrances of housing complexes and offices. Authentication methods include password authentication by inputting a keypad provided in the vicinity of the door 10, biometric authentication using the passerby's biometric information such as fingerprints, and the like. When the authentication by the authentication device 34 succeeds, the controller 20 drives the door section 10 to open, and the passerby can pass through the automatic door 100. - 特許庁If authentication by the authentication device 34 fails, even if the activation sensor 31 detects the passerby, the controller 20 does not drive the door part 10 to open, thereby preventing unauthorized passage of the passerby.

The electric lock controller 35 controls the electric lock 35A that locks the automatic door 100. The electric lock 35A includes, for example, a solenoid that generates a driving force according to the energized state as lock driving means for driving the lock between the locked position and the unlocked position.

The external interface 36 inputs and outputs signals to and from various external devices 36A outside the automatic door 100 through wired or wireless connection. As the external device 36A, a work terminal such as a regulator used by a worker who goes to the site for installation or maintenance inspection of the automatic door 100, or a remote server connected via a public information communication network such as the Internet. and computers are exemplified. Various settings such as control of each constituent device of the automatic door 100 and parameter adjustment can be performed by such input operation of the external device 36A. In addition, the external device 36A can read information from each constituent device of the automatic door 100 and a memory attached thereto, and perform state diagnosis and maintenance inspection. As described above, the bus 2 in the automatic door 100 is configured according to the CAN standard, but communication between the external device 36A and the external interface 36 is based on a different standard, such as Bluetooth (registered trademark). or Wi-Fi®, the external interface 36 functions as a protocol converter that converts signals based on one standard to signals based on the other standard.

The display device 37 is a display unit that displays the operating status of the automatic door 100 based on information received from other components. When the display device 37 has an input function such as a touch panel, various settings such as control of each constituent device of the automatic door 100 and parameter adjustment can be performed by touch operation on the display screen. The display device 37 may be provided near the door section 10 or may be provided in a place away from the door section 10, for example, in the backyard where the automatic door 100 is managed in the same building.

Components constituting the automatic door 100 exemplified above, that is, the controller 20, the activation sensor 31, the touch plate 31A, the auxiliary sensor 32, the operation panel 33, the authentication device 34, the electric lock controller 35, the external interface 36, and the display device 37 can communicate with each other via a bus 2 conforming to the CAN standard. That is, each component contains a CAN transceiver and a CAN controller for CAN communication. In addition to these, the external interface 36 has a protocol converter that performs protocol conversion between the communication standard used by the external device 36A and the CAN standard. As a result, the external device 36A connected to the external interface 36 can communicate with other constituent devices of the automatic door 100 via the bus 2. FIG.

Subsequently, the activation sensors 31 provided inside and outside the opening or on both sides of the door portion 10, that is, the indoor activation sensor 31I and the outdoor activation sensor 31O form a detection area and a detection spot around both sides of the door portion 10. will be explained. FIG. 3 schematically shows how each activation sensor 31 projects and receives light. Each activation sensor 31 includes a light projecting portion 70 that projects light onto a detection area 90 around the door portion 10 and a light receiving portion 80 that receives reflected light from the detection area 90 . The light projecting section 70 includes m light projecting elements 71-1, 71-2, . , 72-2 . . . 72-m (collectively referred to as projection lenses 72). The light-receiving unit 80 includes n light-receiving elements 81-1, 81-2, . . . 82-n (collectively referred to as a light receiving lens 82). The detection area 90 corresponds to the floor on which infrared rays are projected and received. For convenience of illustration, the light projecting section 70 and the light receiving section 80 are shown as separate bodies, but they may be constructed integrally. In particular, each light projecting element 71 constituting the light projecting section 70 and each light receiving element 81 constituting the light receiving section 80 can be integrally configured as a photocoupler.

The light projecting element 71 is a light emitting element such as an LED that emits light based on an electrical signal. Infrared light, which is non-visible light, is used so that the automatic door 100 does not interfere with passers-by. The light projecting lens 72 splits the light from the light projecting element 71 into a plurality of light rays. Although the number of rays generated by division is arbitrary, in the illustrated example, each projection lens 72 generates two rays. There are a total of m light projecting elements 71, and each light is split into two light beams by the light projecting lens 72, so the light projecting unit 70 generates a total of 2m light beams and irradiates the detection area 90 with them. .

The light receiving element 81 is a photodiode or the like that receives reflected light from the detection area 90 and generates light reception information, which is an electrical signal. The wavelength band that can be received by the light receiving element 81 is matched with the light emitted by the light projecting element 71 (infrared light in this example). The light-receiving lens 82 collects a plurality of light beams from the detection area 90 and irradiates the corresponding light-receiving elements 81 . Although the number of light beams collected by each light receiving lens 82 is arbitrary, in the illustrated example, each light receiving lens 82 collects three light beams. Since there are a total of n receiving lenses 82 and each collects three light beams, the light receiving section 80 receives a total of 3n light beams from the sensing area 90 .

The 2m light beams generated by the light projecting unit 70 and the 3n light beams received by the light receiving unit 80 are in one-to-one correspondence, and the total number is the same. That is, 2m=3n. Hereinafter, the case where the total number is 72, that is, the case where m (the number of light emitting elements 71 and light emitting lenses 72) is 36 and n (the number of light receiving elements 81 and light receiving lenses 82) is 24 will be described as an example. . In this example, the number of split rays of the projection lens 72 is 2, and the number of the light rays of the light receiving lens 82 is 3. However, these can be arbitrarily set, and the number m of the light projecting elements 71 and the number of light receiving elements are set accordingly. The number n of 81 can also be set arbitrarily. Specifically, the number m of the light emitting elements 71 and the number n of the light receiving elements 81 may be arbitrary natural numbers up to the desired total number of light rays (72). When the number of light projecting elements 71 is one, which is the minimum, one light projecting lens 72 similarly generates 72 light rays. When the number of light projecting elements 71 is 72, which is the maximum number, 72 light beams can be obtained without splitting the light with the light projecting lens 72, so the light projecting lens 72 is not necessary. When the number of light receiving elements 81 is one, which is the minimum, one light receiving lens 82 collects 72 light rays. When the number of light-receiving elements 81 is 72, which is the maximum number, the light rays do not need to be concentrated, so the light-receiving lens 82 is not necessary.

FIG. 4 schematically shows a detection area 90 on the floor around the door portion 10 where each activation sensor 31 projects and receives light. The sensing area 90 is partitioned into 72 sensing spots corresponding to the 72 rays. In the illustrated example, a rectangular detection area 90 is divided into a matrix or lattice of 6 rows and 12 columns. This detection area 90 is the floor surface facing the opening of the door portion 10 of the automatic door 100, and the larger the line number, the closer it is to the opening. That is, the sensing spot in row number 1 is furthest from the aperture and the sensing spot in row number 6 is closest to the aperture. Further, row numbers L1 to L6 correspond to the area on the left side of the door portion 10 in FIG. 1, and row numbers R1 to R6 correspond to the area on the right side of the door portion 10 in FIG. The detection spots divided as described above are given unique spot numbers from 1 to 72 as shown in the figure.

Each detection spot is also given a light projection number and a light reception number. The projection number represents the projection element 71 that projects light onto the detection spot. The light receiving number represents the light receiving element 81 that receives the reflected light from the detection spot. For example, the 61st detection spot in the upper left corner of the figure receives light from the first light emitting element 71-1 and reflects it to the first light receiving element 81-1. The 62nd detection spot on the right side receives the light from the first light emitting element 71-1 and reflects it to the second light receiving element 81-2. Further, the 12th detection spot in the lower right corner of the figure receives light from the 34th light emitting element 71-34 and reflects it to the 24th light receiving element 81-24.

Focusing on the light projection number, each of the light projection elements 71-1 to 71-36 simultaneously projects light onto two adjacent detection spots in the left-right direction. For example, the number 1 light projecting element 71-1 simultaneously projects light to the 61st and 62nd detection spots adjacent in the horizontal direction. Similarly, the number 2 light emitting element 71-2 simultaneously projects light to the 63rd and 64th detection spots adjacent in the horizontal direction.

Focusing on the light-receiving number, each of the light-receiving elements 81-1 to 81-24 receives reflected light from three detection spots that are not adjacent to each other and are arranged alternately in the vertical direction of FIG. 4 (the direction perpendicular to the paper surface of FIG. 1). receive light at the same time. For example, the number 1 light receiving element 81-1 simultaneously receives reflected light from three detection spots numbered 61, 37, and 13, which are arranged alternately in the vertical direction. Similarly, the 13th light-receiving element 81-13 simultaneously receives the reflected light from the 49th, 25th, and 1st detection spots arranged alternately in the vertical direction.

The division of the detection area 90 into detection spots, the selection of the light emitting element 71 and the light receiving element 81 used in each detection spot, and the assignment of various numbers to each detection spot as described above are merely examples, and other It can be any aspect. For example, the detection area 90 can be divided into detection spots in an arbitrary shape without being limited to a matrix or lattice. Further, regarding the light emitting element 71 and the light receiving element 81 used in each detection spot, by appropriately adjusting the arrangement and configuration of each light emitting element 71, each light emitting lens 72, each light receiving element 81, and each light receiving lens 82, , any light emitting element 71 and any light receiving element 81 can be assigned to any detection spot. In the above example, the same light emitting element 71 is used for a plurality of detection spots arranged in the horizontal direction, and the same light receiving element 81 is used for a plurality of detection spots arranged in the vertical direction. The light projecting element 71 may be used for a plurality of detection spots arranged vertically, and the same light receiving element 81 may be used for a plurality of detection spots arranged horizontally. In the above example, the same light emitting element 71 is used for a plurality of adjacent detection spots, and the same light receiving element 81 is used for a plurality of alternate detection spots that are not adjacent to each other. Alternatively, the same light projecting element 71 may be used for a plurality of alternate detection spots that are not adjacent to each other, and the same light receiving element 81 may be used for a plurality of adjacent detection spots. Note that the interval between the plurality of detection spots sharing the same light emitting element 71 or the same light receiving element 81 is not limited to zero (adjacent) or one spot (every other spot) in the above example, but any number of spots. OK.

FIG. 5 shows an example of trajectory information of detection spots that can be acquired from each activation sensor 31 . Of the 72 detection spots in the detection area 90 in each figure, the detection spots that are painted out represent the detection spots that have been in the detection state for a certain period of time. Here, when the detection information in each detection spot, specifically, the change in the amount of light received by the light receiving element 81 constituting each detection spot, becomes equal to or greater than a predetermined open drive threshold, the detection spot is in the detection state. It says. In each figure, the controller 20 receives detection information equal to or greater than the opening drive threshold value from the detection spot that has entered the detection state, and drives the door section 10 to open via the door engine 40 . Note that the controller 20 may receive detection information below the open drive threshold from a detection spot that is not in the detection state. Detection information less than the open drive threshold value is not used to drive the door section 10 to open, but as will be described later, when determining whether an undesirable abnormal event has occurred in the door section 10, such as erroneous opening/closing, opening, or repeated reversal. available for Hereinafter, detection information equal to or greater than the open drive threshold is referred to as drive detection information, and detection information less than the open drive threshold is referred to as non-drive detection information, and the two may be distinguished from each other.

FIG. 5(A) shows an example of trajectory information of detection spots that are in a detection state when the door portion 10 is normally opened and closed. A trajectory extending linearly from outside the detection area 90 toward the opening of the door portion 10 is formed, suggesting that the passerby normally passed through the door portion 10 along the trajectory. 5(B) to 5(D) show that the door 10 is erroneously driven open by a small number of detection spots that are in the detection state for some reason even though the passerby does not pass through the door 10. An example of trajectory information in the case of accident is shown. In FIG. 5(B), it is suggested that the door 10 was erroneously driven open because a small number of detection spots on the door 10 were detected due to disturbances such as snow, insects, and direct sunlight. be done. FIG. 5(C) suggests that the door 10 was erroneously driven open as a result of a pedestrian who did not pass through the door 10 accidentally walking across the corner of the detection area 90 . In FIG. 5(D), when a person who does not pass through the door part 10 stays near the opening, or when the detection spot near the opening is continuously detected due to the vibration of the blind 60 is generated, it is suggested that the door portion 10 was erroneously driven to open. The number "5" displayed on the detection spot in the detection state means that the detection spot has been in the detection state five times in succession in the temporally continuous detection slots. An erroneous opening drive of the door 10 that occurs in the cases shown in FIGS. 5(B) to 5(D) causes undesirable abnormal events in the door 10 such as erroneous opening/closing, opening, and repeated reversal. As will be described later, in the present embodiment, whether or not an abnormal event has occurred in the door section 10 is efficiently determined based on the trajectory information shown in FIGS. 5B to 5D.

FIG. 6 is a functional block diagram showing the diagnostic device 200 for automatic doors. The diagnostic device 200 includes an operation phase acquisition section 210 , a sensor information acquisition section 220 , a determination section 230 , an output section 240 and a storage section 250 . These functional blocks are realized through cooperation between hardware resources such as the computer's central processing unit, memory, input device, output device, and peripheral devices connected to the computer, and software executed using them. . Regardless of the type of computer or installation location, each of the above functional blocks may be implemented using the hardware resources of a single computer, or may be implemented by combining hardware resources distributed among multiple computers. . In particular, in this embodiment, some or all of the functional blocks of the diagnostic device 200 may be implemented by the controller 20 of the automatic door 100 itself, which is a computer, or may be implemented inside or outside the automatic door 100 capable of communicating with the controller 20. It may be realized by computer or hardware resources.

The operation phase acquisition unit 210 acquires operation phase information of the door unit 10 or the door engine 40 from the controller 20 . Specific examples of the operation phases of the door section 10 will be described later, but for example, one opening/closing operation of the door section 10 can be broken down into the following operation phases.
・During full closing: Stops when the door 10 is fully closed ・Fully closed→opening operation: Transitions the door 10 from the fully closed state to the opening state ・During opening operation: Moves and opens the door 10 in the open state Operation→Fully open: The door part 10 transitions from the open operation state to the fully open state ・During full opening: The door part 10 stops while the door part 10 is fully open ・Fully open→Closed operation: The door part 10 transitions from the fully open state to the closed operation state・During closing operation : Door portion 10 moves and closes in the closed state→fully closed: The door portion 10 transitions from the closed state to the fully closed state.

The sensor information acquisition unit 220 acquires detection information of the sensor 30 when determining that the door unit 10 is in a predetermined operation phase based on the operation phase information of the door unit 10 acquired by the operation phase acquisition unit 210 . As will be described later, the types of sensors 30 (indoor-side starting sensor 31I, outdoor-side starting sensor 31O, auxiliary sensor 32) that acquire detection information are determined by events to be detected such as erroneous opening/closing, opening, and repeated reversal, and each sensor 30 The contents of the detection information acquired from, the acquisition timing of the detection information, etc. are different. The sensor information acquisition unit 220 also acquires state information indicating whether each sensor 30 is in a detection state. Specifically, the sensor information acquisition unit 220 obtains the drive detection information from the detection spot that has entered the detection state and is equal to or greater than the open drive threshold, and the detection amount that is less than the open drive threshold from the detection spot that has not reached the detection state. Drive sensing information is obtained in a mutually distinguishable manner.

The determination unit 230 determines whether a predetermined event has occurred in the door unit 10 based on the operation phase information of the door unit 10 acquired by the operation phase acquisition unit 210 and the detection information of the sensor 30 acquired by the sensor information acquisition unit 220. do. Specifically, the determination unit 230 includes an erroneous opening/closing determination unit 231 that determines whether or not an erroneous opening/closing of the door unit 10 occurs when the object to be detected does not pass through the door unit 10, and a An open determination unit 232 that determines whether or not the door section 10 continues to be in the open state. A repetitive inversion determination unit 233 for determination is provided. Each determination unit 231 to 233 is provided with a small-capacity memory for temporarily storing the detection information of the sensor 30 during each determination process. A specific determination method in each of the determination units 231 to 233 will be described later.

When the determination unit 230 determines that a predetermined event has occurred, the output unit 240 transmits the detection information of the sensor 30 acquired by the sensor information acquisition unit 220 together with the determination result to another computer or the like outside the diagnostic device 200. output. The storage unit 250 is a storage medium provided inside and outside the automatic door 100 that stores the determination result of the determination unit 230 and the detection information of the sensor 30 output by the output unit 240 . The output unit 240 may output the determination result and the detection information in real time to another computer or the like outside the diagnostic device 200 , or may output the determination result and the detection information stored in the storage unit 250 to maintenance of the automatic door 100 . The information may be output to a work terminal or the like connected to the automatic door 100 as the external device 36A during inspection or the like. Note that the output unit 240 outputs an operation such as when the door unit 10 is not operating, specifically when the door unit 10 is “fully closed”, “open operation→fully open”, “fully open”, “close operation→fully closed”, and the like. It is preferable to output the detection information of the sensor 30 when in phase.

FIG. 7 shows a method for determining erroneous opening/closing by the erroneous opening/closing determination unit 231. FIG. In this figure and the following similar figures, "automatic door state" indicates the operation phase of the door unit 10 acquired by the operation phase acquisition unit 210, and "spot state" indicates each phase acquired by the sensor information acquisition unit 220. In the detection information of the sensor 30, the non-driving detection information below the open drive threshold or the detection amount of the detection spot that does not reach the detection state is recorded. 30 of the detection information, the timing of recording the drive detection information above the open drive threshold or the trajectory information of the detection spot in the detection state as shown in FIG. The sensor 30 that generated the “spot trajectory” that triggered the operation and the timing of recording the drive detection information of the sensor 30 different from the sensor 30 are shown.

If the sensor 30 that records the "spot state" and/or the "spot trajectory" and the sensor 30 that records the "sensor detection state" are different from each other for the former, the indoor side activation sensor 31I and the outdoor side activation sensor 31O In any of the above, the latter may be any of the indoor activation sensor 31I, the outdoor activation sensor 31O, and the auxiliary sensor 32, but for the sake of simplicity, unless otherwise specified, the indoor activation sensor 31I is referred to as the "spot state ” and/or “spot trajectory” are recorded, and “sensor detection state” is recorded for the outdoor activation sensor 31 O and/or the auxiliary sensor 32 .

In FIG. 7, when the door section 10 is in the "fully closed" operation phase, recording of the "spot state" and "spot trajectory" of the indoor activation sensor 31I is started, and the outdoor activation sensor 31O and the auxiliary Recording of the "sensor detection state" of the sensor 32 is started. When drive detection information equal to or greater than the open drive threshold value is recorded in the "spot locus" of the indoor-side activation sensor 31I, the operation phase of the door portion 10 driven to open transitions from "fully closed to open operation", and indoor-side activation is performed. Recording of the "spot state" (non-driving detection information) of the sensor 31I is stopped. In judging erroneous opening/closing, the fact that the door portion 10 has actually opened/closed is important. This is because there is little need to record the "spot state" (non-driving detection information) that does not contribute to opening and closing. On the other hand, the recording of the "spot trajectory" (driving detection information) of the indoor activation sensor 31I that contributes to the opening and closing of the door 10 and the "sensor detection state" (driving detection information) of the outdoor activation sensor 31O and the auxiliary sensor 32 are recorded. Recording is not stopped.

In addition, in order to improve the judgment accuracy of erroneous opening and closing, it is preferable to continue recording the "spot trajectory" and "sensor detection state" in the subsequent operation phase, but the recording in the "fully closed → open operation" operation phase The erroneous opening and closing can be estimated or determined only by the "spot trajectory" and/or the "sensor detection state". For example, in the "spot trajectory" recorded in the "fully closed → open operation" operation phase, as shown in Figs. In that case, there is a high possibility that erroneous opening and closing occurred. In addition, in the "sensor detection state" recorded in the "fully closed → open operation" operation phase, if neither the outdoor side start sensor 31O nor the auxiliary sensor 32 is in the detection state, the indoor side start sensor 31I This means that neither the auxiliary sensor 32 that detects the passage of the door portion 10 nor the outdoor-side activation sensor 310 that detects the movement of the door portion 10 to the opposite side detects the detected object. , there is a high possibility that erroneous opening and closing of the door section 10 occurs when the object to be detected does not pass through the door section 10 .

In the example of FIG. 7, the recording of the "spot trajectory" of the indoor-side activation sensor 31I and the recording of the "sensor detection state" of the outdoor-side activation sensor 31O and the auxiliary sensor 32 continue until the "fully open→closed operation" operation phase. be done. If the following two conditions are satisfied up to this stage, the erroneous opening/closing determination section 231 assumes or provisionally determines that erroneous opening/closing has occurred in the door portion 10 .
・Incorrect opening/closing judgment condition 1: In the recording of the “spot trajectory”, the total number of detection spots in the detection state from the operation phase of “fully closed → open operation” to the operation phase of “fully open → closed operation” is a predetermined error. It is smaller than the open/close judgment threshold.
・ Erroneous opening/closing determination condition 2: In the recording of the “sensor detection state”, any other sensor 30 (the outdoor side activation sensor 31O and the auxiliary sensor 32) did not enter the detection state either.

Erroneous opening/closing determination condition 1 suggests that the number of detection spots in the detection state as shown in FIGS. do. That is, the detection target detected by the "spot trajectory" that satisfies the erroneous open/close judgment condition 1 appears locally and temporarily, and is likely to be disturbance or noise such as snow, insects, direct sunlight, etc. . Erroneous opening/closing determination condition 2 is that the object detected by the "spot trajectory" of the indoor activation sensor 31I also causes the auxiliary sensor 32 that detects passage of the door 10 to move to the opposite side of the door 10. It means that the outdoor side activation sensor 31O that detects it has not detected it either.

If either of the above two conditions is not satisfied, the erroneous opening/closing determination unit 231 may determine that the door 10 has not been erroneously opened/closed. In this case, the recording of the detection information of the sensor 30 in the subsequent operation phases after "closed operation" is stopped, and the sensor recorded from the "fully closed" operation phase to the "fully open→closed operation" operation phase. 30 sensing information may be discarded. On the other hand, when the above two conditions are satisfied, only the recording of the "sensor detection state" of the outdoor side activation sensor 31O and the auxiliary sensor 32 continues until the "closed operation→fully closed" operation phase. If the erroneous opening/closing determination condition 2 is still satisfied in these operation phases, that is, from the operation phase of "fully closed→open operation" to the operation phase of "closed operation→fully closed", the outdoor start sensor 31O and the auxiliary sensor 32 are not in the detection state, the erroneous opening/closing determination section 231 finally determines that erroneous opening/closing of the door portion 10 has occurred.

When the erroneous opening/closing determination unit 231 determines that erroneous opening/closing has occurred, the determination result and the detection information of the sensor 30 that supports the determination ("spot state" recorded from "fully closed" to "fully closed→open operation") , “spot trajectory” recorded from “fully closed” to “fully open→closed operation”, and “sensor detection state” recorded from “fully closed” to “closed operation→fully closed”) are output by the output unit 240 outputs to another computer or the like outside the diagnostic apparatus 200 and the storage unit 250 . By analyzing the detection information of the sensor 30 output by the output unit 240 and the detection information of the sensor 30 stored by the storage unit 250, the user of the diagnostic device 200 can identify the sensor 30 and the detection spot that caused the erroneous opening and closing. can be specified. After output by the output unit 240, the detection information temporarily recorded in each sensor 30 and the erroneous opening/closing determination unit 231 is reset. On the other hand, when the erroneous opening/closing determination unit 231 determines that erroneous opening/closing has not occurred, the detection information of each sensor 30 recorded in a series of operation phases cannot be output by the output unit 240 or stored by the storage unit 250. discarded without

According to the erroneous opening/closing determination method of FIG. 7, each sensor 30 does not always record detection information, but detection information is recorded only when the door portion 10 is in a specific operation phase determined for each sensor 30. Therefore, the amount of data to be processed and the capacity of the storage unit 250 for storing them can be reduced. In addition, when the erroneous opening/closing determination unit 231 determines that erroneous opening/closing has not occurred, the detection information of each sensor 30 can be discarded immediately, so that wasteful accumulation of detection information in the storage unit 250 can be prevented. As described above, according to the erroneous opening/closing determination method of FIG.

FIG. 8 shows a method of determining openness by the open determination unit 232. FIG. Opening means that the door portion 10 continues to be in an open state for a predetermined time or longer. , means that the door unit 10 stays in the "fully open" operation phase continuously for two minutes or longer. When opening occurs, at least one of the indoor activation sensor 31I, the outdoor activation sensor 31O, and the auxiliary sensor 32 is in the detection state for a long time. For example, neither the indoor activation sensor 31I nor the outdoor activation sensor 31O are in the detection state, but the auxiliary sensor 32 is in the detection state continuously (always ON) or intermittently (ON/OFF repetition) for a long time. In this case, the auxiliary sensor 32 is not in the detection state, but one of the indoor side activation sensor 31I and the outdoor side activation sensor 31O is in the detection state continuously (always ON) or intermittently (ON/OFF repetition) for a long time. In this case, it is assumed that the auxiliary sensor 32 is not in the detection state, but both the indoor-side activation sensor 31I and the outdoor-side activation sensor 31O are in the detection state at the same or different timings for a long period of time. When the door section 10 is in the operation phase of "open operation → fully open" and transitions to the fully open state, the "spot state" and "spot trajectory" of the indoor activation sensor 31I that triggers the opening operation of the door section 10 are shown. Along with the start of recording, recording of the "sensor detection state" of the outdoor activation sensor 31O and the auxiliary sensor 32 is also started.

The recording of the detection information of these sensors 30 is continued in the subsequent "fully open" operation phase. It is determined that opening has occurred in the unit 10 . Specifically, when the cumulative time during which the sensor 30 is in the detection state is longer than a predetermined time (for example, two minutes), the open determination section 232 determines that the door section 10 has been opened. On the other hand, if the door portion 10 remains in the “fully open” operation phase for less than two minutes, the open determination section 232 determines that the door portion 10 has not been opened. In either case, recording of the detection information of all the sensors 30 is stopped in the subsequent "fully open→closed operation" operation phase. However, when it is determined that opening has occurred, and the door section 10 remains in the "fully open" operation phase for five minutes or more, which is longer than the two minutes of the open determination, the "fully open→closed operation" is performed. Recording of the detection information of all the sensors 30 may be stopped without waiting for the transition to the operation phase.

When the open determination unit 232 determines that opening has occurred, the determination result and detection information of the sensor 30 that supports the determination ("spot state" recorded from "open operation → fully open" to "fully open → closed operation", " spot locus” and “sensor detection state”), the output unit 240 outputs to another computer or the like outside the diagnostic apparatus 200 and the storage unit 250 . The output from the output unit 240 is performed in the operation phase of "closed operation→fully closed" when the door unit 10 is stopped. may be output in the operation phase of

The user of the diagnostic device 200 analyzes the detection information of the sensor 30 output by the output unit 240 and the detection information of the sensor 30 stored by the storage unit 250, thereby identifying the sensor 30 and the detection spot that caused the opening. can be identified. Specifically, when the door unit 10 remains in the "fully open" operation phase for a long time, the drive detection information equal to or greater than the open drive threshold value for maintaining the door unit 10 in the fully open state is constantly detected. Alternatively, since the intermittently generated sensor 30 (at least one of the indoor-side activated sensor 31I, the outdoor-side activated sensor 31O, and the auxiliary sensor 32) and the detection spot can be specifically specified, the user of the diagnostic device 200 can open the door. Appropriate measures can be taken to prevent recurrence. After output by the output unit 240, the detection information temporarily recorded in each sensor 30 and the open determination unit 232 is reset. On the other hand, when the open determination unit 232 determines that opening has not occurred, the detection information of each sensor 30 recorded in a series of operation phases is not output by the output unit 240 or stored by the storage unit 250. discarded.

According to the open determination method of FIG. 8, each sensor 30 does not always record detection information, but the detection information is recorded only when the door section 10 is in a specific operation phase determined for each sensor 30. Therefore, the amount of data to be processed and the capacity of the storage unit 250 for storing them can be reduced. In addition, when the open determination unit 232 determines that the opening has not occurred, the detection information of each sensor 30 can be discarded immediately, thereby preventing useless accumulation of the detection information in the storage unit 250 . As described above, according to the open determination method of FIG. 8, it is possible to efficiently detect the occurrence of opening of the door portion 10 .

FIG. 9 shows a method for determining repeated inversion by the repeated inversion determination unit 233. FIG. Repeated reversal means that the reversal in which the door portion 10 in the closing operation switches to the opening operation is repeated more than a predetermined number of times. It means that the reversal of returning to the "opening" operation phase instead of proceeding to the "closed operation→fully closed" operation phase is repeated more than a predetermined number of times. When the door section 10 is in the operation phase of "fully open→close operation" and transitions to the closed operation state, recording of the "spot state" and "spot trajectory" of the indoor activation sensor 31I is started, and the outdoor activation is performed. Recording of the "sensor detection state" of the sensor 31O and the auxiliary sensor 32 is started.

When a reversal to return to "opening operation" occurs in the subsequent "closing operation" operation phase, recording of the "spot state" and "spot trajectory" of the indoor activation sensor 31I that caused the reversal is suspended. On the other hand, recording of the "sensor detection state" of the outdoor side activation sensor 31O and the auxiliary sensor 32 is continued. After that, when the door portion 10 enters the operation phase of "fully open→closed operation" again, recording of the "spot state" and "spot trajectory" of the indoor activation sensor 31I is resumed. In this way, the number of times the recording of the "spot state" and "spot trajectory" of the indoor activation sensor 31I is paused or resumed represents the number of times of reversal. It is determined that reversal has occurred repeatedly at .

In this case, the repetitive reversal determination unit 233 may consider the time from when the sensor information acquisition unit 220 starts acquiring detection information in the closing operation phase until it stops acquiring detection information in the opening operation phase. Specifically, the repetitive reversal determination unit 233 determines that the sensor information acquisition unit 220 has stopped acquiring the detection information in the opening operation phase within a specified time after the sensor information acquisition unit 220 started acquiring detection information in the closing operation phase. It may be determined that repeated reversals have occurred when the above is reached. If the time from the start of acquisition of the detection information to the stop of acquisition is less than the predetermined time, there is a high possibility of repeated reversal due to repeated detection of a person or object staying near the door unit 10, but the detection information If the time from the acquisition start to the acquisition stop is longer than the predetermined time, there is a high possibility of accidental reversal due to detection of a person or object normally passing through the door section 10 .

Note that the repetitive reversal determination unit 233 determines repetitive reversal based on the number of times the recording of the "spot state" and "spot trajectory" of the indoor activation sensor 31I is paused or resumed, instead of the repetitive reversal determination unit 210. Repeated reversal may be determined based on the number of times of switching from the closing operation to the opening operation of the door section 10 that can be acquired. For example, the repetitive reversal determination unit 233 determines when the door unit 10 is in the closing operation phase and when the door unit 10 is in the closing operation phase when the door unit 10 is in the operation phase until the door unit 10 returns to the closed state after moving from the closed state to the open operation. When the number of repetitions of the time in the opening operation phase is equal to or greater than a predetermined number of times, it is determined that repeated reversal has occurred.

However, if at least one of the outdoor side activation sensor 31O and the auxiliary sensor 32 is in the detection state in the "sensor detection state" recorded during this period, the detection that caused the reversal by being detected by the indoor side activation sensor 31I Since it means that the object has been detected by the auxiliary sensor 32 that detects the passage of the door portion 10 and the outdoor side activation sensor 31O that detects the movement of the door portion 10 to the opposite side, normal passage of the detection object The repeated inversion determination unit 233 does not have to consider the inversion in the determination of the repeated inversion assuming that the inversion is due to .

On the other hand, the door section 10 shifts to the operation phase of "closed operation→fully closed" while the number of times of pausing or resuming the recording of the "spot state" and "spot trajectory" of the indoor activation sensor 31I is less than the predetermined number of times. In this case, the repetitive reversal determination section 233 determines that repetitive reversal has not occurred in the door portion 10 . In the operation phase of "closed operation→fully closed", the recording of the detection information of all the sensors 30 is stopped.

When the repeated reversal determination unit 233 determines that repetitive reversal has occurred, the detection information of the sensor 30 that supports the determination result and the determination (from "fully open → closed operation" to "closed operation → open operation" (reversal) repeatedly The recorded "spot state" and "spot trajectory", and "sensor detection state" recorded from "fully open → closed operation" to "closed operation → fully closed") are output by the output unit 240 to another device outside the diagnostic device 200. It is output to a computer or the like or the storage unit 250 . The output from the output unit 240 is performed in the operation phase of "closed operation→fully closed" when the door unit 10 is stopped. may be output in the operation phase of

By analyzing the detection information of the sensor 30 output by the output unit 240 and the detection information of the sensor 30 stored by the storage unit 250, the user of the diagnostic device 200 can identify the sensor 30 and the detection spot that caused the repeated reversal. can be identified. After the output by the output unit 240, the detection information temporarily recorded in each sensor 30 and the repetitive inversion determination unit 233 is reset. On the other hand, when the repetitive reversal determination unit 233 determines that repetitive reversal has not occurred, the detection information of each sensor 30 recorded in a series of operation phases cannot be output by the output unit 240 or stored by the storage unit 250. discarded without

According to the repetitive reversal determination method of FIG. 9, each sensor 30 does not always record detection information, but detection information is recorded only when the door portion 10 is in a specific operation phase determined for each sensor 30. Therefore, the amount of data to be processed and the capacity of the storage unit 250 for storing them can be reduced. Further, when the repetitive reversal determination unit 233 determines that repetitive reversal has not occurred, the detection information of each sensor 30 can be discarded immediately, so that wasteful accumulation of the detection information in the storage unit 250 can be prevented. As described above, according to the repetitive reversal determination method of FIG.

The present invention has been described above based on the embodiments. It should be understood by those skilled in the art that the embodiments are examples, and that various modifications can be made to combinations of each component and each treatment process, and such modifications are also within the scope of the present invention.

In the embodiment, the activation sensor 31 and the auxiliary sensor 32 provided in the automatic door 100 are given as examples of the sensor 30 having a detection area around the door portion 10 . As the sensor 30, an image sensor or a camera that captures an image of the surrounding area may be used. In this case, the erroneous opening/closing determination unit 231, the opening determination unit 232, and the repetitive reversal determination unit 233 can efficiently determine whether or not erroneous opening/closing, opening, and repetitive reversal occur in the door unit 10 based on the photographed images.

Note that the functional configuration of each device described in the embodiments can be realized by hardware resources or software resources, or by cooperation between hardware resources and software resources. Processors, ROMs, RAMs, and other LSIs can be used as hardware resources. Programs such as operating systems and applications can be used as software resources.

Among the embodiments disclosed in this specification, those in which a plurality of functions are provided in a distributed manner may be provided by consolidating some or all of the plurality of functions. What is provided as a single function may be provided so that part or all of the plurality of functions are distributed. Regardless of whether the functions are centralized or distributed, it is sufficient that they are configured so as to achieve the objects of the invention.

The present invention relates to automatic doors.

10 door part, 20 controller, 30 sensor, 31 activation sensor, 31I indoor activation sensor, 31O outdoor activation sensor, 32 auxiliary sensor, 40 door engine, 90 detection area, 100 automatic door, 200 diagnostic device, 210 operation phase acquisition 220 sensor information acquisition unit 230 determination unit 231 erroneous open/close determination unit 232 open determination unit 233 repeated reversal determination unit 240 output unit 250 storage unit.

Claims

a control unit that controls the opening and closing operation of the door provided in the opening;
a sensor having a detection area around the door;
an operation phase acquisition unit that acquires operation phase information of the door from the control unit;
a sensor information acquisition unit that acquires detection information of the sensor when it is determined that the door is in a predetermined operation phase based on the operation phase information acquired by the operation phase acquisition unit;
a determination unit that determines whether a predetermined event has occurred at the door based on the operation phase information acquired by the operation phase acquisition unit and the detection information acquired by the sensor information acquisition unit;
automatic door with
The sensor is an activation sensor for the automatic door provided inside and outside the opening,
the sensor information acquisition unit acquires detection information of each of the activation sensors when determining that the door is in a predetermined operation phase based on the operation phase information acquired by the operation phase acquisition unit;
The determination unit determines whether or not the predetermined event has occurred based on the detection information of each of the activation sensors.
The automatic door according to claim 1.
The automatic door according to claim 1 or 2, further comprising an output unit that outputs the detection information acquired by the sensor information acquisition unit when the determination unit determines that the predetermined event has occurred.
The automatic door according to claim 3, further comprising a storage unit that stores the detection information output by the output unit.
The automatic door according to claim 3, wherein the output unit outputs the detection information when the door is in an operation phase in which it stops.
The automatic door according to claim 1 or 2, wherein the sensor information acquisition unit acquires state information indicating whether the sensor is in a detection state.
the sensing area includes a plurality of sensing spots;
The sensor information acquisition unit acquires the detection amounts of the plurality of detection spots,
The automatic door according to claim 6.
the sensing area includes a plurality of sensing spots;
The sensor information acquisition unit acquires trajectory information of the detection spot that has entered a detection state.
The automatic door according to claim 1 or 2.
The sensor information acquisition unit acquires trajectory information of the detection spot when the door is in an operation phase in which the door moves from a closed state to an opening operation,
The determination unit determines that erroneous opening and closing as the predetermined event has occurred when the number of detection spots that generated the trajectory information is less than a predetermined threshold.
The automatic door according to claim 8.
The sensor information acquisition unit acquires trajectory information of the detection spot during an operation phase from when the door moves from a closed state to an opening operation until it moves to a closing operation,
The determination unit determines that erroneous opening and closing as the predetermined event has occurred when the number of detection spots that generated the trajectory information is less than a predetermined threshold.
The automatic door according to claim 8.
the sensor includes a traffic sensor that detects a person or object passing through the opening;
The sensor information acquisition unit acquires detection information from the traffic sensor during an operation phase from when the door moves from the closed state to the opening operation until it returns to the closed state,
The determination unit determines that an erroneous opening has occurred when the number of detection spots that generated the trajectory information is less than a predetermined threshold and the traffic sensor does not detect a person or an object.
The automatic door according to claim 9.
The sensor information acquisition unit acquires detection information from the sensor during an operation phase in which the door is in an open state,
The determination unit determines that the opening as the predetermined event has occurred when the cumulative time during which the sensor is in the detection state is equal to or greater than a predetermined time.
The automatic door according to claim 1 or 2.
The sensor information acquisition unit acquires detection information from the sensor when the door is in a closing operation phase, and stops acquiring detection information from the sensor when the door is in an opening operation phase switched from the closing operation phase. death,
When the number of times the sensor information acquisition unit repeats the acquisition of the detection information in the closing operation phase and the stop of acquisition of the detection information in the opening operation phase reaches a predetermined number of times or more, the determination unit determines the predetermined number of times. Determining that a repeated reversal as an event has occurred,
The automatic door according to claim 1 or 2.
When the number of times the sensor information acquisition unit stops acquiring the detection information in the opening operation phase within a predetermined time after the sensor information acquisition unit starts acquiring the detection information in the closing operation phase is equal to or greater than a predetermined number of times 14. The automatic door according to claim 13, wherein it is determined that repeated reversals have occurred in .
the sensor includes a traffic sensor that detects a person or object passing through the opening;
The sensor information acquisition unit acquires detection information from the traffic sensor during an operation phase from when the door moves from an open state to a closed state until it reaches a closed state,
When the number of times the sensor information acquisition unit repeats the acquisition of the detection information in the closing operation phase and the stop of acquisition of the detection information in the opening operation phase reaches a predetermined number of times or more, Determining that a reversal has occurred repeatedly if the traffic sensor does not detect a person or object;
Automatic door according to claim 13.
The sensor information acquisition unit acquires detection information from the sensor when the door is in a closing operation phase, and stops acquiring detection information from the sensor when the door is in an opening operation phase switched from the closing operation phase. death,
The determination unit determines when the door is in a closing operation phase and when the door is in an opening operation phase when the door is in an operation phase from when the door moves from the closed state to the open operation until it returns to the closed state. Determining that the repeated reversal as the predetermined event has occurred when the number of repetitions is a predetermined number or more;
The automatic door according to claim 1 or 2.
an operation phase acquisition unit that acquires operation phase information of a door provided in an opening of an automatic door;
a sensor information acquisition unit that acquires detection information from a sensor having a detection area around the door when it is determined that the door is in a predetermined operation phase based on the operation phase information acquired by the operation phase acquisition unit; ,
a determination unit that determines whether a predetermined event has occurred at the door based on the operation phase information acquired by the operation phase acquisition unit and the detection information acquired by the sensor information acquisition unit;
diagnostic equipment for automatic doors.
A diagnostic method for an automatic door, comprising: a controller for controlling the opening/closing operation of a door provided in an opening; and a sensor having a detection area around the door,
an operation phase acquisition step of acquiring operation phase information of the door from the control unit;
a sensor information acquisition step of acquiring detection information of the sensor when it is determined that the door is in a predetermined operation phase based on the operation phase information acquired in the operation phase acquisition step;
a determination step of determining whether or not a predetermined event has occurred at the door based on the operation phase information acquired in the operation phase acquisition step and the detection information acquired in the sensor information acquisition step;
A method for diagnosing an automatic door comprising:
A diagnostic program for an automatic door, comprising: a controller for controlling the opening/closing operation of a door provided in an opening; and a sensor having a detection area around the door,
an operation phase acquisition step of acquiring operation phase information of the door from the control unit;
a sensor information acquisition step of acquiring detection information of the sensor when it is determined that the door is in a predetermined operation phase based on the operation phase information acquired in the operation phase acquisition step;
a determination step of determining whether or not a predetermined event has occurred at the door based on the operation phase information acquired in the operation phase acquisition step and the detection information acquired in the sensor information acquisition step;
Automatic door diagnostic program that causes the computer to run