Automatic door devices, sensors, methods, and programs

Abstract

This technology provides an automatic door system that enables the diagnosis of protective sensors at the appropriate time depending on their application. [Solution] The automatic door device 10 includes a start sensor, a close protection sensor, a diagnostic unit 24 that diagnoses the state of the close protection sensor, and a control unit 26 that performs start control based on the diagnostic result of the close protection sensor and the detection result of the start sensor, and performs close protection control based on the fact that the close protection sensor has entered a detection state while the door is being driven to close. The diagnostic unit 24 starts diagnosing the close protection sensor when the start sensor has entered a non-detection state while the door is in the fully open position and a predetermined time has elapsed without the start sensor entering a detection state. The control unit 26 starts the door closing drive in the start control when the diagnosis is completed.

Description

Technical Field

[0001] The present invention relates to the technology of automatic door devices.

Background Art

[0002] Conventionally, various technological developments have been made to enhance the safety of automatic door devices. For example, in Patent Document 1, before starting the drive of a door, a self-diagnosis is requested from a protection sensor, and if the result of the self-diagnosis received from the protection sensor is normal, the drive of the door is started, and if there is an abnormality, the drive of the door is stopped.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] It is required to diagnose the protection sensor at an appropriate timing according to the use of the protection sensor.

[0005] An object of the present invention is to provide a technology that enables diagnosing a protection sensor at an appropriate timing according to the use of the protection sensor.

[0006] An automatic door device according to one aspect of the present invention includes: an activation sensor that detects a person or object in an activation detection area provided near an opening; a closed protection sensor that detects a person or object in a closed protection detection area provided near the door edge of a door provided in the opening; a diagnostic unit that diagnoses the state of the closed protection sensor; an activation control unit that executes activation control to drive the door to open and close the opening based on the diagnostic result of the closed protection sensor and the detection result of the activation sensor, and an activation control unit that executes closed protection control to restrict the closing drive of the door based on the fact that the closed protection sensor has entered a detection state while the door is being driven to close; the diagnostic unit starts the diagnosis of the closed protection sensor when the activation sensor has entered a non-detection state while the door is in the fully open position and a predetermined time has elapsed without the activation sensor entering a detection state; and the control unit starts the closing drive of the door in the activation control when the diagnosis is completed.

[0007] Another aspect of the present invention provides an automatic door device comprising: an activation sensor for detecting a person or object in an activation detection area provided near an opening; an open protection sensor for detecting a person or object in an open protection detection area provided near the end of a door in the opening; a diagnostic unit for diagnosing the state of the open protection sensor; an activation control unit that executes activation control to drive the door to open and close the opening based on the diagnostic result of the open protection sensor and the detection result of the activation sensor, and an open protection control unit that executes open protection control to restrict the opening drive of the door based on the detection state of the open protection sensor during the opening drive of the door, wherein the diagnostic unit starts the diagnosis of the open protection sensor when the door, which is being driven to close, reaches the fully closed position during the activation control.

[0008] An automatic door device according to yet another aspect of the present invention includes: an activation sensor for detecting a person or object in an activation detection area provided near an opening; a closed protection sensor for detecting a person or object in a closed protection detection area provided near the leading edge of a door in the opening; an open protection sensor for detecting a person or object in an open protection detection area provided near the trailing edge of a door in the opening; a diagnostic unit for diagnosing the state of the closed protection sensor and the open protection sensor; and an activation control unit for driving the door to open and close the opening based on the diagnostic result of the closed protection sensor, the diagnostic result of the open protection sensor, and the detection result of the activation sensor. The diagnostic unit includes a control unit which performs a closed protection control to restrict the closing drive of the door based on the closed protection sensor becoming detected during the closing drive of the door, and an open protection control to restrict the opening drive of the door based on the open protection sensor becoming detected during the opening drive of the door, wherein the diagnostic unit completes the diagnosis of the closed protection sensor between the time the activation sensor becomes detected and before the closing drive of the door starts in the activation control, and starts the diagnosis of the open protection sensor after the door, which is being closed during the activation control, reaches the fully closed position.

[0009] A closed protection sensor according to yet another aspect of the present invention is included in an automatic door device comprising: an activation sensor for detecting a person or object in an activation detection area provided near an opening; a closed protection sensor for detecting a person or object in a closed protection detection area provided near the leading edge of a door in the opening; a diagnostic unit for diagnosing the state of the closed protection sensor; and a control unit that performs activation control to drive the door to open and close the opening based on the diagnostic result of the closed protection sensor and the detection result of the activation sensor, and performs closed protection control to restrict the closing drive of the door based on the fact that the closed protection sensor has entered a detection state during the closing drive of the door. The closed protection sensor includes a diagnostic unit, an information acquisition unit that acquires detection information indicating the detection result of the activation sensor and the position information of the door, and a transmission unit that transmits the detection result of the closed protection sensor and the diagnostic result of the diagnostic unit, wherein the diagnostic unit determines, based on the detection information and the position information, that a predetermined time has elapsed since the activation sensor became non-detective when the door is in the fully open position and the activation sensor has not become detective, and the control unit starts the closing drive of the door in the activation control when the diagnosis is completed.

[0010] An open protection sensor according to yet another aspect of the present invention is an open protection sensor included in an automatic door device comprising: an activation sensor that detects a person or object in an activation detection area provided near an opening; an open protection sensor that detects a person or object in an open protection detection area provided near the end of a door in the opening; a diagnostic unit that diagnoses the state of the open protection sensor; and a control unit that performs activation control to drive the door to open and close the opening based on the diagnostic result of the open protection sensor and the detection result of the activation sensor, and performs open protection control to restrict the door from opening based on the fact that the open protection sensor has entered a detection state while the door is being driven to open, the open protection sensor further comprises the diagnostic unit, an information acquisition unit that acquires position information of the door, and a transmission unit that transmits the detection result of the open protection sensor and the diagnostic result of the diagnostic unit, wherein the diagnostic unit starts the diagnosis of the open protection sensor when it determines, based on the position information, that the door being driven to close in the activation control has reached the fully closed position.

[0011] A sensor device according to yet another aspect of the present invention includes: an activation sensor for detecting a person or object in an activation detection area provided near an opening; a closed protection sensor for detecting a person or object in a closed protection detection area provided near the leading edge of a door in the opening; an open protection sensor for detecting a person or object in an open protection detection area provided near the trailing edge of a door in the opening; a diagnostic unit for diagnosing the state of the closed protection sensor and the open protection sensor; an activation control that drives the door to open and close the opening based on the diagnostic result of the closed protection sensor, the diagnostic result of the open protection sensor and the detection result of the activation sensor; a closed protection control that restricts the closing drive of the door based on the closed protection sensor becoming a detection state during the closing drive of the door; and an open protection control that restricts the closing drive of the door based on the open protection sensor becoming a detection state during the opening drive of the door. A sensor device included in an automatic door system, comprising: a control unit that performs open protection control to limit the opening drive of a door, wherein the sensor device includes: a close protection sensor; an open protection sensor; a diagnostic unit; an information acquisition unit that acquires detection information indicating the detection result of the activation sensor and the position information of the door; and a transmission unit that transmits the detection result of the close protection sensor, the detection result of the open protection sensor, and the diagnostic result of the diagnostic unit, wherein the diagnostic unit completes the diagnosis of the close protection sensor between the time the activation sensor enters a detection state based on the detection information and the position information and before the closing drive of the door starts in the activation control, and starts the diagnosis of the open protection sensor after determining, based on the position information, that the door being closed in the activation control has reached the fully closed position.

[0012] A method according to yet another aspect of the present invention is a method used in an automatic door device comprising: an activation sensor for detecting a person or object in an activation detection area provided near an opening; and a closed protection sensor for detecting a person or object in a closed protection detection area provided near the door edge of a door provided in the opening, the method comprising: diagnosing the state of the closed protection sensor; executing activation control to drive the door to open and close the opening based on the diagnosis result of the closed protection sensor and the detection result of the activation sensor; and executing closed protection control to restrict the closing drive of the door based on the fact that the closed protection sensor has entered a detection state during the closing drive of the door, wherein the diagnosis of the closed protection sensor is started when the activation sensor has entered a non-detection state while the door is in the fully open position and a predetermined time has elapsed without the activation sensor entering a detection state, and the execution of the activation control is started when the closing drive of the door in the activation control is completed.

[0013] A method according to yet another aspect of the present invention is a method used in an automatic door device comprising: an activation sensor for detecting a person or object in an activation detection area provided near an opening; and an open protection sensor for detecting a person or object in an open protection detection area provided near the end of a door in the opening, the method comprising: diagnosing the state of the open protection sensor; executing activation control to drive the door to open and close the opening based on the diagnosis result of the open protection sensor and the detection result of the activation sensor; and executing open protection control to restrict the opening drive of the door based on the fact that the open protection sensor has entered a detection state while the door is being driven to open, wherein the diagnosis of the open protection sensor is initiated in the activation control when the door, which is being driven to close, reaches the fully closed position.

[0014] A method according to yet another aspect of the present invention is a method used in an automatic door device comprising: an activation sensor for detecting a person or object in an activation detection area provided near an opening; a closed protection sensor for detecting a person or object in a closed protection detection area provided near the leading edge of a door in the opening; and an open protection sensor for detecting a person or object in an open protection detection area provided near the trailing edge of a door in the opening, the method comprising: diagnosing the state of the closed protection sensor and the open protection sensor; and driving the door to open and close the opening based on the diagnosis result of the closed protection sensor, the diagnosis result of the open protection sensor, and the detection result of the activation sensor. The system includes performing startup control, performing closed protection control to restrict the closing drive of the door based on the closed protection sensor becoming detected during the closing drive of the door, and performing open protection control to restrict the opening drive of the door based on the open protection sensor becoming detected during the opening drive of the door, wherein the diagnosis is completed between the time the startup sensor becomes detected and before the closing drive of the door starts in the startup control, and the diagnosis of the open protection sensor is started after the door, which is being closed during the startup control, reaches the fully closed position.

[0015] A program according to yet another aspect of the present invention is a program for an automatic door device comprising: an activation sensor for detecting a person or object in an activation detection area provided near an opening; and a closed protection sensor for detecting a person or object in a closed protection detection area provided near the door edge of a door provided in the opening, wherein the program causes a computer to diagnose the state of the closed protection sensor; execute activation control to drive the door to open and close the opening based on the diagnosis result of the closed protection sensor and the detection result of the activation sensor; and execute closed protection control to restrict the closing drive of the door based on the fact that the closed protection sensor has entered a detection state during the closing drive of the door, wherein the diagnosis of the closed protection sensor is started when the activation sensor has entered a non-detection state while the door is in the fully open position and a predetermined time has elapsed without the activation sensor entering a detection state, and the execution of the activation control is started when the closing drive of the door in the activation control is completed.

[0016] A program according to yet another aspect of the present invention is a program for an automatic door device comprising: an activation sensor for detecting a person or object in an activation detection area provided near an opening; and an open protection sensor for detecting a person or object in an open protection detection area provided near the end of a door in the opening, wherein the program causes a computer to diagnose the state of the open protection sensor; execute activation control to drive the door to open and close the opening based on the diagnosis result of the open protection sensor and the detection result of the activation sensor; and execute open protection control to restrict the opening drive of the door based on the fact that the open protection sensor has entered a detection state while the door is being driven to open, wherein the diagnosis of the open protection sensor is initiated in the activation control when the door, which is being driven to close, reaches the fully closed position.

[0017] A program according to yet another aspect of the present invention is a program for an automatic door device comprising: an activation sensor for detecting a person or object in an activation detection area provided near an opening; a closed protection sensor for detecting a person or object in a closed protection detection area provided near the leading edge of a door in the opening; and an open protection sensor for detecting a person or object in an open protection detection area provided near the trailing edge of a door in the opening, wherein the program instructs a computer to diagnose the state of the closed protection sensor and the open protection sensor, and to open and close the door in the opening based on the diagnosis result of the closed protection sensor, the diagnosis result of the open protection sensor, and the detection result of the activation sensor. The system performs the following actions: executes a start control to drive the door; executes a close protection control to restrict the closing drive of the door based on the close protection sensor detecting a state during the closing drive of the door; and executes an open protection control to restrict the opening drive of the door based on the open protection sensor detecting a state during the opening drive of the door. The diagnosis of the close protection sensor is completed between the time the start sensor detects a state and before the closing drive of the door begins in the start control, and the diagnosis of the open protection sensor is started after the door, which is being closed during the start control, reaches the fully closed position. [Brief explanation of the drawing]

[0018] [Figure 1] It is a perspective view of an automatic door device. [Figure 2] It is a block diagram showing a schematic configuration of an automatic door device. [Figure 3] It is a flowchart of the sensor diagnosis process by the diagnosis unit of the automatic door device. [Figure 4] It is a timing chart of the sensor diagnosis process by the diagnosis unit of the automatic door device. [Figure 5] It is a diagram showing an example of a person passing through the automatic door device. [Figure 6] It is a block diagram showing a schematic configuration of an automatic door device according to a first modification. [Figure 7] It is a timing chart of the sensor diagnosis process by the diagnosis unit of the automatic door device.

Mode for Carrying Out the Invention

[0019] Hereinafter, embodiments of the present invention will be described. FIG. 1 is a perspective view of an automatic door device. As shown in FIG. 1, the automatic door device 10 includes two sliding doors 12. Each sliding door 12 moves toward the opposite side in the width direction of the automatic door device 10 to open, whereby pedestrians or objects can pass through the automatic door device 10. Fixed portions 14 are provided on both sides in the width direction of the sliding door 12. The fixed portion 14 is fixed to the housing on which the automatic door device 10 is installed. When the sliding door 12 is in the fully open position, the sliding door 12 and the fixed portion 14 face each other, and the space in front of the fixed portion 14 constitutes a housing portion for accommodating the sliding door 12 in the fully open position. Note that a guard screen may be provided so as to face the fixed portion 14. The sliding door 12 of the present embodiment is an example of a door.

[0020] I The automatic door device 10 includes a blind 16 that houses a driving unit of the sliding door 12 to be described later. The blind 16 is disposed above the sliding door 12 and the fixed portion 14 so as to extend from the end of one fixed portion 14 to the end of the other fixed portion 14 in the width direction of the automatic door device 10.

[0021] The automatic door device 10 includes a main sensor 18, an auxiliary sensor 20, and an opening protection sensor 22. When the main sensor 18, the auxiliary sensor 20, and the opening protection sensor 22 each detect a person or an object within a predetermined area near the sliding door 12, they enter a detection state and output a detection signal. The main sensor 18 has a predetermined detection area A1 on the path when a person or an object approaches the sliding door 12. The main sensor 18 incorporates a plurality of optical sensors (not shown). The area obtained by integrating the irradiation areas of each optical sensor of the main sensor 18 becomes the detection area A1 provided near the opening formed when the sliding door 12 is opened. The main sensor 18 of the present embodiment incorporates an infrared sensor and an image sensor. When a person or an object enters the detection area A1, the main sensor 18 detects this and outputs a detection signal. The main sensor 18 of the present embodiment is an example of an activation sensor. The detection area A1 of the present embodiment is an example of an activation detection area. Note that the detection state may include not only the case where the sensor detects a person or an object but also the case where the sensor detects a predetermined movement line of a person or an object toward the opening.

[0022] In addition, the main sensor 18 is also used to detect whether there is a person or an object within the detection area A4 provided near the leading end of the sliding door 12 when closing the sliding door 12, which is included in the detection area A1. That is, the main sensor 18 also functions as a closing protection sensor.

[0023] The auxiliary sensor 20 is a photoelectric sensor having a detection area A2 provided near the leading end of the sliding door 12 so as to cross the opening. The auxiliary sensor 20 is provided on the vertical stile facing the opening of the fixing portion 14. The detection result of the auxiliary sensor 20 is used to detect that there is no person or object within the detection area A2 before closing the sliding door 12 or during the closing process. When a person or an object is detected within the detection area A2 while the sliding door 12 is being driven to close, for example, the automatic door device 10 drives the sliding door 12 in a reverse drive to drive the sliding door 12 to the fully open state. The auxiliary sensor 20 of the present embodiment functions as a closing protection sensor. The main sensor 18 and the auxiliary sensor 20 of the present embodiment constitute a closing protection sensor. The detection areas A2 and A4 of the present embodiment constitute a closing protection detection area.

[0024] The open protection sensor 22 has a detection area A3 provided in the housing portion of the sliding door 12 or near the door edge. The open protection sensor 22 is provided on the bottom surface of the transom 16 such that the housing portion becomes the detection area A3. The detection result of the open protection sensor 22 is used to detect whether there is a person or object in the detection area A3 when the sliding door 12 is opened. If a person or object is detected in the detection area A3 while the sliding door 12 is being driven to open, the automatic door device 10, for example, will either drive the sliding door 12 in reverse to drive it toward the fully closed position or stop driving the sliding door 12. The detection area A3 in this embodiment is an example of an open protection detection area.

[0025] Figure 2 is a block diagram illustrating the schematic configuration of the automatic door device 10. As shown in Figure 2, in addition to the configuration described above, the automatic door device 10 includes a diagnostic unit 24, a control unit 26, a drive unit 28, a storage unit 30, and an output unit 32. The main sensor 18, auxiliary sensor 20, open protection sensor 22, storage unit 30, and output unit 32, enclosed by a dashed line in Figure 2, constitute the sensor device 40 (hereinafter, the main sensor 18, auxiliary sensor 20, and open protection sensor 22 may be collectively referred to simply as "sensors"). Each functional block, represented by the diagnostic unit 24, control unit 26, storage unit 30, and output unit 32, can be realized as hardware using computer processors, CPUs, memory, and other elements, electronic circuits, and mechanical devices, and as software using computer programs, etc. However, here, the functional blocks are depicted as being realized through the cooperation of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various forms through combinations of hardware and software.

[0026] The control unit 26 controls the drive unit 28 to open or close the sliding door 12. The control unit 26 receives detection signals from the sensors and controls the drive unit 28 based on the received detection signals. Based on the diagnostic results of the diagnostic unit 24 (described later) and the detection results of the main sensor 18 in the detection area A1, the control unit 26 performs startup control to drive the sliding door 12 to open or close the opening. For example, the control unit 26 starts driving the sliding door 12 to open when the diagnostic results of the diagnostic unit 24 are normal and the main sensor 18 is in a detection state in the detection area A1. In this case, the control unit 26 may refer to the detection results of the open protection sensor 22. When referring to the detection results of the open protection sensor 22, the control unit 26 does not start driving the sliding door 12 to open if a person or object is detected in the detection area A3. Furthermore, when the sliding door 12 is fully open, the diagnostic result of the diagnostic unit 24 is normal, and the main sensor 18 is in a non-detection state in detection area A1 which includes detection area A4, the control unit 26 drives the sliding door 12 to close. At this time, the control unit 26 may refer to the detection result of the auxiliary sensor 20. When referring to the detection result of the auxiliary sensor 20, if a person or object is detected in detection area A2, the control unit 26 does not start driving the sliding door 12 to close.

[0027] The diagnostic unit 24 diagnoses the state of the sensors. The diagnostic unit 24 does not have to be configured to diagnose the state of all sensors; for example, it may diagnose the state of only the main sensor 18, or only the closed protection sensor, or only the open protection sensor, or it may diagnose the state of both the open protection sensor and the closed protection sensor. When the diagnostic unit 24 diagnoses the state of a sensor, it means that it diagnoses at least one of the following: whether the sensor is activated, whether the sensor is connected to a control system including the control unit 26 in a communicative manner, or whether the sensor is able to perform accurate calculation processing. For example, the diagnostic unit 24 requests the sensor to perform a predetermined information processing and diagnoses whether the sensor is normal based on the processing result on the sensor side. Specifically, the diagnostic unit 24 sends a test signal to the sensor that includes predetermined problem information and a request for an answer to that problem, and diagnoses the state of the sensor based on the test response that includes the answer to the problem returned from the sensor. Problem information refers to information from which an answer can be derived according to rules such as calculations. The calculation can be anything as long as the sensor does not have the correct answer (i.e., it is unknown to the sensor), and only the diagnostic unit 24 has the correct answer. The diagnostic unit 24 either has the answer to the calculation sent to the sensor in advance, or it performs the calculation itself each time it sends an calculation to the sensor. Therefore, the diagnostic unit 24 has the correct answer to the calculation sent to the sensor. To reduce the load on the calculation processing, for example, a two-term arithmetic operation can be used as the calculation. The information related to the calculation may be the mathematical formula itself. Alternatively, a database that associates multiple types of mathematical formulas with formula numbers may be prepared in advance, the database may be stored in the sensor and the diagnostic unit 24, and the diagnostic unit 24 may send the formula number to the sensor as information related to the calculation. If the diagnostic unit 24 is connected to multiple sensors, the diagnostic unit 24 may send a different mathematical formula to each sensor. The mathematical formula that the diagnostic unit 24 sends to the sensor may include variables. In this case, the sensor assigns a numerical value unique to the sensor, such as the sensor's identification number or equipment number, to the variable and returns the calculation result to the diagnostic unit 24. The diagnostic unit 24 may diagnose the state of the sensor using other known techniques.

[0028] As described later, the diagnostic unit 24 starts diagnosing the state of the closed protection sensor when the main sensor 18 is in a non-detection state while the sliding door 12 is in the fully open position, and a predetermined time has elapsed without the main sensor 18 detecting anything. The diagnostic unit 24 also starts diagnosing the state of the open protection sensor when the sliding door 12, which has been driven to close by the control unit 26 as described later, reaches the fully closed position.

[0029] The diagnostic unit 24 compares the response from the sensor with the correct answer it holds. If the response and the correct answer are the same, the diagnostic unit 24 diagnoses that the sensor is normal. On the other hand, if the response and the correct answer are different, the diagnostic unit 24 diagnoses that there is a problem with the sensor. If the calculation result from the sensor in response to the calculation processing request from the diagnostic unit 24 is incorrect, it can be inferred that there is some kind of problem with the calculation processing unit of the sensor. In such cases, it can be inferred that there is also some kind of problem with the detection processing of the sensor, and therefore the diagnostic unit 24 determines that the sensor is unable to perform calculations properly and diagnoses that there is a problem with the sensor. Also, if there is no response from the sensor after a certain period of time has elapsed in response to the calculation processing request from the diagnostic unit 24, it is possible that the sensor has not started up properly or is not connected to the diagnostic unit 24 in a way that allows communication. In such cases, it can be inferred that the detection result from the sensor has not been properly communicated to the control unit 26, and therefore the diagnostic unit 24 diagnoses that there is a problem with the sensor. The diagnostic unit 24 transmits the diagnostic results to the control unit 26, the storage unit 30, and the output unit 32.

[0030] The diagnostic unit 24 may allow the sensor to perform a self-diagnosis. Self-diagnosis refers to the sensor diagnosing whether or not there is an abnormality in its own function. The diagnostic unit 24 causes the sensor to perform a self-diagnosis and receives the results. In response to instructions from the diagnostic unit 24, the sensor diagnoses whether the sensor's detection function is normal, whether there is any degradation in the sensor's performance, and whether there is any environmental noise in the detection area (foreign objects in the detection area, lens dirt, etc.). The diagnostic unit 24 transmits a test signal to the sensor that includes an instruction for self-diagnosis, predetermined problem information, and a request for an answer to that problem. The sensor performs calculations for the self-diagnosis and the answer request in parallel and transmits a test response to the diagnostic unit 24 that includes the result of the self-diagnosis and the calculation result which is the answer to the problem. The diagnostic unit 24 may transmit an instruction for self-diagnosis to the sensor after receiving the calculation result for the answer request from the sensor. The diagnostic unit 24 diagnoses whether or not an abnormality has occurred in the sensor by taking into account the result of the sensor's self-diagnosis and the calculation result for the answer request. The reliability of the diagnostic result can be improved by taking into account the result of the sensor's self-diagnosis. Hereinafter, "performing at least one of the following actions—diagnosing the sensor's status and allowing the sensor to self-diagnose its status" will be referred to as "performing a sensor status diagnostic process."

[0031] If the diagnostic result transmitted from the diagnostic unit 24 is abnormal, the control unit 26 performs a predetermined protective operation. For example, based on the diagnostic result transmitted from the diagnostic unit 24, the control unit 26 changes the control parameters for opening or closing the sliding door 12. The control parameters for the sliding door 12 refer to parameters or combinations of parameters related to the driving of the sliding door 12 that can be controlled by the control unit 26, including the driving speed and driving direction of the sliding door 12. For example, if the diagnostic result from the diagnostic unit 24 indicates that an abnormality has occurred in the sensor, the control unit 26 changes the control parameters and performs a low-speed operation to drive the sliding door 12 at a lower speed than normal by reducing the driving speed of the sliding door 12 according to the changed control parameters. The control unit 26 may also simultaneously change multiple parameters to open the sliding door 12 to a fully open state at a low speed and then maintain the sliding door 12 in a fully open state. In this way, by maintaining the sliding door 12 in a fully open state when an abnormality has been diagnosed in the sensor, it is possible to prevent people or objects from being prevented from passing through the automatic door device 10. In this case, notification may be given that the sliding door 12 is fully open. Also, once the abnormality in the sensor is resolved, that is, once the diagnostic unit 24 determines that there is no abnormality in the sensor, the control unit 26 may change the control parameters of the sliding door 12 and return to normal startup control.

[0032] The drive unit 28 is controlled by the control unit 26 to open or close the sliding door 12. In this embodiment, the drive unit 28 includes, for example, a brushless motor having an encoder 28a.

[0033] The memory unit 30 stores the diagnostic results of the diagnostic unit 24 and the open / closed state of the sliding door 12, which will be described later. The output unit 32 outputs the diagnostic results of the diagnostic unit 24. For example, the output unit 32 may display the diagnostic results of the diagnostic unit 24 via a display or the like, output audio via a speaker or the like, or output the state of light emission such as on / off, blinking, or changing blinking of an LED or the like. By outputting the diagnostic results, the status of the automatic door device 10 can be communicated to the administrator.

[0034] Figure 3 is a flowchart of the sensor diagnostic process S100 performed by the diagnostic unit 24.

[0035] In step S101, the diagnostic unit 24 acquires information indicating the open / closed state of the sliding door 12. The open / closed state of the sliding door 12 in this embodiment includes the open state, fully open state, closed state, fully closed state, and partially stopped state. The open state is when the sliding door 12 is being driven in the opening direction, the fully open state is when the sliding door 12 is in the fully open position, the closed state is when the sliding door 12 is being driven in the closing direction, the fully closed state is when the sliding door 12 is in the fully closed position, and the partially stopped state is when the sliding door 12 is stopped at a position between the fully closed position and the fully open position because the conditions for stopping the sliding door 12 have been met while it is being driven. For example, the control unit 26 can determine the open / closed state of the sliding door 12 based on the output of the encoder 28a of the drive unit 28 and output the result to the diagnostic unit 24. Alternatively, the diagnostic unit 24 may determine the open / closed state of the sliding door 12 by acquiring the output information of the encoder 28a from the control unit 26.

[0036] In step S102, the diagnostic unit 24 determines whether the open / closed state of the sliding door 12 has changed, based on the information indicating the open / closed state of the sliding door 12 in step S101. For example, the diagnostic unit 24 determines that the open / closed state of the sliding door 12 has changed if the open / closed state of the sliding door 12 stored in step S101 of the current diagnostic process S100 is different from the open / closed state of the sliding door 12 stored in step S101 executed one step prior to the current diagnostic process S100. If the open / closed state of the sliding door 12 has changed (Y in step S102), the diagnostic process S100 proceeds to step S103. If the open / closed state of the sliding door 12 has not changed (N in step S102), the diagnostic process S100 ends.

[0037] In step S103, the diagnostic unit 24 determines whether the sliding door 12 has switched to the fully closed state. If the sliding door 12 has switched to the fully closed state (Y in step S103), the diagnostic process S100 proceeds to step S104. If the sliding door 12 has not switched to the fully closed state (N in step S103), the diagnostic process S100 proceeds to step 105.

[0038] In step S104, the diagnostic unit 24 performs a diagnostic process to determine the state of the open protection sensor 22. After that, the diagnostic process S100 is completed.

[0039] In step S105, the diagnostic unit 24 determines whether the sliding door 12 has switched to the fully open state. If the sliding door 12 has switched to the fully open state (Y in step S105), the diagnostic process S100 proceeds to step S106. If the sliding door 12 has not switched to the fully open state (N in step S105), the diagnostic process S100 proceeds to step S108.

[0040] In step S106, the diagnostic unit 24 determines whether the state in which the main sensor 18 is in a non-detection state in the detection area A1 and the closed protection sensor is in a non-detection state has continued for a predetermined time. If it has continued for the predetermined time (Y in step S106), the diagnostic process S100 proceeds to step S107. If it has not continued for the predetermined time (N in step S106), the diagnostic process S100 repeats S106.

[0041] In step S107, the diagnostic unit 24 performs a diagnostic process to check the state of the closed protection sensor. In this embodiment, the closed protection sensor is the main sensor and the auxiliary sensor. After step S107, the diagnostic process S100 is completed.

[0042] In step S108, the diagnostic unit 24 determines whether the sliding door 12 has switched to an intermediate stop state. If the sliding door 12 has switched to an intermediate stop state (Y in step S108), the diagnostic process S100 proceeds to step S104. If the sliding door 12 has not switched to an intermediate stop state (N in step S108), the diagnostic process S100 returns to S101.

[0043] Figure 4 is a timing chart of the sensor diagnostic processing by the diagnostic unit 24. In the example in Figure 4, it is assumed that the sliding door 12 is in the fully closed position at time t0. In the "Driving State" of Figure 4, "Driving" indicates that the sliding door 12 is in the open or closed state, "Fully Open Stopped" indicates that the sliding door 12 is in the fully open state, and "Fully Closed Stopped" indicates that the sliding door 12 is in the fully closed state.

[0044] At time t1, when the main sensor 18 detects in detection area A1, the control unit 26 controls the sliding door 12 to go from the open state to the fully open state. At time t2, after the sliding door 12 is in the fully open position, at time t3, the main sensor 18 detects in detection area A4. At time t4, the main sensor 18 does not detect in detection area A1 and the auxiliary sensor 20 does not detect. After a certain period of time has passed, at time t5, the diagnostic unit 24 starts the test signal generation process. At time t6, when the test signal generation process is completed, the diagnostic unit 24 outputs a test signal to at least the closed protection sensor. At time t7, the closed protection sensor starts the test response generation process in response to the test signal. At time t8, when the test response generation process is completed, the closed protection sensor outputs a test response to the diagnostic unit 24. If there is no abnormality in the closed protection sensor, the control unit 26 controls the sliding door 12 to go from the closed state to the fully closed state. When the sliding door 12 is fully closed at time t9, the diagnostic unit 24 starts generating a test signal. When the test signal generation process is completed at time t10, the diagnostic unit 24 outputs a test signal to at least the open protection sensor. At time t11, the open protection sensor 22 starts generating a test response in response to the test signal. When the test response generation process is completed at time t12, the open protection sensor outputs a test response to the diagnostic unit 24. If there is no abnormality in the open protection sensor, the control unit 26 continues the startup control. When the main sensor 18 detects again in the detection area A1 at time t13, the control unit 26 controls the sliding door 12 so that it goes from the open state to the fully open state.

[0045] If there is an abnormality in a sensor functioning as an open protection sensor or a closed protection sensor, the control unit 26 will perform a protection operation not shown in Figure 4. For example, if the closed protection sensor is diagnosed as abnormal by a test response output from the closed protection sensor to the diagnostic unit 24 at time t8, the control unit 26 will not control the sliding door 12 to a fully closed state, but will maintain it in a fully open state. Also, if the open protection sensor is diagnosed as abnormal by a test response output from the open protection sensor to the diagnostic unit 24 at time t12, the control unit 26 will not control the sliding door 12 to a fully open state even if the main sensor 18 detects a state in the detection area A1, but will maintain it in a fully closed state. Alternatively, regardless of the detection state of the main sensor 18, the sliding door 12 will be driven to a fully open state at a low speed and will maintain it in a fully open state.

[0046] Figure 5 shows an example of a person passing through the automatic door device 10 from time t0 to time t4. In Figure 5, at time t0, the person is outside the detection area A1, at time t1 the person enters the detection area A1, at time t3 the person enters the detection area A4, and at time t4 the person exits from detection areas A1, A2, and A4. Note that the automatic door device 10 also has a main sensor 18 on the exit side of the sliding door 12, but it is omitted from the illustration here.

[0047] At time t1, in response to the main sensor 18 detecting in detection area A1, the control unit 26 starts driving the sliding door 12 to open. At time t2, the sliding door 12 is fully open, and at time t3, the sensor detects in detection area A2 or A4. Subsequently, at time t4, the sensor becomes non-detective in detection areas A1, A2, and A4. In response to the main sensor 18 changing to a non-detective state while the sliding door 12 is in the fully open position, the diagnostic unit 24 starts counting the timer. After starting counting, if the sensor detects in any of the detection areas within a predetermined time, the diagnostic unit 24 resets the timer.

[0048] At time t5, a predetermined time has elapsed from time t4, the diagnostic unit 24 starts the process of generating a test signal for the closed protection sensor. At time t6, once the test signal generation process is complete, the diagnostic unit 24 outputs a test signal to the closed protection sensor. At time t7, the closed protection sensor starts the process of generating a test response in response to the test signal. At time t8, the closed protection sensor outputs a test response to the diagnostic unit 24. If there is no abnormality in the closed protection sensor, the control unit 26 starts the closing drive of the sliding door 12. At time t9, in response to the sliding door 12 being fully closed, the diagnostic unit 24 starts the process of generating a test signal for the open protection sensor. At time t10, once the test signal generation process is complete, the diagnostic unit 24 outputs a test signal to the open protection sensor. At time t11, the open protection sensor starts the process of generating a test response in response to the test signal. At time t12, the open protection sensor 22 outputs a test response to the diagnostic unit 24. If there is no abnormality in the open protection sensor, the automatic door device 10 will remain in standby mode until a person enters the detection area A1.

[0049] The present invention is not limited to the embodiments described above, and each configuration of the embodiments can be modified as appropriate without departing from the spirit of the invention. Modifications are described below.

[0050] First variation Figure 6 is a block diagram illustrating the schematic configuration of the automatic door device 10 according to the first modified example. As shown in Figure 6, the main sensor 18, auxiliary sensor 20, and open protection sensor 22 each include a diagnostic unit 24, an information acquisition unit 34, and a transmission unit 36. The information acquisition unit 34 acquires detection information indicating the detection result of the main sensor 18 in the detection area A1, and position information of the sliding door 12. The information acquisition unit 34 provided on the main sensor 18 acquires the detection result of the main sensor 18 as detection information. The information acquisition units 34 provided on the auxiliary sensor 20 and the open protection sensor 22 each receive the detection result from the main sensor 18 and acquire the received detection result as detection information. The information acquisition unit 34 acquires the output of the encoder 28a as position information of the sliding door 12. The diagnostic unit 24 for the main sensor 18 and the auxiliary sensor 20 starts diagnosing the main sensor 18 and the auxiliary sensor 20 as closed protection sensors when it determines, based on detection information and position information, that a predetermined time has elapsed since each sensor became non-detecting in its detection area while the sliding door 12 is in the fully open position. The diagnostic unit 24 for the open protection sensor 22 starts diagnosing the open protection sensor 22 when it determines, based on position information, that the sliding door 12, which is being driven to close during startup control, has reached the fully closed position. For example, the diagnostic unit 24 may determine whether startup control is in progress based on the detection result for the detection area A1 of the main sensor 18 and the position information of the sliding door 12, or it may determine whether startup control is in progress based on the mode information obtained from the control unit 26 and the position information of the sliding door 12. The transmission unit 36 ​​transmits the sensor detection results and the diagnostic results of the diagnostic unit 24 to the control unit 26, the storage unit 30, the output unit 32, etc. For example, a transmitter 36 provided on the main sensor 18 transmits the detection result of the main sensor 18 and the diagnostic result of the diagnostic unit 24 provided on the main sensor 18. For example, a transmitter 36 provided on the auxiliary sensor 20 transmits the detection result of the auxiliary sensor 20 and the diagnostic result of the diagnostic unit 24 provided on the auxiliary sensor 20. For example, a transmitter 36 provided on the open protection sensor 22 transmits the detection result of the open protection sensor 22 and the diagnostic result of the diagnostic unit 24 provided on the open protection sensor 22.In this modified example, the main sensor 18 and the auxiliary sensor 20 are each provided with a diagnostic unit 24 and an information acquisition unit 34, respectively. However, the invention is not limited to this, and the main sensor 18 and the auxiliary sensor 20, which function as closed-type protective sensors, may share a single diagnostic unit 24 and an information acquisition unit 34.

[0051] Second variation Figure 7 is a timing chart of the sensor diagnostic processing by the diagnostic unit 24 of the automatic door device 10 according to the second modified example. When the power of the automatic door device 10 is turned on, the control unit 26 starts in power-on mode and does not perform startup control. In power-on mode, the control unit 26, for example, drives the sliding door 12 to open and obtains the position when it is fully open using the encoder 28a, and performs an operation to determine the fully open position of the sliding door 12. In this case, when the power of the automatic door device 10 is turned on at time t'0, the diagnostic unit 24 starts the test signal generation process at time t'1 in response to the control unit 26 being in power-on mode. When the test signal generation process is completed at time t'2, the diagnostic unit 24 outputs a test signal to at least the open protection sensor. At time t'3, the open protection sensor starts the test response generation process in response to the test signal. When the test response generation process is completed at time t'4, the open protection sensor outputs a test response to the diagnostic unit 24. If there is no abnormality in the open protection sensor, the control unit 26 controls the sliding door 12 to be in the open state regardless of the detection state of the main sensor 18. When the sliding door 12 is fully open at time t'5, the diagnostic unit 24 starts generating a test signal at time t'6, and when the test signal generation process is completed at time t'7, the diagnostic unit 24 outputs a test signal to at least the closed protection sensor. At time t'8, the closed protection sensor starts generating a test response in response to the test signal. When the test response generation process is completed at time t'9, the closed protection sensor outputs a test response to the diagnostic unit 24. If there is no abnormality in the closed protection sensor, the control unit 26 switches to the normal control mode in which it performs startup control. If there is an abnormality in the sensor functioning as the open protection sensor or the closed protection sensor, the control unit 26 does not switch to the normal control mode and performs a protection operation.

[0052] In this embodiment, a sliding door 12 is given as an example of a door, but it is not limited to this. For example, hinged doors, folding doors, or revolving doors may also be used as doors.

[0053] In this embodiment, the main sensor 18 serves both as an activation sensor and a closed-close protection sensor, but the system is not limited to this. For example, the main sensor 18 may be used as an activation sensor, and a separate closed-close protection sensor may be provided.

[0054] In this embodiment, a main sensor 18 and an auxiliary sensor 20 are provided together as a closed protection sensor, but the system is not limited to this. Only the main sensor 18, which also serves as a closed protection sensor, may be provided, or only the auxiliary sensor 20 may be provided as a closed protection sensor.

[0055] In this embodiment, an optical sensor is given as an example of a startup sensor, but the embodiment is not limited to this, and known sensors such as ultrasonic sensors may be used. Similarly, known sensors may be used for the open protection sensor, closed protection sensor, and auxiliary sensors.

[0056] In this embodiment, a detection state is entered when each sensor detects a person or object within a predetermined detection area near the sliding door 12, but this is not limited to this. For example, a detection state may be determined when a person or object is detected within each detection area and the direction of travel of the passerby within each detection area is toward the opening. By determining whether a detection state is entered by considering the direction of travel of the passerby within each detection area, the control unit 26 can more appropriately drive the opening and closing of the sliding door 12. In this case, for example, when the diagnostic unit 24 diagnoses the closed protection sensor, even if a person or object is detected in the detection area A1 of the main sensor 18, if the direction of travel is not toward the opening, the main sensor 18 can be considered as not detecting in detection area A1 and the closed protection sensor as not detecting, and the diagnosis of the closed protection sensor can be performed after a certain period of time, and if there is no abnormality, the sliding door 12 can be fully closed early. Therefore, there are advantages from the standpoint of security and energy saving.

[0057] In this embodiment, the open / closed state of the sliding door 12 is determined based on the output information of the encoder 28a. However, a limit switch that detects when the sliding door 12 is fully open or fully closed may be provided, and the open / closed state of the sliding door 12 may be determined based on the detection information of the limit switch. Alternatively, the open / closed state of the sliding door 12 may be determined by detecting the position of the sliding door 12 when the sliding door 12 has stopped and an overload has been detected in the drive unit 28.

[0058] In this embodiment, the sensor outputs a detection signal only when it is in a detection state, but it is not limited to this. It may also output a signal indicating no detection when it is not in a detection state.

[0059] In this embodiment, the diagnostic unit 24 first determined whether the sliding door 12 was in a fully closed state, but it is not limited to this.

[0060] In this embodiment, the diagnostic unit 24 performed a diagnostic process for the state of the open protection sensor when the sliding door 12 switched to an intermediate stop state, but it is not limited to this. If control is performed to transition the sliding door 12 back to the closed state after it has entered an intermediate stop state, the diagnostic process for the state of the closed protection sensor may also be performed.

[0061] The diagnostic unit 24 may complete the diagnosis of the closed protection sensor at any time between the time the main sensor 18 detects a location in the detection area A1 and the time before the closing drive of the sliding door 12 begins. This configuration prevents the sliding door 12 from being unable to be closed until the diagnosis of the closed protection sensor's state is complete.

[0062] The diagnostic unit 24 may start diagnosing the open protection sensor 22 immediately when the sliding door 12, which is being driven to close, reaches the fully closed position. This configuration prevents the sliding door 12 from being unable to be driven to open until the diagnosis of the state of the open protection sensor 22 is complete. Alternatively, the diagnostic unit 24 may start diagnosing the open protection sensor 22 at any timing after the sliding door 12 has reached the fully closed position. This configuration reduces the discrepancy between the timing of the diagnosis by the diagnostic unit 24 and the timing of the opening drive, making it easier to perform the opening drive after confirming that the open protection sensor 22 is functioning normally. Furthermore, assuming that the diagnostic unit 24 determines a detection state when the direction of movement of an object detected within the detection area is toward the opening, the diagnostic unit 24 may start diagnosing the open protection sensor 22 when the main sensor 18 has detected a person or object in the detection area A1 but the direction of movement is not toward the opening (i.e., the sliding door 12 is in the fully closed state). This configuration also reduces the discrepancy between the timing of the diagnosis by the diagnostic unit 24 and the timing of the opening drive.

[0063] In the second modification, when the control unit 26 is started in power-up mode, it drives the sliding door 12 to open and determines the fully open position of the sliding door 12. However, it may also be driven to close the sliding door 12 and determine the fully closed position of the sliding door 12, or it may be driven to open the sliding door 12 and then to close it to determine the fully open and fully closed positions of the sliding door 12. The driving direction in power-up mode is predetermined by the installer or maintainer of the automatic door device 10 and is stored in a non-volatile memory (not shown) provided in the control unit 26. When the control unit 26 is started in power-up mode, it drives the sliding door 12 to open or close based on the information in this non-volatile memory.

[0064] This embodiment and its second modification are not limited to being executed when the automatic door device 10 is operating in normal control mode or when the control unit 26 is started in power-up mode, but may also be executed during construction, maintenance, or when the automatic door device 10 is operating in abnormal control mode, which is entered when an abnormality occurs in the automatic door device 10 during normal control mode.

[0065] Generalizing the above-described embodiments and modifications, the automatic door device 10 of this embodiment includes: an activation sensor that detects a person or object in an activation detection area provided near the opening; a closed protection sensor that detects a person or object in a closed protection detection area provided near the door edge of the door provided in the opening; a diagnostic unit 24 that diagnoses the state of the closed protection sensor; and a control unit 26 that performs activation control to drive the door to open and close the opening based on the diagnostic result of the closed protection sensor and the detection result of the activation sensor, and performs closed protection control to restrict the closing drive of the door based on the fact that the closed protection sensor has entered a detection state while the door is being driven to close. The diagnostic unit 24 starts diagnosing the closed protection sensor when the activation sensor has entered a non-detection state while the door is in the fully open position and a predetermined time has elapsed without the activation sensor entering a detection state, and the control unit 26 starts the closing drive of the door in the activation control when the diagnosis is completed. If there is a delay between the completion of the diagnosis of the closed protection sensor's status and the start of the closing drive of the sliding door 12, it is possible that a malfunction may occur in the closed protection sensor during that time, resulting in the closing drive being performed while the closed protection sensor is not functioning properly. In contrast, with this configuration, the diagnosis can be completed immediately before the start of the closing drive of the sliding door 12, thus guaranteeing that the closed protection sensor is functioning properly. In this way, the diagnostic process for the closed protection sensor can be started and completed at the optimal timing, thereby further improving the safety of the closing drive of the sliding door 12 in the automatic door device 10.

[0066] Furthermore, the automatic door device 10 of this embodiment includes an activation sensor that detects a person or object in an activation detection area provided near the opening, an open protection sensor 22 that detects a person or object in an open protection detection area provided near the end of the door in the opening, a diagnostic unit 24 that diagnoses the state of the open protection sensor 22, and a control unit 26 that executes activation control to drive the door to open and close the opening based on the diagnostic result of the open protection sensor 22 and the detection result of the activation sensor, and executes open protection control to restrict the door's opening drive based on the detection state of the open protection sensor 22 during the closing drive of the door. The diagnostic unit 24 starts diagnosing the state of the open protection sensor 22 when the sliding door 12, which is being driven to close, reaches the fully closed position during the activation control. With this configuration, it is possible to prevent the sliding door 12 from being driven to open until the diagnosis of the state of the open protection sensor 22 is completed, which would delay the start of the opening drive of the sliding door 12 and obstruct the passage of pedestrians.

[0067] Furthermore, the automatic door device 10 of this embodiment includes an activation sensor that detects a person or object in an activation detection area provided near the opening, a closed protection sensor that detects a person or object in a closed protection detection area provided near the leading edge of the door in the opening, an open protection sensor 22 that detects a person or object in an open protection detection area provided near the trailing edge of the door in the opening, a diagnostic unit 24 that diagnoses the status of the closed protection sensor and the open protection sensor 22, and an activation unit that drives the door to open and close the opening based on the diagnostic results of the closed protection sensor, the diagnostic results of the open protection sensor 22, and the detection results of the activation sensor. The system includes a control unit 26 that executes control and performs closed protection control to restrict the closing drive of the door based on the detection state of the closed protection sensor during the closing drive of the door, and open protection control to restrict the opening drive of the door based on the detection state of the open protection sensor 22 during the opening drive of the door. The diagnostic unit 24 completes the diagnosis of the state of the closed protection sensor between the time the activation sensor detects a state and before the closing drive of the door starts in the activation control, and starts the diagnosis of the state of the open protection sensor 22 after the door being closed in the activation control reaches the fully closed position. With this configuration, it is possible to perform diagnostic processing at an appropriate timing for each closed protection sensor and open protection sensor 22. [Explanation of symbols]

[0068] 10 Automatic door device, 12 Sliding door, 18 Main sensor, 20 Auxiliary sensor, 22 Open protection sensor, 24 Diagnostic unit, 26 Control unit, 28 Drive unit, 30 Memory unit, 32 Output unit, 34 Information acquisition unit, 36 Transmission unit.

Claims

1. A startup sensor that detects a person or object within a startup detection area located near the opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, A diagnostic unit for diagnosing the state of the closed protection sensor, A control unit that performs a start control to drive the door to open and close the opening based on the diagnostic result of the closed protection sensor and the detection result of the start sensor, and performs a close protection control to restrict the closing drive of the door based on the detection state of the closed protection sensor during the closing drive of the door, Equipped with, The diagnostic unit starts the diagnosis of the closed protection sensor when the activation sensor becomes non-detection while the door is in the fully open position, and a predetermined time has elapsed without the activation sensor becoming detection. The control unit initiates the closing drive of the door in the startup control when the diagnosis is completed. Automatic door system.

2. A startup sensor that detects a person or object within a startup detection area located near the opening, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A diagnostic unit for diagnosing the state of the open protection sensor, A control unit that performs a start control to drive the door to open and close the opening based on the diagnostic result of the open protection sensor and the detection result of the start sensor, and performs an open protection control to restrict the door from opening based on the detection state of the open protection sensor during the door opening drive, Equipped with, The diagnostic unit starts the diagnosis of the open protection sensor when the door, which is being driven to close during the startup control, reaches the fully closed position. Automatic door system.

3. A startup sensor that detects a person or object within a startup detection area located near the opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A diagnostic unit for diagnosing the state of the closed protection sensor and the open protection sensor, A control unit that performs start control to drive the door to open and close the opening based on the diagnostic result of the closed protection sensor, the diagnostic result of the open protection sensor, and the detection result of the start sensor; performs closed protection control to restrict the closing drive of the door based on the closed protection sensor becoming detected during the closing drive of the door; and performs open protection control to restrict the opening drive of the door based on the open protection sensor becoming detected during the opening drive of the door. Equipped with, The diagnostic unit completes the diagnosis of the closed protection sensor between the time the activation sensor enters a detection state and before the door closing drive begins in the activation control, and starts the diagnosis of the open protection sensor after the door, which is being closed during the activation control, reaches the fully closed position. The diagnostic unit starts the diagnosis of the closed protection sensor when the activation sensor becomes non-detection while the door is in the fully open position, and a predetermined time has elapsed without the activation sensor becoming detection. The control unit starts the door closing drive in the startup control when the diagnosis of the closed protection sensor is completed. Automatic door system.

4. A startup sensor that detects a person or object within a startup detection area provided near an opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A diagnostic unit for diagnosing the state of the closed protection sensor and the open protection sensor, A control unit that performs start control to drive the door to open and close the opening based on the diagnostic result of the closed protection sensor, the diagnostic result of the open protection sensor, and the detection result of the start sensor; performs closed protection control to restrict the closing drive of the door based on the closed protection sensor becoming detected during the closing drive of the door; and performs open protection control to restrict the opening drive of the door based on the open protection sensor becoming detected during the opening drive of the door. Equipped with, The diagnostic unit completes the diagnosis of the closed protection sensor between the time the activation sensor enters a detection state and before the door closing drive begins in the activation control, and starts the diagnosis of the open protection sensor after the door, which is being closed during the activation control, reaches the fully closed position. The diagnostic unit starts the diagnosis of the open protection sensor when the door, which is being driven to close during the startup control, reaches the fully closed position. Automatic door system.

5. The control unit, When the diagnostic unit indicates that there is no abnormality and the activation sensor is in a detection state, the door opening drive in the activation control is initiated. If the diagnostic result of the diagnostic unit indicates an abnormality, even if the start sensor has entered a detection state, the system will not execute the start control, but will instead execute a predetermined abnormality protection control that includes at least one of the following: stopping the door, reversing the drive, or driving the door at a low speed. The automatic door device according to any one of claims 1 to 4.

6. A startup sensor that detects a person or object within a startup detection area located near the opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, A diagnostic unit for diagnosing the state of the closed protection sensor, A control unit that performs a start control to drive the door to open and close the opening based on the diagnostic result of the closed protection sensor and the detection result of the start sensor, and performs a close protection control to restrict the closing drive of the door based on the detection state of the closed protection sensor during the closing drive of the door, The closed protection sensor included in an automatic door device equipped with, The diagnostic unit, An information acquisition unit that acquires detection information indicating the detection result of the activation sensor and the position information of the door, A transmission unit that transmits the detection result of the closed protection sensor and the diagnostic result of the diagnostic unit, Includes, Based on the detection information and position information, the diagnostic unit determines that a predetermined time has elapsed since the activation sensor became non-detective when the door was in the fully open position, and the activation sensor has not been detected, and then starts the diagnosis of the closed protection sensor. The control unit initiates the closing drive of the door in the startup control when the diagnosis is completed. Closed protection sensor.

7. A startup sensor that detects a person or object within a startup detection area located near the opening, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A diagnostic unit for diagnosing the state of the open protection sensor, A control unit that performs a start control to drive the door to open and close the opening based on the diagnostic result of the open protection sensor and the detection result of the start sensor, and performs an open protection control to restrict the door from opening based on the detection state of the open protection sensor during the door opening drive, The open protection sensor included in an automatic door device equipped with, The aforementioned diagnostic unit, An information acquisition unit that acquires the position information of the aforementioned door, A transmission unit that transmits the detection result of the open protection sensor and the diagnostic result of the diagnostic unit, Includes, The diagnostic unit, based on the position information, determines that the door being driven to close in the startup control has reached the fully closed position and starts the diagnosis of the open protection sensor. Open protection sensor.

8. A startup sensor that detects a person or object within a startup detection area located near the opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A diagnostic unit for diagnosing the state of the closed protection sensor and the open protection sensor, A control unit that performs start control to drive the door to open and close the opening based on the diagnostic result of the closed protection sensor, the diagnostic result of the open protection sensor, and the detection result of the start sensor; performs closed protection control to restrict the closing drive of the door based on the closed protection sensor becoming detected during the closing drive of the door; and performs open protection control to restrict the opening drive of the door based on the open protection sensor becoming detected during the opening drive of the door. A sensor device included in an automatic door system equipped with, The sensor device includes the closed protection sensor, the open protection sensor, the diagnostic unit, the information acquisition unit which acquires detection information indicating the detection result of the activation sensor and the door position information, and the transmission unit which transmits the detection result of the closed protection sensor, the detection result of the open protection sensor and the diagnostic result of the diagnostic unit. The diagnostic unit completes the diagnosis of the closed protection sensor between the time the activation sensor enters a detection state and the time the closing drive of the door starts in the activation control, based on the detection information and the position information, and starts the diagnosis of the open protection sensor after determining, based on the position information, that the door being closed in the activation control has reached the fully closed position. The diagnostic unit starts the diagnosis of the closed protection sensor when the activation sensor becomes non-detection while the door is in the fully open position, and a predetermined time has elapsed without the activation sensor becoming detection. The control unit starts the door closing drive in the startup control when the diagnosis of the closed protection sensor is completed.

9. A startup sensor that detects a person or object within a startup detection area provided near an opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A diagnostic unit for diagnosing the state of the closed protection sensor and the open protection sensor, A control unit that performs start control to drive the door to open and close the opening based on the diagnostic result of the closed protection sensor, the diagnostic result of the open protection sensor, and the detection result of the start sensor; performs closed protection control to restrict the closing drive of the door based on the closed protection sensor becoming detected during the closing drive of the door; and performs open protection control to restrict the opening drive of the door based on the open protection sensor becoming detected during the opening drive of the door. A sensor device included in an automatic door system equipped with, The sensor device includes the closed protection sensor, the open protection sensor, the diagnostic unit, the information acquisition unit which acquires detection information indicating the detection result of the activation sensor and the door position information, and the transmission unit which transmits the detection result of the closed protection sensor, the detection result of the open protection sensor and the diagnostic result of the diagnostic unit. The diagnostic unit completes the diagnosis of the closed protection sensor between the time the activation sensor enters a detection state and the time the closing drive of the door starts in the activation control, based on the detection information and the position information, and starts the diagnosis of the open protection sensor after determining, based on the position information, that the door being closed in the activation control has reached the fully closed position. The diagnostic unit starts the diagnosis of the open protection sensor when the door, which is being driven to close during the startup control, reaches the fully closed position. Sensor device.

10. A startup sensor that detects a person or object within a startup detection area located near the opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, A method used in an automatic door device equipped with, To diagnose the state of the closed protection sensor, Based on the diagnostic result of the closed protection sensor and the detection result of the activation sensor, an activation control is performed to drive the door to open and close the opening, Based on the fact that the closing protection sensor has entered a detection state while the door is being driven to close, a closing protection control is performed to restrict the closing drive of the door. Equipped with, The aforementioned diagnosis is performed when the activation sensor is in a non-detection state while the door is in the fully open position, and a predetermined time has elapsed without the activation sensor detecting anything. Executing the aforementioned startup control means that when the diagnosis is completed, the closing drive of the door in the startup control is started. method.

11. A startup sensor that detects a person or object within a startup detection area located near the opening, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A method used in an automatic door device equipped with, To diagnose the state of the open protection sensor, Based on the diagnostic results of the open protection sensor and the detection results of the activation sensor, activation control is performed to drive the door to open and close the opening, Based on the fact that the open protection sensor has entered a detection state while the door is being driven to open, an open protection control is performed to restrict the opening of the door. Equipped with, The aforementioned diagnosis is performed in the startup control when the door, which is being driven to close, reaches the fully closed position, thereby initiating the diagnosis of the open protection sensor. method.

12. A startup sensor that detects a person or object within a startup detection area located near the opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A method used in an automatic door device equipped with, To diagnose the state of the closed protection sensor and the open protection sensor, Based on the diagnostic results of the closed protection sensor, the diagnostic results of the open protection sensor, and the detection results of the activation sensor, activation control is performed to drive the door to open and close the opening. Based on the fact that the closing protection sensor has entered a detection state while the door is being driven to close, a closing protection control is performed to restrict the closing drive of the door. Based on the fact that the open protection sensor has entered a detection state while the door is being driven to open, an open protection control is performed to restrict the opening of the door. Equipped with, The aforementioned diagnosis is performed by completing the diagnosis of the closed protection sensor between the time the activation sensor enters a detection state and before the door closing drive begins in the activation control, and by starting the diagnosis of the open protection sensor after the door, which is being closed during the activation control, reaches the fully closed position. The aforementioned diagnosis is performed when the activation sensor is in a non-detection state while the door is in the fully open position, and a predetermined time has elapsed without the activation sensor detecting anything. Executing the aforementioned startup control means that when the diagnosis of the closed protection sensor is completed, the closing drive of the door in the startup control is started. method.

13. A startup sensor that detects a person or object within a startup detection area provided near an opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A method used in an automatic door device equipped with, To diagnose the state of the closed protection sensor and the open protection sensor, Based on the diagnostic results of the closed protection sensor, the diagnostic results of the open protection sensor, and the detection results of the activation sensor, activation control is performed to drive the door to open and close the opening. Based on the fact that the closing protection sensor has entered a detection state while the door is being driven to close, a closing protection control is performed to restrict the closing drive of the door. Based on the fact that the open protection sensor has entered a detection state while the door is being driven to open, an open protection control is performed to restrict the opening of the door. Equipped with, The aforementioned diagnosis is performed by completing the diagnosis of the closed protection sensor between the time the activation sensor enters a detection state and before the door closing drive begins in the activation control, and by starting the diagnosis of the open protection sensor after the door, which is being closed during the activation control, reaches the fully closed position. The aforementioned diagnosis is performed in the startup control when the door, which is being driven to close, reaches the fully closed position, thereby initiating the diagnosis of the open protection sensor. method.

14. A startup sensor that detects a person or object within a startup detection area located near the opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, A program for an automatic door device equipped with, To diagnose the state of the closed protection sensor, Based on the diagnostic result of the closed protection sensor and the detection result of the activation sensor, an activation control is performed to drive the door to open and close the opening, Based on the fact that the closing protection sensor has entered a detection state while the door is being driven to close, a closing protection control is performed to restrict the closing drive of the door. Make it run, The aforementioned diagnosis is performed when the activation sensor is in a non-detection state while the door is in the fully open position, and a predetermined time has elapsed without the activation sensor detecting anything. Executing the aforementioned startup control means that when the diagnosis is completed, the closing drive of the door in the startup control is started. program.

15. A startup sensor that detects a person or object within a startup detection area located near the opening, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A program for an automatic door device equipped with, To diagnose the state of the open protection sensor, Based on the diagnostic results of the open protection sensor and the detection results of the activation sensor, activation control is performed to drive the door to open and close the opening, Based on the fact that the open protection sensor has entered a detection state while the door is being driven to open, an open protection control is performed to restrict the opening of the door. Make it run, The aforementioned diagnosis is performed in the startup control when the door, which is being driven to close, reaches the fully closed position, thereby initiating the diagnosis of the open protection sensor. program.

16. A startup sensor that detects a person or object within a startup detection area located near the opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A program for an automatic door device equipped with, To diagnose the state of the closed protection sensor and the open protection sensor, Based on the diagnostic results of the closed protection sensor, the diagnostic results of the open protection sensor, and the detection results of the activation sensor, activation control is performed to drive the door to open and close the opening. Based on the fact that the closing protection sensor has entered a detection state while the door is being driven to close, a closing protection control is performed to restrict the closing drive of the door. Based on the fact that the open protection sensor has entered a detection state while the door is being driven to open, an open protection control is performed to restrict the opening of the door. Make it run, The aforementioned diagnosis is performed by completing the diagnosis of the closed protection sensor between the time the activation sensor enters a detection state and before the door closing drive begins in the activation control, and by starting the diagnosis of the open protection sensor after the door, which is being closed during the activation control, reaches the fully closed position. The aforementioned diagnosis is performed when the activation sensor is in a non-detection state while the door is in the fully open position, and a predetermined time has elapsed without the activation sensor detecting anything. Executing the aforementioned startup control means that when the diagnosis of the closed protection sensor is completed, the closing drive of the door in the startup control is started. program.

17. A startup sensor that detects a person or object within a startup detection area provided near an opening, A closed protection sensor is provided near the door edge of the door installed in the opening, which detects a person or object within a closed protection detection area, An open protection sensor is provided near the door edge of the door in the opening, which detects a person or object within the open protection detection area. A program for an automatic door device equipped with, To diagnose the state of the closed protection sensor and the open protection sensor, Based on the diagnostic results of the closed protection sensor, the diagnostic results of the open protection sensor, and the detection results of the activation sensor, activation control is performed to drive the door to open and close the opening. Based on the fact that the closing protection sensor has entered a detection state while the door is being driven to close, a closing protection control is performed to restrict the closing drive of the door. Based on the fact that the open protection sensor has entered a detection state while the door is being driven to open, an open protection control is performed to restrict the opening of the door. Make it run, The aforementioned diagnosis is performed by completing the diagnosis of the closed protection sensor between the time the activation sensor enters a detection state and before the door closing drive begins in the activation control, and by starting the diagnosis of the open protection sensor after the door, which is being closed during the activation control, reaches the fully closed position. The aforementioned diagnosis is performed in the startup control when the door, which is being driven to close, reaches the fully closed position, thereby initiating the diagnosis of the open protection sensor. program.

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