Automatic door maintenance assistance system, automatic door device, automatic door maintenance assistance method, and storage medium

Abstract

The invention provides an automatic door maintenance assistance system, an automatic door device, an automatic door maintenance assistance method, and a storage medium. An automatic door maintenance assistance system (1) is provided with: an acquisition unit (36) for acquiring state information of a motor (24) for driving a door leaf of an automatic door (100) in a first speed control state in which the door leaf is held at a predetermined first speed; and a specifying unit (42) that specifies information relating to maintenance of the automatic door (100) on the basis of the acquired state information and a predetermined reference value. The automatic door maintenance assistance method includes the steps of: acquiring state information of a motor driving a door leaf in a speed control state in which the door leaf of an automatic door is maintained at a predetermined speed; and specifying information relating to maintenance of the automatic door (100) on the basis of the acquired state information and a predetermined reference value.

Description

[0001] This application is a divisional application of the application filed on August 1, 2019, with application number 201980039684.7 and invention title "Automatic door maintenance auxiliary system, automatic door maintenance auxiliary device, automatic door device, automatic door maintenance auxiliary method, and procedure". Technical Field

[0002] This invention relates to an automatic door maintenance assistance system, an automatic door maintenance assistance device, an automatic door device, an automatic door maintenance assistance method, and a procedure. Background Technology

[0003] Automatic doors, which automatically open and close their panels at building openings, sometimes malfunction due to component deterioration over time, and it is desirable to perform maintenance before malfunctions occur. However, the appropriate maintenance interval varies greatly depending on the individual device, due to factors such as usage frequency and component variations. Patent Document 1 describes a monitoring device for monitoring devices such as manufacturing equipment that are used continuously for extended periods to suppress excessive notifications. This monitoring device acquires physical quantities indicating the state of the manufacturing equipment being monitored and determines whether any abnormalities exist based on these physical quantities.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2014-056509 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] Patent Document 1 describes a method that uses a mold temperature regulator and a robot as monitoring objects to monitor for anomalies that may be precursors to future malfunctions, based on physical quantities representing the state of each object. In this method, anomaly notification is given by displaying abnormal waveforms representing changes in current supplied to the target object, vibration, etc., over a predetermined time period as a graph. However, the disclosure in Patent Document 1 is general and cannot be considered sufficient for accurately diagnosing anomalies in the target object.

[0009] Accordingly, the inventors recognize that there is room for improvement in the prior art regarding the high-precision diagnosis of anomalies in automatic doors composed of multiple components.

[0010] The present invention was made in view of the following problem, and its object is to provide an automatic door maintenance assistance technology that can accurately diagnose abnormalities of automatic doors and their components.

[0011] Solution for solving the problem

[0012] To address the aforementioned problems, an automatic door maintenance assistance system according to a certain aspect of the present invention includes: an acquisition unit that acquires state information of a motor driving the door leaf in at least one of an acceleration control state in which the door leaf of the automatic door is accelerated to a predetermined first speed, a first speed control state in which the door leaf is maintained at the first speed, a deceleration control state in which the door leaf is decelerated to a second speed lower than the first speed, and a second speed control state in which the door leaf is maintained at the second speed; and a determination unit that compares the acquired motor state information with a predetermined reference value to determine information related to the maintenance of the automatic door.

[0013] This method allows for the determination of information related to the maintenance of automatic doors based on benchmark values.

[0014] Furthermore, any combination of the above, or any manner in which the structural elements of the present invention are interchanged or expressed in a method, apparatus, program, transient or non-transient storage medium on which the program is recorded, system, etc., is also valid as a mode of the present invention.

[0015] The effects of the invention

[0016] According to the present invention, an automatic door maintenance assistance technology is provided that can diagnose automatic door malfunctions with high accuracy. Attached Figure Description

[0017] Figure 1 This is a front view of an automatic door that schematically illustrates the automatic door maintenance assistance system according to the first embodiment.

[0018] Figure 2 It is a summary view Figure 1 A block diagram of an automatic door maintenance assistance system.

[0019] Figure 3 It is shown Figure 1 A diagram illustrating the progression of door speed during the opening action of an automatic door.

[0020] Figure 4 Yes Figure 1 An explanatory diagram illustrating the method for estimating the maintenance period of automatic doors.

[0021] Figure 5 Yes Figure 1 Other explanatory diagrams are provided to explain the method for estimating the maintenance period of automatic doors.

[0022] Figure 6 This is a block diagram that schematically illustrates the automatic door maintenance assistance system according to the second embodiment.

[0023] Figure 7 This is a block diagram that schematically illustrates the automatic door device according to the third embodiment.

[0024] Figure 8 It is shown Figure 7 A flowchart illustrating the computer program processing of an automatic door device.

[0025] Figure 9 This is a front view of an automatic door that schematically illustrates the automatic door maintenance assistance system according to the tenth embodiment.

[0026] Figure 10 It is a summary view Figure 9 A block diagram of an automatic door maintenance assistance system.

[0027] Figure 11 It is shown Figure 9 A graph illustrating the relationship between the travel distance and door speed of an automatic door.

[0028] Figure 12 It is shown Figure 9 Another example of the relationship between the travel distance and door speed of an automatic door is shown in the figure. Detailed Implementation

[0029] First, a summary of the present invention will be described. One aspect of the present invention is an automatic door maintenance assistance system. This system includes: an acquisition unit that acquires information (hereinafter referred to as "status information") related to the state of a motor driving the door leaf in at least one of the following control states: an acceleration zone (acceleration control state) where the door leaf is accelerated to a predetermined first speed; a high-speed zone (first speed control state) where the door leaf is maintained at a first speed; a deceleration zone (deceleration control state) where the door leaf is decelerated to a second speed lower than the first speed; and a deceleration zone (second speed control state) where the door leaf is maintained at the second speed; and a determination unit that compares the acquired motor status information with a predetermined reference value to determine information related to the maintenance of the automatic door. This system can assist in the maintenance of one or more automatic doors. The predetermined first speed can be a relatively high speed after the door leaf is accelerated. The motor status information can be electrical values ​​of the motor, or it can include information related to the motor load.

[0030] Alternatively, the motor's state information can be acquired at multiple timing intervals during at least one of the control states: acceleration zone, high-speed zone, deceleration zone, and low-speed zone. In this case, since multiple points within the speed zone are used for evaluation instead of a single point, various information can be obtained, such as calculating the motor's power consumption based on the motor voltage at multiple points. For example, the multiple timing intervals can be intermediate timing intervals for each speed zone and switching timing intervals between speed zones.

[0031] According to this method, by using the motor status information for each speed zone (each control state), the accuracy of status diagnosis of automatic doors and their components, as well as the accuracy of maintenance necessity prediction, can be improved compared to fault diagnosis based solely on the number of opening and closing cycles, error counts, and operating times. In particular, by using motor status information, it is possible to acquire changes in the status of the drive system and electrical system even without large additional devices, and to distinguish areas where health conditions have deteriorated. Furthermore, status information can be applied to the evaluation of maintenance necessity levels. Additionally, motor status information can be used to determine the proper condition of automatic doors, such as excessive belt tension.

[0032] Alternatively, the motor's state information can be acquired during the switching of control states in the acceleration, high-speed, deceleration, and low-speed zones. In this case, by acquiring information during the switching process, the acquisition timing becomes fixed, thereby suppressing errors caused by variations in the acquisition timing. Furthermore, since information is acquired during the switching process, the amount of information is reduced compared to the case where information is acquired continuously, making information storage and processing easier.

[0033] Alternatively, the aforementioned baseline value can be set or updated based on previously acquired motor status information. In this case, since the baseline value is set based on the status information of its own motor, it is less susceptible to the performance differences (manufacturing deviations) of individual automatic doors. For example, if the initial acquired value is set as the baseline value, information can be acquired based on changes relative to the initial value. Furthermore, by appropriately updating the baseline value, the effects of deviations caused by environmental changes such as summer and winter can be eliminated.

[0034] Alternatively, the system described above may also include a display unit, which displays the status information of the automatic door. By displaying the status information of the automatic door, maintenance personnel and operators in the management center can easily grasp the status of the automatic door.

[0035] Alternatively, the motor status information mentioned above may include at least one of the following: motor voltage, current, speed, vibration, and temperature. In this case, the automatic door status information can be determined based on the motor's voltage, current, speed, vibration, and temperature status information.

[0036] Alternatively, the determination unit described above can classify the acquired motor status information based on a threshold. In this case, by classifying the status information using a threshold, the motor's status can be accurately determined. For example, the threshold could be a limit value that suggests replacement when the threshold is exceeded.

[0037] Another aspect of the present invention is an automatic door maintenance assistance device. This device includes: an acquisition unit that acquires status information of a motor driving the door leaf in at least one of the following control states: an acceleration control state in which the door leaf is accelerated to a first speed; a first speed control state in which it is maintained at the first speed; a deceleration control state in which it is decelerated to a second speed lower than the first speed; and a second speed control state in which it is maintained at the second speed; and an output unit that outputs the acquired motor status information. For example, the automatic door maintenance assistance device can acquire status information from the automatic door motor and output the acquisition result from the output unit to a management center. In this case, the management center can analyze the acquisition result to determine the necessity of automatic door maintenance. Alternatively, the output unit can output the acquisition result to a predetermined memory for storage. In this case, maintenance personnel can determine the necessity of automatic door maintenance based on the stored results in the memory.

[0038] Another aspect of the present invention is a maintenance assistance method for automatic doors. This method includes the following steps: in at least one of the following control states: an acceleration control state where the door leaf is accelerated to a first speed, a first speed control state where it is maintained at the first speed, a deceleration control state where it is decelerated to a second speed lower than the first speed, and a second speed state where it is maintained at the second speed; acquiring state information of the motor driving the door leaf using a sensor; and comparing the acquired motor state information with a predetermined reference value to determine information related to the maintenance of the automatic door. According to this method, since the state information of the motor in each speed zone is used, the accuracy of state diagnosis of the automatic door and its components and the accuracy of predicting the necessity of maintenance can be improved compared to methods that rely solely on the number of opening and closing operations.

[0039] Another aspect of the present invention is a maintenance assistance method for automatic doors. This method includes the following steps: monitoring the behavior of electrical values ​​related to the motor driving the door leaf in at least one of the following control states: an acceleration control state where the door leaf is accelerated to a first speed, a first speed control state where it is maintained at the first speed, a deceleration control state where it is decelerated to a second speed lower than the first speed, and a second speed control state where it is maintained at the second speed; and determining the status information of the automatic door based on the behavior of the electrical values. According to this method, since the motor-related electrical values ​​for each control state (speed zone) are used, the accuracy of status diagnosis of the automatic door and its components and the accuracy of predicting maintenance necessity can be improved compared to methods that rely solely on the number of opening and closing operations. For example, the motor-related electrical values ​​may include any one of the motor's voltage, current, rotational speed, vibration, and temperature.

[0040] Alternatively, the motor's status information can be electrical values ​​corresponding to the motor's state. For example, these electrical values ​​could be the motor's torque, power consumption, drive current (hereinafter simply referred to as "current"), or drive voltage. The specified reference values ​​can be those set during automatic door installation or maintenance, or updated values ​​set after a specified period or when a specified phenomenon occurs.

[0041] According to this method, due to the availability of usage status information, the accuracy of status diagnosis and maintenance necessity prediction for automatic doors and their components can be improved compared to fault diagnosis based solely on factors such as the number of openings and closings. Furthermore, this method allows for the estimation of the wear, deformation, deterioration, and dirt accumulation on the components of the automatic door. The components of an automatic door include pulleys, travel rails for the pulleys, the gear mechanism between the motor and the drive pulley, the drive pulley, the driven pulley, the timing belt, the guide rails for guiding the lower part of the door leaf, and the rubber seals surrounding the door leaf. Additionally, this method allows for the estimation of the deterioration status of various parts of the motor. Examples of deterioration include the deterioration of the motor's excitation magnet, the deterioration of the armature coil, and the reduction of lubricating oil in the rotating parts.

[0042] Alternatively, the aforementioned reference value can be set based on information related to the motor's state obtained in the past (hereinafter referred to as "past information"). For example, the reference value can be set by adding a predetermined value to the past information, or by multiplying the past information by a predetermined value. The predetermined value multiplied by the past information can be a value greater than 1. In this case, since the reference value can be set based on the motor itself, it is less susceptible to deviations caused by different installation environments at each installation site. This reference value can be set after the automatic door is installed or after maintenance operations (hereinafter referred to as "maintenance"). The "maintenance" period can be immediately after the installation or maintenance, or it can be after a fixed number of opening and closing operations (e.g., 100 times) since the installation or maintenance was performed.

[0043] For example, the reference value can be the average value, central value, or specific value of the status information during each switch operation, based on a fixed number of switches performed since the setup or maintenance began. The specific value can be a value determined based on information within a fixed range from each status information. Furthermore, the reference value is not limited to being set after setup or maintenance; it can also be set at a specified period or when a specified phenomenon occurs.

[0044] Alternatively, the aforementioned reference value can be set based on information about the motor's state obtained after a predetermined number of switching operations. In this case, the reference value can be set after the hardness of the component made of a material with high temperature characteristics, such as rubber, and the viscosity of the grease applied to the moving part have stabilized, thus enabling accurate determination. Examples of such components include rubber pulleys, and examples of such greases include greases applied to the motor's shafts and bearings.

[0045] Alternatively, the determination unit described above may use a threshold value for determination. This threshold value may be set based on a combination of at least two of the following: the weight of the door leaf, the area of ​​the main surface of the door leaf, the aspect ratio of the main surface of the door leaf, the installation environment of the door leaf, and the style of the automatic door. In this case, the influence of errors caused by the installation environment of the automatic door can be reduced. For example, the determination unit may determine whether the deviation between the aforementioned reference value and the motor status information exceeds the threshold value. Furthermore, the main surface of the door leaf refers to the surface with the largest area among all surfaces of the door leaf, and the style of the automatic door refers not only to the style set according to the capacity of the controllable motor, but also to the style set according to the differences in the circuit structure other than the motor drive circuit.

[0046] Alternatively, the determination unit described above may estimate the maintenance period based on the opening and closing frequency of the door leaf. In this case, it is possible to predict the recommended maintenance period and the replacement period for components. The opening and closing frequency can be a value obtained by evaluating the opening and closing frequency of the automatic door leaf itself (the target of the determination) at a fixed period, or it can be a value of a parameter set for estimation purposes for the target. These evaluated values ​​and set values ​​can be stored as frequency values ​​in the storage unit. The determination unit can use the stored frequency values ​​to estimate the maintenance period.

[0047] The recommended maintenance period can be used. Any of the threshold, the recommended maintenance period, and the switching frequency can be set as parameters. Therefore, the threshold can be set based on the switching frequency. For example, the recommended maintenance period can be determined as a specified period (e.g., six months, one year), and the threshold can be set based on this specified period and the aforementioned frequency value.

[0048] For example, the opening and closing frequency of automatic doors in tourist attractions and entertainment facilities varies greatly depending on the season or during peak and off-peak periods. Furthermore, it's also considered whether the doors are used in an open or closed state depending on the season. Therefore, the opening and closing frequency can be updated at predetermined intervals. In this case, seasonal changes in the opening and closing frequency can be addressed. For example, the frequency value can be updated based on a re-evaluation of the opening and closing frequency of the target automatic door or a newly set value. The predetermined interval can be determined, for example, based on the period of change in the opening and closing frequency of the automatic door, such as one month, three months, or six months.

[0049] Alternatively, the aforementioned determining unit may also evaluate changes in information related to the motor's condition. In this case, by evaluating these changes, the location of degradation can be identified to some extent. For example, by analyzing the pattern of condition changes, the cycle of change can be determined. This analysis can use frequency analysis based on Fourier transform. For example, when the rotational cycle components of pulleys, belt pulleys, motors, or non-periodic components are identified in the condition changes, it can be considered that the components associated with those components have deteriorated. By identifying the location of degradation in this way, efficient and accurate maintenance operations can be performed.

[0050] Alternatively, the acquisition unit described above can also acquire information related to the motor's state in a second speed control state where the door panel is held at a second speed lower than the first speed. In this case, by analyzing the state information under both speed control states, the deteriorated parts can be identified to some extent. For example, the different speeds could be the first speed and the second speed described above. The acquisition unit can acquire state information under the first speed control state where the door panel is held at the first speed and state information under the second speed control state where the door panel is held at the second speed. For example, if the state information changes proportionally to the speed, it can be considered that the motor's magnets or coils have deteriorated; if the state information changes disproportionately to the speed, it can be considered that the mechanism system has deteriorated.

[0051] The aforementioned information related to the motor's state can be information related to the current flowing through the motor. In this case, no additional sensor is needed, and the state information can be easily detected. The current flowing through the motor (hereinafter referred to as "motor current") can be detected by a current sensor placed in the path through which the current flows. There are no restrictions on the connection location of the current sensor in the circuit. For example, the current sensor can be a shunt resistor connected in series with the motor. The motor current can be obtained from the drive voltage applied to the motor. For example, the motor current can be calculated from the duty cycle of the motor's drive voltage.

[0052] Alternatively, the acquisition unit described above may also acquire information related to the motor's state during deceleration control, where the speed is reduced from the first velocity. In this case, by acquiring state information during deceleration control, the location of degradation can be determined to some extent. For example, if the deceleration increases due to increased load caused by degradation of the mechanism system, and decreases due to deceleration of the motor, the location of degradation can be determined based on these differences.

[0053] Alternatively, it may also include a display unit for displaying the determination result of the determination unit described above, and this display unit is disposed near the door leaf. In this case, the owner, user, manager, etc., of the automatic door can be aware of the deterioration condition. For example, the display unit may be a notification device that emits light or sound, or a display device that outputs images or voice. For example, the display unit may be installed on the crossbar, frame, post, wall, etc. of the automatic door.

[0054] Alternatively, it may also include an output unit that outputs the determination result of the aforementioned determination unit. In this case, it can also notify remotely of the deterioration status. For example, the output unit can output the determination result to an external device via a wired or wireless communication unit, or it can send an email. This communication unit may include a network such as the Internet. This communication unit can output the determination result via short-range wireless communication. The external device may be a computer, server, cloud, etc., set up independently of the automatic door, or it may be a portable terminal or smartphone held by maintenance personnel.

[0055] Alternatively, it may also include a sending unit that sends the acquisition results from the acquisition unit to a cloud server. The acquisition unit is located at or near the automatic door, and the determination unit is located on the cloud server. In this case, by placing the determination unit on the cloud server, the threshold can be easily updated. Furthermore, advanced methods such as Fourier analysis can be used to analyze the status information. Additionally, by storing the determination results on the cloud server, maintenance personnel can efficiently perform maintenance work while referring to the determination results on the server. For example, the sending unit can send the acquisition results (status information) from the acquisition unit to the cloud server via a communication unit and a network. The cloud server can be any server located in a cloud environment; there are no particular restrictions.

[0056] Another aspect of the present invention is an automatic door device. This device includes: a door opening and closing mechanism; a drive mechanism that drives the door to open and close via a motor; a control unit that controls the motor; an acquisition unit that acquires motor status information while the control unit maintains the door at a predetermined speed; and a determination unit that compares the acquired status information with a predetermined reference value to determine information related to the maintenance of the automatic door. In the case of a sliding door, the opening and closing mechanism may include a door, pulleys supporting the door, and a track for the pulleys to travel on. Furthermore, the drive mechanism may include a motor, a drive pulley driven by the motor, a driven pulley paired with the drive pulley, a belt mounted on the drive pulley and the driven pulley, and a connecting part connecting the belt to the door. According to this method, since the acquisition and determination are performed within the scope of the automatic door, the connection between the acquisition unit and the determination unit can be easily made compared to the case where a determination unit is separately installed externally, simplifying the structure. In other words, a separate maintenance assistance system is not required.

[0057] Another aspect of the present invention is an automatic door maintenance assistance method. This method includes the following steps: acquiring status information of the motor driving the door leaf while the automatic door leaf is maintained at a predetermined speed under speed control; and comparing the acquired status information with a predetermined reference value to determine information related to the maintenance of the automatic door. According to this method, because status information is used, the accuracy of status diagnosis of the automatic door and its components, as well as the accuracy of predicting the necessity of maintenance, can be improved compared to methods that rely solely on the number of opening and closing operations for fault diagnosis.

[0058] Another aspect of the present invention is a program for enabling a computer to execute an automatic door maintenance assistance method. This program includes the following steps: acquiring status information of the motor driving the door leaf while the automatic door leaf is maintained at a predetermined speed under speed control; and comparing the acquired status information with a predetermined reference value to determine information related to the maintenance of the automatic door. According to this method, because status information is used, the accuracy of status diagnosis and the accuracy of predicting the need for maintenance of the automatic door and its components can be improved compared to methods that rely solely on the number of opening and closing operations for fault diagnosis.

[0059] The present invention will now be described with reference to the accompanying drawings, based on preferred embodiments. In the embodiments and variations, identical or equivalent structural elements and components are labeled with the same reference numerals, and repeated descriptions are omitted where appropriate. Furthermore, the dimensions of components in the drawings are shown in appropriate enlargements or reductions for ease of understanding. Additionally, in the drawings, some components that are not essential to the description of the embodiments are omitted.

[0060] In addition, terms including ordinal numbers such as first and second are used to describe various structural elements. These terms are used only to distinguish one structural element from other structural elements, and the structural elements are not limited by these terms.

[0061] [First Implementation Method]

[0062] Reference Figure 1 , Figure 2 The structure of the automatic door maintenance assistance system 1 according to the first embodiment of the present invention will be described below. Figure 1 This is a front view of an automatic door 100 that uses the automatic door maintenance assistance system 1 according to the first embodiment. Figure 2 This is a block diagram that provides a summary view of the automatic door maintenance assistance system 1.

[0063] for Figure 2 The functional blocks shown can be implemented in hardware using electronic components, mechanical parts, etc., primarily a computer's CPU, and in software using computer programs, etc. This description focuses on functional blocks implemented through the collaboration of hardware and software. Therefore, those skilled in the art will understand that these functional blocks can be implemented in various forms through a combination of hardware and software. (The following will be discussed further.) Figure 6 , Figure 7 The same applies to function blocks.

[0064] like Figure 1 , Figure 2 As shown, the automatic door maintenance assistance system 1 includes an automatic door 100 and an information processing unit 40. The automatic door 100 is driven by a motor 24 to open and close the door leaf 12. The information processing unit 40 processes information related to the state of the motor 24 (hereinafter referred to as "state information Li"). First, the automatic door 100 will be described, and the information processing unit 40 will be described later.

[0065] (Automatic door)

[0066] The automatic door 100 mainly includes a door motor 10, a door leaf 12, a belt 14, a drive pulley 16, a driven pulley 18, a travel rail 20, a suspension unit 22, a controller 30, a door sensor 32, a presentation unit 48, a guide rail 82, and a rubber seal 84. In this embodiment, the movable direction of the door leaf 12 is parallel to the horizontal X-axis direction. The in-and-out direction of the door leaf 12 is parallel to the horizontal Y-axis direction, which is orthogonal to the X-axis direction. The vertical direction of the door leaf 12 is parallel to the Z-axis direction, which is orthogonal to both the X-axis and Y-axis directions. This description of directions is not intended to limit the usage posture of the automatic door 100; the automatic door 100 can be used in any posture depending on the application. The presentation unit 48 will be described later.

[0067] The door motor 10 includes a motor 24 and a gear mechanism (not shown) that drives the drive pulley 16 to rotate based on the rotation of the motor 24. The door motor 10 functions as a power source for opening and closing the door leaf 12 by the driving force of the motor 24. The motor 24 is driven by an IPM (Intelligent Power Module) provided in the motor drive unit 28, which will be described later. The motor 24 can be a known motor based on various principles. In this embodiment, the motor 24 is a brushless motor with an encoder 24e using a Hall IC.

[0068] Driven pulley 18 is arranged separately from drive pulley 16 in the X-axis direction. Belt 14 is wound in a loop around the outer periphery of drive pulley 16 and driven pulley 18. Belt 14 rotates along with drive pulley 16 to cause driven pulley 18 to rotate. Belt 14 can be a toothed synchronous belt.

[0069] The travel rail 20 is a rail member used to guide the door leaf 12 above it, extending along the movable direction (X-axis direction) of the door leaf 12. The suspension part 22 is a mechanism for suspending the door leaf 12 on the travel rail 20, and is provided on the upper part of the door leaf 12. The suspension part 22 has a pulley 22c that rotates on the travel rail 20, and the suspension part 22 is supported on the travel rail 20 via the pulley 22c. The door leaf 12 is connected to the belt 14 via a connecting member 12j.

[0070] A door sensor 32 is installed on a crossbar 80, etc., to detect passersby, etc. Based on the detection results of passersby, etc., from the door sensor 32, the controller 30 controls the motor 24 of the door motor 10 to open and close the door leaf 12. The controller 30 includes: a motor drive unit 28 for driving the motor 24 of the door motor 10; a control unit 26 for controlling the operation of the automatic door 100; and a detection unit 34 for detecting the status information Li of the motor 24. The detection unit 34 will be described later.

[0071] The guide rail 82 has a groove extending along the X-axis to guide the anti-vibration part 12s protruding from the lower part of the door leaf 12. When the door leaf 12 moves, the anti-vibration part 12s of the door leaf 12 rubs against the guide rail 82. A rubber seal 84 is disposed around the door leaf 12, primarily to improve airtightness. When the door leaf 12 moves, the rubber seal 84 rubs against either the movable part or the fixed part.

[0072] In this type of automatic door 100, when the motor 24 drives the drive pulley 16 to rotate, the drive pulley 16 and the driven pulley 18 rotate, and the belt 14 moves in a circular motion. As the belt 14 moves, the suspension portion 22, which is suspended from the belt 14 via the connecting member 12j, moves along the X-axis on the travel rail 20. The door leaf 12 moves together with the suspension portion 22 along the X-axis to perform the opening and closing action. By performing this action, the moving speed of the door leaf 12 (hereinafter referred to as "door speed Vd") is proportional to the rotational speed of the motor 24. When the door sensor 32 detects a person or other person, the automatic door 100 opens the door leaf 12; when the door sensor 32 does not detect a person or other person, the automatic door 100 closes the door leaf 12 at a predetermined time.

[0073] (Start action)

[0074] Reference Figure 3 To illustrate the opening action of door 12. Figure 3 This diagram illustrates an example of the shift in door speed Vd of door leaf 12 during the opening action. In this diagram, the horizontal axis represents the position of door leaf 12 from the closed position to the open position (hereinafter referred to as "door position"), and the vertical axis represents the door speed Vd of door leaf 12 and the current used to drive motor 24 (hereinafter referred to as "motor current Id"). The opening action is the action of stopping door leaf 12, which is stopped in the closed position, after it has moved to the open position. The opening action of this embodiment includes an acceleration action that accelerates door leaf 12, which is stopped in the closed position, to a predetermined first speed; a first speed control action that maintains the first speed; a deceleration action that decelerates door leaf 12 to a second speed; a second speed control action that maintains the second speed; and a door collision action that stops door leaf 12 by contacting a stop (not shown). The acceleration action, the first speed control action, the deceleration action, the second speed control action, and the door collision action are collectively referred to as "each action".

[0075] like Figure 3 As shown, the first speed is higher than the second speed, and the second speed is lower than the first speed. In the first speed control operation, the automatic door 100 maintains the speed Vd of the door leaf 12 at the first speed. This state is called the first speed control state. In the second speed control operation, the automatic door 100 maintains the speed Vd of the door leaf 12 at the second speed. This state is called the second speed control state. When referring to both the first speed control state and the second speed control state collectively, they are called "each control state".

[0076] During acceleration, the system switches to first speed control when the speed Vd reaches the first speed. During first speed control, the system switches to deceleration when the door reaches the designated position. During deceleration, the system switches to second speed control when the speed reaches the second speed. During second speed control, the door leaf 12 is moved to the open position. When the door leaf 12 reaches the open position, it stops by contacting the stop via a door collision action.

[0077] To explain in more detail. During acceleration, the supply voltage (hereinafter referred to as "motor voltage") supplied to motor 24 is controlled to maintain the relationship between the gate speed Vd and the gate position according to a predetermined acceleration curve. Pulse width modulation (PWM) is applied to the motor voltage, and the motor voltage is controlled by the duty cycle of the PWM. Alternatively, during acceleration, constant voltage control, constant current control, or constant acceleration control can be applied to motor 24. In this operation, such as... Figure 3 As shown, the motor current Id increases with the increase of the gate speed Vd.

[0078] In the first speed control action, the motor voltage is controlled to suppress any changes in speed Vd when it deviates from the first speed. At this time, constant speed control of motor 24 can be performed. This control can be based on feedback of the detected motor speed, or it can be control without feedback. The first speed can be the maximum moving speed of door leaf 12 or a speed close to the maximum moving speed of door leaf 12. In this action, such as... Figure 3 As shown, the motor current Id varies slightly, but remains roughly constant.

[0079] During deceleration, the motor voltage is controlled to maintain the door speed Vd relative to the door position according to a predetermined deceleration curve. In this operation, the motor voltage is gradually reduced, and deceleration is achieved through the sliding load of the door leaf 12, etc. During deceleration, braking torque can also be generated by a short-circuit braking action that short-circuits the back electromotive force of the motor 24, or by supplying the motor 24 with a voltage of opposite polarity to that during acceleration. Alternatively, during deceleration, the motor 24 can be controlled by constant voltage, constant current, or constant acceleration. In this operation, such as... Figure 3 As shown, the motor current Id decreases as the gate speed Vd decreases.

[0080] In the second speed control operation, the motor voltage is controlled to suppress changes in speed Vd when it changes from the second speed. At this time, constant speed control of motor 24 can be performed. In this embodiment, the door leaf 12, moving at the second speed, is stopped by abutting against the stop. To reduce the impact when the door leaf 12 abuts against the stop, the second speed can be a speed slower than the first speed, for example, a slow speed that can stop quickly. In this operation, such as... Figure 3 As shown, the motor current Id varies slightly, but remains roughly constant.

[0081] During the door collision, the door leaf 12 stops by abutting against the stop in the open position. Sometimes, the reaction force of the abutment may cause a slight change in the position of the door leaf 12. When the door leaf 12 stops in the open position, power can be supplied to the motor 24 to maintain the door leaf 12 in the open position, or the power supply to the motor 24 can be stopped. This power supply can be a temporary power supply or a continuous circuit supply.

[0082] (Close action)

[0083] The closing action is the action that moves door leaf 12 from the open position to the closed position and stops it. The difference between the closing action and the opening action is that the direction of movement of door leaf 12 is opposite. Like the opening action, the closing action includes an acceleration action, a first speed control action, a deceleration action, a second speed control action, and a door collision action. These actions are the same as those in the opening action, so repeated descriptions are omitted.

[0084] (Information Processing Department)

[0085] Next, refer to Figure 2 The information processing unit 40 will be described below. The information processing unit 40 processes the status information Li of the motor 24 to assist in the maintenance of the automatic door 100. Some or all of the components of the information processing unit 40 may be integrated with the controller 30, independently of the controller 30, or separately from the automatic door 100. In this embodiment, the acquisition unit 36 ​​and the transmission unit 38 are integrated with the controller 30 in a first block 40b, while the determination unit 42, the output unit 44, and the storage unit 40m are separated from the controller 30 in a second block 40c. As an example, the second block 40c is located in a computer at a management center that manages one or more automatic doors.

[0086] (Acquisition Department)

[0087] The acquisition unit 36 ​​is used to acquire the status information Li of the motor 24 detected by the detection unit 34. Specifically, the acquisition unit 36 ​​acquires the status information Li of the motor 24 that drives the door leaf 12 in both the first speed control state and the second speed control state. There are no particular limitations on the status information Li; in this embodiment, the status information Li is the motor current Id. In this embodiment, the acquisition unit 36 ​​acquires the status information Li from the detection result of the detection unit 34. The detection unit 34 can detect the motor current Id by measuring the voltage drop across the shunt resistor (not shown) connected in series with the motor 24.

[0088] Furthermore, the acquisition unit 36 ​​can acquire the door speed Vd based on the period and frequency of the output signal of the encoder 24e of the motor 24. Additionally, the acquisition unit 36 ​​can acquire the door position of the door leaf 12 by counting the output signals of the encoder 24e.

[0089] (Sending Department)

[0090] In this embodiment, the transmitting unit 38 transmits the acquisition result of the acquiring unit 36 ​​to the determining unit 42 via a network or data bus. In this example, the acquisition result of the acquiring unit 36 ​​is still the status information Li.

[0091] (Determination Department)

[0092] The determination unit 42 compares the status information Li acquired by the acquisition unit 36 ​​with a predetermined reference value Ls to determine information related to the maintenance of the automatic door 100. Specifically, the determination unit 42 compares the status information Li with the reference value Ls to determine information related to the maintenance of the automatic door 100. In this embodiment, the reference value Ls is a reference value set during the installation or maintenance of the automatic door 100. For example, if the deviation of the status information Li from the reference value Ls is large, the determination unit 42 determines that maintenance is required; if the deviation is small, the determination unit 42 determines that maintenance is not required. Alternatively, if the deviation is moderate, the determination unit 42 may determine that maintenance is required within a fixed period.

[0093] (Output Section)

[0094] The output unit 44 is used to output the determination result Sj of the determination unit 42 to the outside. In this example, the output unit 44 outputs the determination result Sj of the determination unit 42 to the presentation unit 48. The presentation unit 48 is used to present the determination result Sj. In this embodiment, the presentation unit 48 is disposed in the frame near the door leaf 12 and has an LED 48b. The presentation unit 48 presents the determination result by the illumination state of the LED 48b. In this example, the LED 48b is lit in green when no maintenance is required, lit in yellow when maintenance is required within a fixed period, and lit in red when maintenance is required early.

[0095] In this example, the output unit 44 outputs the determination result Sj to the information terminal 60h via the communication unit. The output unit 44 can send the determination result Sj to the information terminal 60h in the form of an email. The information terminal 60h can be a desktop information terminal or a portable information terminal for maintenance personnel. By displaying the determination result Sj on the portable information terminal 60h, maintenance personnel can easily understand any abnormalities in the automatic door 100 and the necessity of maintenance. In this case, it is also easy to explain the abnormalities and the necessity of maintenance to the owner of the automatic door.

[0096] The storage unit 40m stores the reference value Ls, status information Li, determination result Sj, threshold Lt, and switching frequency F, which will be described later.

[0097] (Benchmark value)

[0098] The reference value Ls will be explained. For example, the reference value Ls can be set to a value calculated in the design. Alternatively, the reference value Ls can also be set to the average value of the status information of multiple motors of the same type of automatic door. In this embodiment, the reference value Ls is set based on the status information Li of the motor 24 itself obtained in the past. In particular, the reference value Ls is set to the status information of the motor 24 itself obtained when the automatic door 100 is installed or maintained. The status information used as the reference value Ls can be obtained immediately after the automatic door 100 is installed or maintained, but in this example, it is the status information obtained after a predetermined number of opening and closing operations (e.g., 100 times) have been performed since the automatic door 100 was installed or maintained. The reference value Ls can be set based on the status information when a single opening and closing operation is performed, but in this example, the reference value Ls is the average value of multiple status information when multiple opening and closing operations are performed.

[0099] The reference value Ls can be a fixed value once set until the next maintenance. However, the motor's condition has temperature characteristics, increasing in low temperatures and decreasing in high temperatures. Therefore, the reference value Ls can be updated according to a prescribed season. The set or updated reference value Ls is stored in the storage unit 40m.

[0100] To quantitatively determine the magnitude of the deviation of the status information Li from the reference value Ls, it is desirable to use a threshold. Therefore, the determination unit 42 of this embodiment classifies the deviation of the status information Li from the reference value Ls using one or more thresholds Lt, and uses the classification result as the determination result Sj. In particular, the determination unit 42 is configured to issue a notification to urge maintenance (hereinafter referred to as "maintenance notification") when the deviation of the status information Li from the reference value Ls exceeds the threshold Lt.

[0101] The threshold Lt can be set to a value calculated in the design. However, the rate of wear or deterioration of the components of the automatic door varies depending on the weight of the door leaf, the magnitude of the wind pressure experienced by the door leaf, etc. Therefore, in this embodiment, the threshold Lt can be set based on a combination of at least two of the following: the weight of the door leaf 12, the area of ​​the main surface of the door leaf 12, the aspect ratio of the main surface of the door leaf 12, the installation environment of the door leaf 12 (such as a saline-alkali area), and the style of the automatic door 100. The threshold Lt is set based on factors selected from these factors according to the conditions of the installation site of the automatic door 100.

[0102] The threshold Lt can be a fixed value once set, but the rate of wear or degradation varies due to various factors. Therefore, the threshold Lt can be updated according to changes in these factors. The set or updated threshold Lt is stored in storage unit 40m.

[0103] The method for estimating maintenance periods is explained. Figure 4 , Figure 5 This is an explanatory diagram illustrating the method for estimating maintenance periods. The horizontal axis represents elapsed time, and the vertical axis represents status information. The lines marked A and B are prediction lines for changes in status information relative to elapsed time. A1 and B1 represent the timing when status information Li is probed, referred to here as the "probing period." A2 and B2 represent the timing when prediction lines A and B exceed the threshold Lt, which are the periods for issuing maintenance notifications (hereinafter referred to as the "notification period"). A3 and B4 represent the timing when prediction lines A and B reach the limit value Lg, referred to here as the "limit period." Furthermore, the limit value Lg is assumed to be a value at which a failure is highly likely to occur.

[0104] P1 and P2 represent the period from the notification period to the boundary period (hereinafter referred to as the "remaining period P"). Figure 4This shows the case where the threshold Lt is the same in prediction lines A and B, and the remaining period P1 is shorter than the remaining period P2. Figure 5 The diagram shows the cases where the threshold Lt differs in prediction lines A and B, with the remaining periods P1 and P2 being equal.

[0105] The slopes of prediction lines A and B vary depending on the rate of wear or deterioration of the components of the automatic door (hereinafter referred to as "deterioration rate D"). It is generally believed that the deterioration rate D is approximately proportional to the opening and closing frequency F of the door leaf 12, thus allowing the deterioration rate D to be replaced by the product of a proportionality constant k and the opening and closing frequency F. In other words, prediction line A has a higher opening and closing frequency F and a faster deterioration rate D compared to prediction line B, therefore the remaining period is shorter. Based on this, the remaining period P can be calculated using the threshold value Lg, the threshold value Lt, and the deterioration rate D as shown in Equation 1.

[0106] Remaining period P = (Boundary value Lg - Threshold Lt) / Degradation rate D … (Equation 1)

[0107] When the degradation rate D is replaced by the product of the proportionality constant k and the switching frequency F, Equation 2 is derived.

[0108] Remaining period P = (boundary value Lg - threshold Lt) / (k·switching frequency F) …(Equation 2)

[0109] Equation 2 allows setting the remaining period P based on the switching frequency F.

[0110] When maintenance notifications are issued at intervals with a short remaining period P, as in prediction line A, it may be too late to perform maintenance. Therefore, it is desirable to issue maintenance notifications at intervals with a sufficient remaining period P. Thus, in this embodiment, a threshold Lt is set based on the switching frequency F to issue maintenance notifications at intervals where the remaining period P reaches a fixed period. This fixed period can be, for example, 3 months, 6 months, 12 months, etc.

[0111] Figure 5 This illustrates the case where the threshold Lt is varied based on the switching frequency F. In this example, the threshold Lt is reduced in prediction line A (high switching frequency F) compared to prediction line B (low switching frequency F). As a result, the remaining period P1 is approximately equal to the remaining period P2. The threshold Lt used to fix this remaining period P can be determined based on the threshold value Lg, the remaining period P, and the degradation rate D as described in Equation 3.

[0112] Threshold Lt = Limit value Lg - Remaining period P · Deterioration rate D…(Equation 3)

[0113] When the degradation rate D is replaced by the product of the proportionality constant k and the switching frequency F, Equation 4 is derived.

[0114] Threshold Lt = Limit value Lg - Remaining period P·(k·Switching frequency F)…(Equation 4)

[0115] Equation 4 allows us to set the threshold Lt based on the switching frequency F.

[0116] The switching frequency F, substituted into Equations 2 and 4 above, is initially set as one of the parameters. The switching frequency F can remain fixed in its initial setting. However, the switching frequency F sometimes varies greatly depending on the season or between busy and off-peak periods. Therefore, in this embodiment, the switching frequency F is updated at a predetermined interval. For example, the update interval of the switching frequency F is set according to the period of change in the switching frequency of the automatic door, such as 1 month, 3 months, or 6 months. The set or updated switching frequency F is stored in the storage unit 40m.

[0117] Depending on the location of deterioration in the components of the automatic door, the status information sometimes exhibits characteristic behavior. Therefore, the determination unit 42 in this embodiment also evaluates the changes in the status information Li of the motor 24. In this example, frequency analysis is performed on the changes in the status information Li to extract the rotational periodic components of the pulley 22c, the drive pulleys 16 and 18, and the motor 24. If these rotational periodic components are detected significantly, it can be determined that the components associated with that rotational period have deteriorated. This frequency analysis can be achieved by performing a Fourier transform on the status information Li stored in the storage unit 40m in a time sequence. Furthermore, if non-periodic components are detected significantly, deterioration of the travel rail 20, belt 14, vibration damping part 12s, guide rail 82, rubber seal 84, etc., is considered.

[0118] Depending on the location of the deterioration in the components of the automatic door, characteristic behaviors may occur at low speeds. Therefore, in this embodiment, the acquisition unit 36 ​​also acquires the status information Li of the motor 24 when the door leaf 12 is maintained at a second speed lower than the first speed under a second speed control state. When the status information Li of the first speed and the second speed changes proportionally to the speed Vd of the door leaf 12, it can be determined that the motor 24's magnet (not shown) or coil (not shown) has deteriorated; when the status information Li of the first speed and the second speed changes disproportionately to the speed Vd of the door leaf 12, it can be determined that the mechanism system has deteriorated.

[0119] Depending on the location of the deterioration in the components of the automatic door, characteristic behaviors may occur during deceleration control. Therefore, the acquisition unit 36 ​​of this embodiment also acquires the state information Li of the motor 24 during the deceleration control state where deceleration is initiated from the first speed. When the deceleration is large, it can be determined that the mechanism system is deteriorating; when the deceleration is small, it can be determined that the magnets and coils of the motor 24 are deteriorating.

[0120] In this automatic door maintenance assistance system 1, opening and closing actions are performed at predetermined time intervals to acquire the status information Li of the motor 24. The acquired status information Li is then compared with a reference value Ls to determine information related to the maintenance of the automatic door 100. This action can be performed as a timed action, such as when the automatic door 100 starts or stops working. The determination result Sj is presented on the display unit 48 or the information terminal 60h. Maintenance personnel, managers, etc., can use the presented determination result Sj to confirm whether maintenance is required and to create a maintenance plan.

[0121] Furthermore, the state information Li and the determination result Sj can be stored in a time series. Characteristics such as the deterioration rate of the automatic door 100 can be determined based on the time-series stored state information Li.

[0122] The above is a description of the first embodiment.

[0123] [Second Implementation]

[0124] Reference Figure 6 The structure of the automatic door maintenance assistance system 2 according to the second embodiment of the present invention will be described below. Figure 6 This is a block diagram that schematically illustrates the automatic door maintenance assistance system 2, and... Figure 2 Correspondingly, in the accompanying drawings and descriptions of the second embodiment, structural elements and components that are the same or equivalent to those in the first embodiment are labeled with the same reference numerals. Descriptions that are repeated in the first embodiment are appropriately omitted, and the focus is on describing structures that differ from the first embodiment.

[0125] In the second embodiment, the acquisition unit 36 ​​and the transmission unit 38 are located near the automatic door 100, and the determination unit 42, the output unit 44, and the storage unit 40m are located in the cloud server 50. In this embodiment, the transmission unit 38 transmits the acquisition result (status information Li) of the acquisition unit 36 ​​to the cloud server 50 via the network NW. In this embodiment, the output unit 44 outputs the determination result Sj of the determination unit 42 to the information terminal 60h via the network NW. The second embodiment differs from the first embodiment in these respects, but the other structures are the same.

[0126] The second embodiment, configured in this way, operates in the same manner as the first embodiment and achieves the same effect.

[0127] [Third Implementation Method]

[0128] Reference Figure 7 The structure of the automatic door device 200 according to the third embodiment of the present invention will be described below. Figure 7 This is a block diagram that schematically shows the automatic door device 200, and... Figure 2Correspondingly, in the accompanying drawings and descriptions of the third embodiment, structural elements and components that are the same or equivalent to those in the first embodiment are labeled with the same reference numerals. Descriptions that are repeated in the first embodiment are appropriately omitted, and the focus is on describing structures that differ from the first embodiment.

[0129] In the third embodiment, the acquisition unit 36, the determination unit 42, the output unit 44, and the storage unit 40m are provided in or near the automatic door 100. They can be integrated with the controller 30. In particular, the functions of the acquisition unit 36 ​​and the determination unit 42 are implemented in hardware by a computer 40e, and in software by a program 40p of the computer 40e.

[0130] Figure 8 This is a flowchart illustrating the processing S80 of program 40p. Processing S80 of program 40p includes: step S82, acquiring status information Li of the motor 24 driving the door leaf 12 while the door leaf 12 of the automatic door 100 is in a first speed control state; and step S84, comparing the acquired status information Li with a reference value Ls to determine information related to the maintenance of the automatic door 100. The actions of steps S82 and S84 are the same as those of the acquisition unit 36 ​​and the determination unit 42 described above, and repeated explanations are omitted.

[0131] [Third Implementation Method]

[0132] Reference Figure 9 , Figure 10 The structure of the automatic door maintenance assistance system 1000 according to the third embodiment of the present invention will be described below. Figure 9 This is a front view of an automatic door 100 that schematically illustrates the automatic door maintenance assistance system 1000 according to the third embodiment. Figure 10 This is a block diagram that provides a summary view of the automatic door maintenance assistance system 1.

[0133] like Figure 9 , Figure 10 As shown, the automatic door maintenance assistance system 1000 includes a maintenance assistance device 140, a determination unit 150, and a display unit 160, to replace... Figure 1 , Figure 2 The automatic door maintenance assistance system 1 has an information processing unit 40. The automatic door 100 is driven by a motor 24 to open and close the door leaf 12. The automatic door maintenance assistance system 1000 has the same structure as the automatic door maintenance assistance system 1, except for the information processing unit 40.

[0134] (Maintenance auxiliary device)

[0135] The maintenance assistance device 140 will be described below. The maintenance assistance device 140 acquires the status information of the motor 24 to assist in the maintenance of the automatic door 100. The maintenance assistance device 140 can be integrated with the controller 30, independently of the controller 30, or separately from the automatic door 100. The maintenance assistance device 140 of this embodiment includes an acquisition unit 136 for acquiring the status information Mi of the motor 24, an output unit 138 for outputting the acquired status information Mi of the motor 24, and a storage unit 140m for storing the acquired status information Mi of the motor 24.

[0136] There are no particular limitations on the status information Mi of the motor 24. The status information Mi may include, for example, at least one of the following: the supply voltage (voltage Em) of the motor 24, the drive current, the rotational speed, the rotational position, vibration, and temperature. In this embodiment, the acquisition unit 136 acquires the status information Mi from the detection results of the detection unit 134. The detection unit 134 of this embodiment includes a voltage sensor 134a for detecting the supply voltage of the motor 24, a current sensor 134b for detecting the drive current of the motor 24, a speed sensor 134c for detecting the speed of the motor 24, a vibration sensor 134d for detecting the vibration of the motor 24, and a temperature sensor 134e for detecting the temperature of the motor 24.

[0137] The acquisition unit 136 in this embodiment includes a voltage acquisition unit 136a for acquiring the detection results of a voltage sensor 134a, a current acquisition unit 136b for acquiring the detection results of a current sensor 134b, a speed acquisition unit 136c for acquiring the detection results of a speed sensor 134c, a vibration acquisition unit 136d for acquiring the detection results of a vibration sensor 134d, and a temperature acquisition unit 136e for acquiring the detection results of a temperature sensor 134e.

[0138] Voltage sensor 134a detects voltage Em based on the duty cycle of voltage Em of motor 24.

[0139] The current sensor 134b detects the drive current of the motor 24 by measuring the voltage drop across a resistor (not shown, sometimes referred to as a shunt resistor) connected in series with the motor 24.

[0140] The speed sensor 134c obtains the speed Vm (rotation speed) of the motor 24 based on the period and frequency of the output signal of the encoder (Hall IC) mounted on the motor 24.

[0141] Furthermore, since the door speed Vd is proportional to the speed Vm of the motor 24, it can be said that the speed sensor 134c detects the door speed Vd.

[0142] In addition, the rotational position of the motor 24 can be obtained by counting the output signals of the encoder.

[0143] In this case, it is also possible to detect the rotational position of the motor 24 involving multiple revolutions. In addition, the door position (stroke value Sd) corresponds to the rotational position of the motor 24, so the door position can be obtained by counting the output signals of the encoder.

[0144] In this embodiment, the temperature sensor 134e can be a sensor built into the IPM that drives the motor 24. The IPM can have motor protection functions such as overheat protection, short circuit protection, overcurrent protection, and abnormal control power supply protection.

[0145] It can be set to always acquire status information Mi, but in this case, the amount of information acquired increases, and the storage capacity of the 140m required to store the status information Mi increases, which is disadvantageous in terms of size and cost.

[0146] Therefore, in this embodiment, the status information Mi is acquired at predetermined intervals in each speed zone. By doing so, the amount of information in Mi can be reduced, thus suppressing the capacity of the storage unit 140m.

[0147] Status information Mi can be acquired at multiple time points within each speed zone. For example, in each speed zone, status information Mi can be acquired at a time point corresponding to the midpoint of a specified stroke value Sd and at the end of each speed zone. In this case, since diagnosis is performed using information from multiple time points, the accuracy of diagnosis regarding the presence or absence of abnormalities and the need for maintenance can be improved. Furthermore, since multiple points are used instead of a single point to evaluate the status information Mi within the speed zone, various information related to the motor 24 can be obtained, such as calculating power consumption based on the voltage at multiple points.

[0148] In this embodiment, the maintenance assistance device 140 acquires status information Mi at the timed end of each speed zone. The end of a speed zone can be the time of switching between multiple speed zones.

[0149] The maintenance assistance device 140 can acquire status information Mi whenever an opening operation is performed, at a predetermined event, or at a predetermined time. In this embodiment, status information Mi is acquired during the start-up inspection of the automatic door 100. For example, status information Mi can be acquired when switching the automatic door from a non-operating state to an operational state and performing several test runs. In this case, the influence of temperature differences in the motor, etc., caused by differences in the previous operating conditions can be reduced. In addition, when continuous operation is not in a non-operating state, status information Mi can be acquired periodically during periods of low operating rate, such as in the morning. The acquisition of status information Mi can also be inserted into the control timing of the start-up inspection, and the acquisition action can be automatically performed when the start-up inspection begins.

[0150] The maintenance assistance device 140 stores the acquired status information Mi in the storage unit 140m. The maintenance assistance device 140 outputs the stored status information Mi to the determination unit 150 (described later) via the communication unit.

[0151] Next, before explaining the determination section 150, the characteristic changes of the automatic door 100 when the constituent elements deteriorate will be explained.

[0152] First, refer to Figure 11 This section explains the change in the door speed Vd of the automatic door 100 when the motor 24 deteriorates and its capacity decreases. As the capacity of the motor 24 decreases, factors such as demagnetization of the excitation magnet (not shown) are considered. In this case, the torque constant (the ratio of generated torque to drive current) decreases. Figure 11 This is a graph showing the door speed Vd and voltage Em for the door leaf 12 during its opening operation, representing the travel distance Sd (hereinafter referred to as "travel value Sd") from the closed position to the open position. The solid line in this graph represents the door speed Vd(A) and voltage Em(A) of the automatic door 100(A) in its initial state before motor 24 deteriorates. The dashed line in this graph represents the door speed Vd(B) and voltage Em(B) of the automatic door 100(B) in a state where the capacity of motor 24 is reduced.

[0153] according to Figure 11 The speed / voltage curve relative to the stroke can be used for the following diagnostics.

[0154] (1) In the automatic door 100(B), due to the low capability of the motor 24, the voltage Em(B) of the automatic door 100(B) is higher than the voltage Em(A) of the automatic door 100(A) in the high-speed zone.

[0155] (2) In the automatic door 100(B), due to the low capability of the motor 24, the door speed Vd(B) of the automatic door 100(B) corresponding to the same stroke value Sd is lower than the door speed Vd(A) of the automatic door 100(A) in the acceleration zone.

[0156] (3) In the automatic door 100(B), due to abnormal control until the end of acceleration, the travel value Sd(B) of the automatic door 100(B) at the end of acceleration (when the first speed is reached) is longer than the travel value Sd(A) of the automatic door 100(A). The cause of this abnormal control can be determined to be a decrease in the capacity of the motor 24.

[0157] In this way, according to this embodiment, the reduced capability (deterioration) of the motor 24 can be diagnosed based on the state information Mi of the motor 24, such as the gate speed Vd and voltage Em of each speed zone.

[0158] Next, refer to Figure 12 This explains the change in the door speed Vd of the automatic door 100 when the travel resistance of the door leaf 12 increases due to wear of the pulley 22c, etc. Figure 5 This is a graph showing the door speed Vd and voltage Em for the travel value Sd of the door leaf 12 during the opening operation. The solid line in the graph represents the door speed Vd(A) and voltage Em(A) of the automatic door 100(A) in the initial state when the pulley 22c has not yet worn. The dashed line in the graph represents the door speed Vd(C) and voltage Em(C) of the automatic door 100(C) when the pulley 22c has worn.

[0159] according to Figure 12 The speed / voltage curve relative to the stroke can be used for the following diagnostics.

[0160] (1) In the automatic door 100(C), due to the high travel resistance, the voltage Em(C) of the automatic door 100(C) is higher than the voltage Em(A) of the automatic door 100(A) in the acceleration zone and high speed zone.

[0161] (2) In the automatic door 100(C), due to the high travel resistance, the door speed Vd(C) of the automatic door 100(C) corresponding to the same travel value Sd is lower than the door speed Vd(A) of the automatic door 100(A) in the acceleration zone.

[0162] (3) In the automatic door 100(C), due to abnormal control until the end of acceleration, the travel value Sd(C) of the automatic door 100(C) at the end of acceleration (when the first speed is reached) is longer than the travel value Sd(A) of the automatic door 100(A). The cause of this abnormal control can be determined to be high travel resistance.

[0163] In this way, according to this embodiment, the increase in travel resistance caused by wear of pulley 22c can be diagnosed based on the state information Mi of motor 24 such as gate speed Vd and voltage Em in each speed zone.

[0164] In addition, in the Figure 11 , Figure 12 When comparisons are made, such as Figure 12 As shown by arrow 4, the voltage Em varies in the deceleration zone. That is, even in the deceleration zone, when the capacity of motor 24 decreases, voltage Em(B) is significantly greater than voltage Em(A). On the other hand, when the travel resistance is high, the motor will be decelerated due to this resistance, so under the condition of a fixed deceleration, voltage Em(C) can be less than voltage Em(B). Therefore, in this embodiment, it is possible to determine which component's health condition has decreased based on the magnitude of the voltage Em in the deceleration zone.

[0165] (Determination Department)

[0166] Next, refer to Figure 9 , Figure 10 The determination unit 150 will be described below. The determination unit 150 can be integrated with the controller 30 or the maintenance assistance device 140, can be installed independently of the controller 30 or the maintenance assistance device 140, or can be installed separately from the automatic door 100. The determination unit 150 can be connected to the controller 30 or the maintenance assistance device 140 via a data bus or a communication network. This data bus or network can be wired or wireless. Furthermore, the communication network can be a public line or a dedicated line. In this embodiment, the determination unit 150 is installed in a computer located in a management center and connected to the maintenance assistance device 140 via a communication network NW. In this case, multiple automatic doors can be maintained using a single computer. The communication network NW can include the Internet.

[0167] The determination unit 150 determines the status information Di of the automatic door 100 based on the status information Mi of the motor 24 to assist in the maintenance of the automatic door 100. The status information Di of the automatic door 100 is information related to the status of the automatic door 100, such as information related to the maintenance of the automatic door 100. In this embodiment, the status information Di of the automatic door 100 is information related to the necessity of maintenance, such as whether maintenance is required or the time when maintenance should be performed. In this embodiment, the determination unit 150 compares the motor status information Mi obtained by the acquisition unit 136 with a predetermined reference value Si to determine the status information Di of the automatic door. In this case, compared to diagnosing based solely on the number of opening and closing operations, the status information Di of the automatic door 100 can be determined with high accuracy.

[0168] The determination unit 150 includes a second storage unit 152 and a calculation unit 154. The second storage unit 152 stores a reference value Si, the acquired state information Mi of the motor 24, and the determined state information Di of the automatic door 100. The calculation unit 154 determines the state information Di of the automatic door 100 based on the reference value Si and the state information Mi of the motor 24.

[0169] The reference value Si can be set based on the status information of the motors of other automatic doors with the same structure as the automatic door 100. In this embodiment, the reference value Si is set based on the status information Mi of the motor 24 previously obtained for the automatic door 100 itself. In this case, the influence of errors caused by manufacturing deviations of the automatic door, configuration deviations during installation, etc., can be reduced, thus improving the accuracy of determining the status information Di of the automatic door 100.

[0170] As an example, the reference value Si can be set based on the status information Mi obtained when the door leaf 12 has been opened a predetermined number of times (e.g., 100 times, 1000 times) since the automatic door 100 was set. In this case, since it is done after adjustments and trial runs, it is less affected by the mechanical break-in process in the initial stage.

[0171] In this embodiment, the reference value Si is set based on the status information Mi obtained during the 100th to 300th operation from the start of setup. In this case, since the reference value Si is set during the operation confirmation after setup, the set reference value Si can also be confirmed at this time. The reference value Si can be set by the setup operator or it can be set automatically. Furthermore, setting it in this way at the beginning of setup is sometimes referred to as the initial setting of the reference value Si.

[0172] The status information Mi of motor 24 sometimes exhibits temperature characteristics, thus considering that the status information Mi of motor 24 may vary depending on the season, such as summer or winter. Changes in status information Mi may also occur when parts or mechanisms are replaced during maintenance, or when the voltage of the commercial power supply changes. While considering such changes to increase the margin for diagnosis, this could potentially reduce diagnostic accuracy. Therefore, in this embodiment, the reference value Si is updated based on the status information Mi of motor 24 previously acquired for automatic door 100. Furthermore, this update is sometimes referred to as the update of the reference value Si.

[0173] In this embodiment, the baseline value Si is updated according to a calendar system such as seasonal changes. Furthermore, the baseline value Si is updated based on the status information Mi from the 100th to the 300th maintenance cycle. Updates to the baseline value Si can be performed automatically, by operator intervention, or based on instructions from external sources such as the management center.

[0174] Next, an example will be described of determining information (status information Di) related to the necessity of maintenance of the automatic door 100 by comparing the status information Mi of the motor 24 with the reference value Si. The calculation unit 154 can calculate the difference (hereinafter referred to as "deviation") between the acquired status information Mi of the motor 24 and the reference value Si stored in the second storage unit 152. The calculation unit 154 can also calculate the ratio of the deviation to the reference value Si (hereinafter referred to as "deviation rate"). The determination unit 150 can also set the deviation rate as the status information Di.

[0175] The calculation unit 154 can classify the deviation rate based on one or more thresholds. By using the classification results of the deviation, the necessity for maintenance of the automatic door 100 can be accurately diagnosed. For example, the first threshold can be set to 10%, the second threshold to 20%, and the third threshold to 30%. In this case, if the deviation rate is less than 10%, it can be classified as level 1; if the deviation rate is more than 10% but less than 20%, it can be classified as level 2; if the deviation rate is more than 20% but less than 30%, it can be classified as level 3; and if the deviation rate is more than 30%, it can be classified as level 4. The determination unit 150 can use the level as the classification result as status information Di.

[0176] The degree of necessity for maintenance of the automatic door 100 can be preset according to the classification results. An example of the degree of necessity for maintenance is shown below. Level 1: No need to replace parts. Level 2: Low need for replacement now, but attention is required. Level 3: Need for replacement; replacement within a specified period (e.g., within six months) is recommended. Level 4: High need for replacement; timely replacement is recommended. The determination unit 150 stores the determination result determined by the calculation unit 154 in the second storage unit 152. The stored determination result may include at least one of the deviation rate, classification result, and degree of necessity for maintenance.

[0177] (Presentation Department)

[0178] Next, the presentation unit 160 will be described. The presentation unit 160 is used to present the status information Di of the automatic door determined by the determination unit 150. Presenting the status information Di may include at least one of displaying status information Di, printing status information Di, and transmitting status information Di via a communication network NW. The presentation unit 160 of this embodiment includes a liquid crystal display 160m that displays the status information Di and a portable display 160h capable of displaying the status information Di. The status information Di can be transmitted from the determination unit 150 to the liquid crystal display 160m via a wired or wireless means. The portable display 160h can be a device carried by maintenance personnel. The status information Di can be transmitted from the determination unit 150 to the portable display 160h via the communication network NW.

[0179] By displaying status information Di on the LCD screen 160m, operators can easily grasp the necessity of maintenance for each automatic door 100. Furthermore, by displaying status information Di on a portable display 160h carried by maintenance personnel in scenarios such as maintenance, periodic inspections, or business operations, the necessity of maintenance for the automatic door 100 can be easily grasped. In this case, maintenance personnel can quickly present the status information Di to customers, thus reducing wasted time and providing information promptly. Additionally, by printing the status information Di using the printer 160p, explanations to customers become simple.

[0180] The above description is based on various embodiments of the present invention. These embodiments are illustrative, and those skilled in the art will understand that various modifications and alterations can be made within the scope of the claims of the present invention, and such modifications and alterations are also included within the scope of the claims of the present invention. Therefore, the descriptions and drawings in this specification should be considered illustrative rather than limiting.

[0181] [Variation Example]

[0182] The following describes the modified examples. In the accompanying drawings and descriptions of the modified examples, structural elements and components that are the same as or equivalent to those in the embodiment are labeled with the same reference numerals. Descriptions that are repeated in the embodiment are omitted where appropriate, and the focus is on describing structures that differ from the first embodiment.

[0183] In the description of the first embodiment, an example is shown where the determination unit 42 uses a single threshold for determination; however, the present invention is not limited thereto. Alternatively, the determination unit may provide maintenance information obtained by classifying state information using multiple thresholds.

[0184] In the description of the first embodiment, an example is shown where the status information Li is the motor current Id, but the present invention is not limited thereto. For example, a torque sensor capable of detecting the torque of the motor 24 may also be provided, and the status information Li may be the detection result of the torque sensor.

[0185] In the description of the first embodiment, an example of using a shunt resistor to detect the motor current Id is shown, but the present invention is not limited thereto. For example, the duty cycle of the motor voltage can also be used to detect the motor current Id.

[0186] In the description of the first embodiment, an example is shown where the door speed Vd includes an acceleration control state, a first speed control state, a deceleration control state, and a second speed control state; however, the present invention is not limited thereto. For example, the door speed Vd may also exclude one or both of the deceleration control state and the second speed control state. In this case, the door leaf 12 may be configured to stop by abutting against a stop member in the first speed control state.

[0187] In the description of the first embodiment, an example is shown where the door leaf 12 moves horizontally in a predetermined direction; however, the present invention is not limited thereto. The door leaf 12 can simply open and close a predetermined opening, and for example, it can also be a door leaf that rotates in a predetermined direction.

[0188] In the description of the first embodiment, an example of using a belt 14 to drive the door leaf 12 is shown, but the present invention is not limited thereto. The door leaf 12 can also be driven by known driving means such as chains and sprockets, wire ropes and pulleys, racks and gears, ball screws and nuts.

[0189] In the description of the embodiments, examples are shown where the door speed Vd includes an acceleration zone, a high-speed zone, a deceleration zone, and a low-speed zone; however, the invention is not limited thereto. For example, the door speed Vd may also exclude one or both of the deceleration zone and the low-speed zone. In this case, the door leaf 12 may be configured to stop by abutting against the stop in the high-speed zone.

[0190] In the description of the embodiments, an example is shown where the detection unit 134 includes a voltage sensor 134a, a current sensor 134b, a speed sensor 134c, a vibration sensor 134d, and a temperature sensor 134e; however, the present invention is not limited to this. The detection unit 134 may also omit some of these sensors. Furthermore, the detection unit 134 may also include other types of sensors to replace all of them.

[0191] In the description of the embodiments, an example is shown where the acquisition unit 136 includes a voltage acquisition unit 136a, a current acquisition unit 136b, a velocity acquisition unit 136c, a vibration acquisition unit 136d, and a temperature acquisition unit 136e; however, the present invention is not limited to this. The acquisition unit 136 may also omit some of these acquisition units. Furthermore, the acquisition unit 136 may also include other types of acquisition units to replace all of them.

[0192] The above-described variations have the same function and effect as the first embodiment.

[0193] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. New embodiments resulting from such combinations combine the effects of both the combined embodiments and modifications.

[0194] Industrial availability

[0195] This invention relates to an automatic door maintenance assistance system, an automatic door maintenance assistance device, an automatic door device, an automatic door maintenance assistance method, and a procedure.

[0196] Explanation of reference numerals in the attached figures

[0197] 1, 2: Automatic door maintenance auxiliary system; 10: Door motor; 12: Door leaf; 14: Belt; 24: Motor; 26: Control unit; 34: Detection unit; 36: Acquisition unit; 38: Transmission unit; 40: Information processing unit; 40e: Computer; 40m: Storage unit; 40p: Program; 42: Determination unit; 44: Output unit; 48: Presentation unit; 50: Cloud server; 60h: Information terminal; 100: Automatic door; 138: Output unit; 150: Determination unit; 160: Presentation unit; 200: Automatic door device.

Claims

1. An automatic door maintenance auxiliary system, comprising: The acquisition unit acquires state information of the motor driving the door leaf in at least one of the following control states: an acceleration control state in which the door leaf of the automatic door is accelerated to a predetermined first speed; a first speed control state in which it is maintained at the first speed; a deceleration control state in which it is decelerated to a second speed lower than the first speed; and a second speed control state in which it is maintained at the second speed; and The determination unit compares the acquired motor status information with pre-determined reference values ​​to determine information related to the maintenance of the automatic door. in, The determining unit classifies the acquired motor status information based on multiple thresholds, and determines information related to the maintenance of the automatic door based on the classification results. The determining unit uses a threshold set based on a combination of the door's installation environment and the automatic door's style to make the determination. The motor's status information includes at least one of the following: voltage, current, speed, vibration, and temperature.

2. The automatic door maintenance auxiliary system according to claim 1, wherein, In at least one of the acceleration control state, the first speed control state, the deceleration control state, and the second speed control state, the motor's status information is acquired at multiple time intervals.

3. The automatic door maintenance auxiliary system according to claim 1, wherein, The motor's status information is acquired during the switching between the acceleration control state, the first speed control state, the deceleration control state, and the second speed control state.

4. The automatic door maintenance auxiliary system according to any one of claims 1 to 3, wherein, The baseline value is set or updated based on the motor status information obtained in the past.

5. The automatic door maintenance auxiliary system according to claim 1, wherein, It also includes a display unit for displaying the determined state of the automatic door.

6. The automatic door maintenance auxiliary system according to claim 4, wherein, The reference value is set based on the motor's status information obtained after a predetermined number of switching actions.

7. The automatic door maintenance auxiliary system according to claim 1, wherein, The determining unit estimates the period during which maintenance should be performed based on the frequency of opening and closing of the door.

8. The automatic door maintenance auxiliary system according to claim 7, wherein, The switching frequency is updated at specified intervals.

9. The automatic door maintenance auxiliary system according to claim 1 or 6, wherein, It also includes a presentation unit, which is used to present the determination result of the determination unit. The presentation section is located near the door leaf.

10. The automatic door maintenance auxiliary system according to claim 1 or 6, wherein, It also has an output unit that outputs the determination result of the determination unit.

11. The automatic door maintenance auxiliary system according to claim 1 or 6, wherein, It also includes a sending unit, which sends the acquisition results from the acquisition unit to the cloud server. The acquisition unit is located in or near the automatic door. The determining unit is located on the cloud server.

12. An auxiliary method for automatic door maintenance, comprising the following steps: In at least one of the following control states: acceleration control state in which the door leaf of the automatic door is accelerated to a predetermined first speed, first speed control state in which it is maintained at the first speed, deceleration control state in which it is decelerated to a second speed lower than the first speed, and second speed control state in which it is maintained at the second speed, the state information of the motor driving the door leaf is obtained. as well as The acquired motor status information is compared with a predetermined baseline value to determine information related to the maintenance of the automatic door. The acquired motor status information is classified based on multiple thresholds, and information related to the maintenance of the automatic door is determined based on the classification results. The determination is made using a threshold set based on a combination of the door's installation environment and the automatic door's style. The motor's status information includes at least one of the following: voltage, current, speed, vibration, and temperature.

13. An auxiliary method for automatic door maintenance, comprising the following steps: In at least one of the following control states: an acceleration control state where the automatic door leaf is accelerated to a predetermined first speed, a first speed control state where it is maintained at the first speed, a deceleration control state where it is decelerated to a second speed lower than the first speed, and a second speed control state where it is maintained at the second speed, the behavior of electrical values ​​related to the motor driving the door leaf is monitored; and The electrical values ​​are compared with predetermined benchmark values ​​to determine information related to the maintenance of the automatic door, and the electrical values ​​are categorized based on threshold values. in, The acquired electrical values ​​are classified based on multiple thresholds, and information related to the maintenance of the automatic door is determined based on the classification results. The determination is made using a threshold set based on a combination of the door's installation environment and the automatic door's style. The electrical data includes at least one of the following: voltage, current, speed, vibration, and temperature of the motor.

14. An automatic door device, comprising: Including the door opening and closing mechanism; The drive mechanism uses a motor to drive the door leaf to open and close; The control unit controls the motor; The acquisition unit acquires the motor's status information while the control unit maintains the door leaf at a predetermined speed; as well as The determination unit determines the anomaly of the door leaf based on the acquired status information and a pre-determined benchmark value. The determining unit classifies the acquired motor status information based on multiple thresholds, and determines information related to the maintenance of the automatic door based on the classification results. The determining unit uses a threshold set based on a combination of the door's installation environment and the automatic door's style to make the determination. The motor's status information includes at least one of the following: voltage, current, speed, vibration, and temperature.

15. An auxiliary method for automatic door maintenance, comprising the following steps: The status information of the motor driving the door leaf is acquired when the door leaf of the automatic door is kept at a specified speed under speed control conditions. as well as The abnormality of the automatic door is determined based on the acquired status information and the pre-determined baseline value. The acquired motor status information is classified based on multiple thresholds, and information related to the maintenance of the automatic door is determined based on the classification results. The determination is made using a threshold set based on a combination of the door's installation environment and the automatic door's style. The motor's status information includes at least one of the following: voltage, current, speed, vibration, and temperature.

16. A storage medium having a program stored thereon, the program being used to cause a computer to execute an automatic door maintenance assistance method, the automatic door maintenance assistance method comprising the following steps: The status information of the motor driving the door leaf is acquired when the door leaf of the automatic door is kept at a specified speed under speed control conditions. as well as The abnormality of the automatic door is determined based on the acquired status information and the pre-determined baseline value. The acquired motor status information is classified based on multiple thresholds, and information related to the maintenance of the automatic door is determined based on the classification results. The determination is made using a threshold set based on a combination of the door's installation environment and the automatic door's style. The motor's status information includes at least one of the following: voltage, current, speed, vibration, and temperature.

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