Driving device

Abstract

To provide a driving device capable of actualizing control to assist a flat plate-like member such as a door in moving while simplifying the structure of the flat plate-like member.SOLUTION: A driving device 20 comprises: a motor 22; a driving mechanism 23 which transmits the torque of the motor 22 to a flat plate-like member; a sensor which detects operating force applied to the flat plate-like member when a user moves the flat plate-like member through manual operation; and a control part 21 which controls the motor 22 based upon the detected operating force to apply force assisting in moving to the flat plate-like member. The sensor is provided for the driving mechanism 23.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a drive device. [Background technology]

[0002] Conventionally, various technologies relating to opening and closing doors have been proposed. Patent Document 1 discloses a door opening and closing system that uses the output of a motor to assist the operation force of a person. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-278444 A Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention provides a drive device that can realize control to assist the movement of a flat member such as a door while simplifying the structure of the flat member. [Means for solving the problem]

[0005] A drive device according to one embodiment of the present invention includes a motor, a drive mechanism that transmits the torque of the motor to a flat-plate member, a sensor that detects an operating force applied to the flat-plate member when a user manually moves the flat-plate member, and a control unit that controls the motor based on the detected operating force, thereby applying a force to the flat-plate member to assist the movement, and the sensor is provided in the drive mechanism. Effect of the Invention

[0006] A drive device according to an aspect of the present invention can realize control for assisting the movement of a flat-plate member while simplifying the structure of the flat-plate member. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing a configuration of a door opening / closing control system according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing an example of the structure of the drive mechanism. [Diagram 3] FIG. 3 is a flowchart of the assist control. [Figure 4] FIG. 4 is a diagram showing an example of a relational expression for determining the moving speed of the door in the assist control. [Diagram 5] FIG. 5 is a cross-sectional view showing an example of the internal structure of the connection portion. [Figure 6] FIG. 6 is a cross-sectional view showing another example of the internal structure of the connection portion. [Figure 7] FIG. 7 is a diagram showing an example of a sensor for sensing the expansion and contraction of a belt. [Figure 8] FIG. 8 is a diagram showing an example of a sensor that senses the torque of a motor from outside the motor. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, the embodiments will be described in detail with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component arrangement and connection forms, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present invention. In addition, among the components in the following embodiments, components that are not described in the independent claims will be described as optional components.

[0009] In addition, each drawing is a schematic diagram and is not necessarily a precise illustration. In each drawing, the same reference numerals are used for substantially the same configurations, and duplicated explanations may be omitted or simplified.

[0010] (Embodiment) [composition] First, the configuration of a door opening / closing control system according to an embodiment will be described. Fig. 1 is a diagram showing the configuration of a door opening / closing control system according to an embodiment. Fig. 1 also shows a schematic diagram of the rough layout of each component.

[0011] As shown in FIG. 1, a door opening / closing control system 10 according to the embodiment is a system that controls a door 80. The door 80 is a so-called sliding door installed in a building such as a house. The door 80 is, for example, a front door. The building in which the door 80 is installed and the installation position of the door 80 are not particularly limited. The door 80 may be realized as a door dedicated to the door opening / closing control system 10, or may be realized by modifying an existing door.

[0012] The door 80 is provided with an operating unit 81. The operating unit 81 is a portion that is manually operated by a user to manually open or close the door 80. The operating unit 81 has, for example, a groove structure (handle) into which the user puts his / her hand to perform manual operation. The operating unit 81 may have a handle (or knob) that the user grips to perform manual operation. The handle is, for example, an elongated structure extending in the vertical direction.

[0013] The door opening / closing control system 10 specifically includes a drive device 20 and an electric lock unit 40. The drive device 20 is installed inside a door frame, and the electric lock unit 40 is installed on a door 80.

[0014] First, a description will be given of the driving device 20. The driving device 20 includes a control unit 21, a motor 22, and a driving mechanism 23.

[0015] The control unit 21 performs control (information processing) related to the opening and closing of the door 80. The control unit 21 is, for example, an integrated circuit (IC) dedicated to driving the motor 22, and includes a processor, a memory, a PWM (Pulse Width Modulation) circuit, and a three-phase inverter circuit. The functions of the control unit 21 are realized, for example, by the processor executing a computer program stored in the memory.

[0016] The motor 22 rotates a drive pulley included in the drive mechanism 23 based on a control signal output from the control unit 21. Fig. 2 is a schematic diagram showing an example of the structure of the drive mechanism 23. Note that Fig. 2 is a diagram showing the drive mechanism 23 as viewed from a direction perpendicular to the main surface of the door 80, but the portion surrounded by the dashed line shows the structure of the periphery of the drive pulley 25 of the drive mechanism 23 as viewed from above.

[0017] 2, the drive mechanism 23 is composed of, for example, a planetary gear type reducer 24, a drive pulley 25, a driven pulley 26, a belt 27 wound around the drive pulley 25 and the driven pulley 26, and a connection part 28 (hanger) that connects the belt 27 to a door 80. When the drive pulley 25 rotates in response to the rotation of the rotor 22a of the motor 22, power is provided to the door 80 via the belt 27 and the connection part 28, and the door 80 opens and closes. In this way, the drive mechanism 23 can transmit the torque of the motor 22 to the door 80.

[0018] A sensor 28c is provided inside the connection portion 28 to detect the operating force applied to the door 80 by sensing the displacement of the door 80 in the moving direction when the door 80 is moved manually by a user.

[0019] Next, a description will be given of the power lock unit 40. The power lock unit 40 includes a power lock control unit 41, a power lock 42, a detection unit 43, and an authentication unit 44.

[0020] The power lock control unit 41 judges whether the authentication information read by the authentication unit 44 is correct, and if it is judged to be correct, locks or unlocks the power lock 42 (door 80). When locking the power lock 42, it is necessary that the detection unit 43 detects that the door 80 is closed. In addition, the power lock control unit 41 outputs a notification signal to the control unit 21 indicating the locking state (whether it is locked or unlocked) of the power lock 42 (door 80) and the open / closed state of the door 80.

[0021] The electric lock control unit 41 is realized by a microcomputer including a processor and a memory, etc. The functions of the electric lock control unit 41 are realized, for example, by the processor executing a computer program stored in the memory.

[0022] Specifically, the electric lock 42 has a deadbolt, a motor, and a transmission mechanism that transmits the driving force of the electric motor to the deadbolt. The motor is driven based on a drive signal output by the electric lock control unit 41, and the driving force of the motor is transmitted to the deadbolt via the transmission mechanism, causing the deadbolt to move to a locked or unlocked position.

[0023] The detection unit 43 is a sensor that detects whether the door 80 is closed or not (whether the door 80 is open or not). Specifically, the detection unit 43 is a sensor that detects whether the door 80 is closed or not based on the appearance and disappearance of a protrusion, but may be a magnetic door sensor or a wireless communication door sensor.

[0024] The authentication unit 44 reads authentication information from an authentication medium such as a card key or a mobile terminal, and outputs the read authentication information to the electric lock control unit 41. The authentication unit 44 is realized, for example, by a wireless communication circuit that performs wireless communication (specifically, radio wave communication or optical communication) to obtain authentication information from the authentication medium. The authentication unit 44 may be a user interface that accepts authentication information (such as an unlocking code in this case) from a numeric keypad or the like. The authentication unit 44 may also be a biometric sensor that reads the biometric authentication information of a user from the user. Specifically, the biometric sensor is a fingerprint sensor or an iris sensor.

[0025] [Assist control] The door opening / closing control system 10 can perform assist control to assist the manual opening and closing of the door 80. Fig. 3 is a flowchart of the assist control.

[0026] When a user operates the operation portion 81 to open or close the door 80, the sensor 28c detects the operating force applied to the door 80 by sensing the displacement of the door 80 at the connection portion 28 (S11).

[0027] The control unit 21 determines the movement speed of the door 80 based on the operating force detected by the sensor 28c (S12). Fig. 4 is a diagram showing an example of a relational expression for determining the movement speed of the door 80 in the assist control. As shown by the solid line in Fig. 4, the movement speed of the door 80 in the assist control is changed according to the operating force (load). Note that the movement speed of the door 80 may be further limited according to the position of the door 80.

[0028] Next, the control unit 21 outputs a control signal to the motor 22 to move the door 80 at the determined moving speed (S13). At this time, the moving direction of the door 80 is matched to the direction of the operating force applied to the door 80. That is, when the user tries to open the door 80, the door 80 moves in the opening direction, and when the user tries to close the door 80, the door 80 moves in the closing direction. Note that in this assist control, while the user is applying an operating force to the door 80, the control unit 21 continuously monitors the operating force to change the moving speed of the door 80 as appropriate. That is, the processes of steps S11 to S13 are repeated multiple times while the user is applying an operating force to the door 80, and the assist control stops when the user releases his / her hand from the door 80 (operating unit 81).

[0029] In this way, the control unit 21 can perform assist control, which is drive control for the motor 22 based on the detected operating force, to assist in manual opening and closing of the door 80. In other words, the control unit 21 can apply a force to the door 80 that assists in the movement of the door 80 by controlling the motor 22 based on the detected operating force.

[0030] When the door 80 is locked by the power lock 42, the assist control is not performed even if an operating force is applied to the door 80. The control unit 21 can determine whether or not to perform the assist control based on a notification signal indicating the locked state of the door 80 obtained from the power lock control unit 41. In other words, the control unit 21 can determine the timing to control the motor 22 based on the locked or unlocked state of the power lock 42.

[0031] In addition, in the assist control described above, the movement speed of the door 80 is changed according to the operating force, but in the assist control, the door 80 may be moved at a constant speed triggered by the sensor 28c detecting the operating force.

[0032] [Specific configuration of connection part 1] Next, a specific configuration 1 of the connection part 28 will be described. Fig. 5 is a cross-sectional view showing an example of the internal structure of the connection part 28. The left-right direction in Fig. 5 corresponds to the movement direction (sliding direction) of the door 80. As shown in Fig. 5, the connection part 28 includes a first connection part 28a, a second connection part 28b, two sensors 28c, two first elastic members 28d, and two second elastic members 28e.

[0033] The first connecting portion 28a has an upper end connected to the belt 27 and a lower end located in a recess of the second connecting portion 28b. The first connecting portion 28a is formed of, for example, a resin material, but may be formed of a metal material such as aluminum.

[0034] The second connecting portion 28b has a lower end connected to the door 80. A recess (space) for accommodating the lower end of the first connecting portion 28a is formed in an upper portion of the second connecting portion 28b. The second connecting portion 28b is formed of, for example, a resin material, but may also be formed of a metal material such as aluminum.

[0035] The sensor 28c detects the operating force applied to the door 80 by manual operation by the user, and outputs operating force information indicating the detected operating force to the control unit 21. The sensor 28c is attached to a plane perpendicular to the moving direction of the door 80 among the inner surfaces of the recess of the second connection part 28b, and can detect the operating force applied to the door 80 along the moving direction of the door 80. Of the two sensors 28c, the sensor 28c located on the left side detects the operating force generated when the door 80 is moved to the right, and the sensor 28c located on the right side detects the operating force generated when the door 80 is moved to the left.

[0036] The sensor 28c is, for example, a thin-film pressure sensor whose resistance value changes steplessly according to the operating force. The sensor 28c may be a piezoelectric sensor or a strain gauge sensor. The drive device 20 includes two sensors 28c, but may include at least one sensor 28c. For example, in a case where the assist control is performed only when the door 80 is opened or when the door 80 is closed, it is only necessary to detect either the operating force for opening the door 80 or the operating force for closing the door 80, and therefore the drive device 20 may include at least one sensor 28c.

[0037] The first elastic member 28d is an elastic member for adjusting the operating force detected by the sensor 28c. The first elastic member 28d is provided between the sensor 28c and the second elastic member 28e in the recess formed by the second connecting portion 28b, and faces the sensor 28c. Specifically, the first elastic member 28d is formed of a resin material (elastomer) having elasticity such as rubber or urethane, but may be a coil spring or the like. The driving device 20 may be provided with the first elastic members 28d in the number corresponding to the number of the sensors 28c. In other words, the driving device 20 may be provided with at least one first elastic member 28d.

[0038] The second elastic member 28e is an elastic member for restricting the movement (position) of the second connecting portion 28b in the movement direction (left-right direction in FIG. 5) of the door 80. The second elastic member 28e fixes the positional relationship between the first connecting portion 28a and the second connecting portion 28b to a certain extent, and when the door 80 is manually operated, the second connecting portion 28b is slightly displaced relative to the first connecting portion 28a in the movement direction. This allows the sensor 28c to sense the displacement.

[0039] The second elastic member 28e is located in a recess formed by the second connecting portion 28b, with one end in contact with a side surface of the lower end of the first connecting portion 28a and the other end in contact with the first elastic member 28d. The second elastic member 28e is formed by, for example, a coil spring, but the second elastic member 28e may be formed by rubber or a resin material having elasticity. The driving device 20 is required to include at least one second elastic member 28e. The second elastic member 28e is, for example, more easily deformed (softer or less rigid) than the first elastic member 28d.

[0040] As described above, the drive mechanism 23 of the drive device 20 includes the connection portion 28 connected to the door 80, and the sensor 28c is provided on the connection portion 28. The sensor 28c detects the operating force by sensing the displacement of the door 80 in the movement direction.

[0041] A general configuration in which the sensor 28c for detecting the operating force is provided in the operating unit 81 has the disadvantage of requiring wiring work to the door 80. Another disadvantage is that the design of the operating unit 81 is restricted.

[0042] In contrast, in the door opening / closing control system 10, the sensor 28c for detecting the operating force is provided in the drive device 20 (more specifically, the drive mechanism 23) rather than in the operating unit 81, eliminating the need for wiring work to the door 80 and improving the freedom of design of the operating unit 81.

[0043] Furthermore, the connection portion 28 is the portion of the drive mechanism 23 that is closest to the door 80. If the sensor 28c is provided at such a portion (the connection portion 28), the operating force applied to the door 80 can be detected efficiently (with reduced damping).

[0044] The internal structure of the connection portion 28 described with reference to Fig. 5 (specifically, the arrangement of the sensor 28c, the first elastic member 28d, and the second elastic member 28e, etc.) is one example. In the example of Fig. 5, the sensor 28c is attached to the second connection portion 28b, but it may be attached to the first connection portion 28a. In addition, a gap (clearance) may be provided between the first elastic member 28d and the sensor 28c to suppress erroneous detection of the operating force. The internal structure of the connection portion 28 may be empirically or experimentally determined so as to appropriately detect the operating force.

[0045] [Specific configuration of connection part 2] Further, instead of the sensor 28c that directly detects the operating force, the connecting portion 28 may be provided with a sensor that reads the displacement that occurs between the second connecting portion 28b and the first connecting portion 28a in the movement direction. Fig. 6 is a cross-sectional view showing another example of the internal structure of the connecting portion 28.

[0046] A displacement detection unit 29 is provided in the connection unit 28 shown in Fig. 6. More specifically, the displacement detection unit 29 includes an optical distance sensor 29a provided in the first connection unit 28a and a reflector 29b provided in the second connection unit 28b. The distance sensor 29a emits projected light 29c, receives reflected light 29d from the reflector 29b, and detects the displacement of the second connection unit 28b relative to the first connection unit 28a based on the reflected light 29d. The control unit 21 can detect the operating force based on the displacement detected by the displacement detection unit 29 and the rigidity information of the first elastic body 28d and the second elastic body 28e.

[0047] The configuration of the displacement detection unit 29 is not limited to the above configuration. For example, the distance sensor 29a may be installed on the second connection portion 28b, and the reflector 29b may be installed on the first connection portion 28a. The displacement detection unit 29 may detect the displacement of the second connection portion 28b relative to the first connection portion 28a in the movement direction using a magnetic or capacitive linear encoder.

[0048] It should be noted that the connecting portion 28 in FIG. 6 needs to include at least one of the first elastic member 28d and the second elastic member 28e, and it is not essential that the connecting portion 28 includes both the first elastic member 28d and the second elastic member 28e.

[0049] [Sensor variation 1] The sensor for detecting the operating force is not limited to the sensor 28c. The sensor for detecting the operating force may be a sensor provided in the belt 27 and sensing the expansion and contraction of the belt 27. FIG. 7 is a diagram showing an example of a sensor for sensing the expansion and contraction of the belt 27.

[0050] 7, sensor 27c is a strain gauge attached to the surface of belt 27 and senses the expansion and contraction of belt 27. When a user opens or closes door 80, belt 27 is pulled via connection part 28. Sensor 27c can detect the operating force by sensing the expansion and contraction of belt 27 when belt 27 is pulled in this manner.

[0051] In addition to the strain gauge, a wire sensor is an example of another sensor that senses the expansion and contraction of belt 27. The wire sensor is a sensor that includes a wire and a spool around which the wire is wound, and senses the amount of wire pulled out from the spool. The wire of the wire sensor may be disposed along the surface of belt 27, or may be woven into belt 27.

[0052] Since most of the sensors that sense the expansion and contraction of the belt 27 are small, this has the advantage that the driving device 20 can be easily made smaller.

[0053] [Sensor variation 2] The sensor for detecting the operating force may be a sensor (torque sensor) that senses the torque of the motor 22 from outside the motor 22. Fig. 8 is a diagram showing an example of a sensor that senses the torque of the motor 22 from outside the motor 22. The sensor 25c is, for example, a magnetostrictive sensor that is attached so as to surround from the outside the rotating shaft 25a (shown in the dashed frame in Fig. 2) connected to the drive pulley 25. When a user opens or closes the door 80, a torque that rotates the drive pulley 25 (the rotating shaft 25a of the drive pulley 25) is generated, and the sensor 25c can detect the operating force by sensing the torque applied to the rotating shaft 25a of the drive pulley 25 by the current flowing through a built-in coil.

[0054] The sensor 25c for detecting the operating force may be a sensor of another type, such as a strain gauge type sensor using a strain gauge attached to the surface of the rotating shaft 25a.

[0055] [Modification of the method for determining the operating force] Incidentally, the control unit 21 of the drive device 20 can measure the current (regenerative current) flowing through the motor 22 when the user manually moves the door 80, and can estimate the operating force of the user from the measured current.

[0056] Therefore, the control unit 21 may perform the assist control based on a first operating force detected by one of various sensors such as the sensor 28c, the sensor 27c, and the sensor 25c, and a second operating force estimated based on a current flowing through the motor. For example, the control unit 21 regards the average of the first operating force and the second operating force as the final operating force, and performs the assist control based on the operating force and the relational expression in FIG.

[0057] Such a drive device 20 can reduce the influence of noise when a large noise is contained in either the first operating force or the second operating force. Here, noise means a component that should not be detected as an operating force.

[0058] Furthermore, the control unit 21 may regard the average of the operating forces detected by two of the multiple types of sensors, such as the sensor 28c, the sensor 27c, and the sensor 25c, as the final operating force, and execute the assist control based on the operating force and the relational expression in Fig. 4. In this case, the drive device 20 can reduce the influence of noise when one of the operating forces detected by the two sensors contains a large noise.

[0059] [Other variations] In the above embodiment, the door to be controlled by the door opening / closing control system 10 is a sliding door, but it may be a swing door. The drive device 20 in the above embodiment can be applied to a technique for electrically controlling not only the door 80 but also a flat plate-like member (heavy object) other than the door 80, such as a window or a panel, in response to an operating force.

[0060] [Effects, etc.] Hereinafter, examples of inventions that can be obtained from the disclosure of this specification will be given, and the effects and the like that can be obtained from the inventions will be described.

[0061] Invention 1 is a drive device 20 comprising a motor 22, a drive mechanism 23 that transmits the torque of the motor 22 to a flat-plate member, a sensor that detects the operating force applied to the flat-plate member when a user manually moves the flat-plate member, and a control unit 21 that controls the motor 22 based on the detected operating force, thereby applying a force to assist movement to the flat-plate member, the sensor being provided in the drive mechanism 23.

[0062] In such a drive device 20, a sensor for detecting the operating force is provided in the drive mechanism 23, not in the door 80. Therefore, the drive device 20 can realize control for assisting the movement of the flat-plate member while simplifying the structure of the flat-plate member.

[0063] Invention 2 is the drive device 20 of Invention 1, in which the drive mechanism 23 includes a connection portion 28 connected to a flat-plate member, and the sensor is provided on the connection portion 28 and detects the operating force by sensing the displacement of the flat-plate member in the movement direction. The sensor according to Invention 2 is the sensor 28c of the above embodiment.

[0064] In such a drive device 20, a sensor is provided at the connection portion 28, which is the portion of the drive mechanism 23 that is closest to the door 80, so that the operating force applied to the door 80 can be detected efficiently.

[0065] Invention 3 is the drive device 20 of Invention 2, in which the drive mechanism 23 includes a drive pulley 25 that rotates in response to rotation of the rotor of the motor 22, a driven pulley 26, and a belt 27 wound around the drive pulley 25 and the driven pulley 26, the connection part 28 includes a first connection part 28a connected to the belt 27 and a second connection part 28b connected to a flat plate-like member, and the sensor senses the displacement of the second connection part 28b relative to the first connection part 28a in the movement direction. The sensor according to Invention 3 is sensor 28c of the above embodiment.

[0066] Such a drive device 20 can efficiently detect the operating force applied to the door 80 by providing a sensor at the connection portion 28, which is the portion of the belt and pulley type drive mechanism 23 that is closest to the door 80.

[0067] Invention 4 is the drive device 20 of Invention 1, in which the drive mechanism 23 includes a drive pulley 25 that rotates in response to the rotation of the rotor 22a of the motor 22, a driven pulley 26, a belt 27 that is wound around the drive pulley 25 and the driven pulley 26, and a connection portion 28 that connects the belt 27 to a flat plate-shaped member.

[0068] In such a driving device 20, by adopting a belt and pulley system for the driving mechanism 23, the driving mechanism 23 can be realized at relatively low cost.

[0069] Invention 5 is drive device 20 of Invention 4, in which the sensor is provided on belt 27 and detects the operating force by sensing the expansion and contraction of the belt. The sensor according to Invention 5 is sensor 27c described in Variation 1 of the sensor of the above embodiment.

[0070] Many of the sensors that sense the expansion and contraction of the belt 27 are small-sized sensors. Therefore, such a driving device 20 has the advantage that it can be easily miniaturized.

[0071] Invention 6 is drive device 20 of Invention 1, in which the sensor is provided in drive mechanism 23 and detects the operating force by sensing the torque of motor 22 from outside motor 22. The sensor according to Invention 6 is sensor 25c described in Variation 2 of the sensor of the above embodiment.

[0072] Such a drive device 20 can detect the operating force by sensing the torque of the motor 22.

[0073] Invention 7 is a driving device 20 of any of Inventions 1 to 6, in which the control unit 21 applies a force to assist movement to the flat-plate member based on a first operating force, which is an operating force detected by a sensor, and a second operating force, which is an operating force estimated based on a current flowing through the motor 22.

[0074] Such a driving device 20 assists the movement of a flat member based on an average operating force of the first operating force and the second operating force, thereby reducing the effects of noise when either the first operating force or the second operating force contains a large amount of noise.

[0075] An eighth aspect of the present invention is the drive device 20 of any one of the first to seventh aspects, in which the flat plate-like member is a door 80.

[0076] Such a drive device 20 can realize control for assisting the movement of the door 80 while simplifying the structure of the door 80.

[0077] (Other embodiments) Although the embodiment has been described above, the present invention is not limited to the above embodiment.

[0078] For example, in the above embodiment, the door opening / closing control system is realized by a plurality of devices. When the door opening / closing control system is realized by a plurality of devices, the components of the door opening / closing control system may be distributed in any manner among the plurality of devices. Moreover, the door opening / closing control system may be realized by a single device. For example, the door opening / closing control system may be realized as a single device corresponding to a drive unit.

[0079] In the above embodiment, the processes executed by a specific processing unit may be executed by another processing unit. The order of multiple processes may be changed, or multiple processes may be executed in parallel.

[0080] In the above embodiment, each component may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0081] Furthermore, each component may be realized by hardware. For example, each component may be a circuit (or an integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit, or a dedicated circuit.

[0082] Furthermore, the general or specific aspects of the present invention may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, etc. Furthermore, the general or specific aspects of the present invention may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0083] For example, the present invention may be realized as a door opening / closing control method executed by a computer such as the door opening / closing control system of the above-mentioned embodiment. The present invention may also be realized as a program for causing a computer to execute the door opening / closing control method. The present invention may also be realized as a computer-readable non-transitory recording medium on which such a program is recorded.

[0084] In addition, the present invention also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art may think of, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the spirit of the present invention. [Explanation of symbols]

[0085] 10 Door opening and closing control system 20 Drive unit 21 Control section 22 Motor 22a rotor 23 Drive mechanism 24 Reducer 25 Drive pulley 25a Rotation axis 25c, 27c, 28c Sensor 26 Driven pulley 27 Belt 28 Connection 28a First connection part 28b Second connection part 28d First elastic member 28e Second elastic member 29 Displacement detection unit 29a Distance sensor 29b Reflector 29c projection light 29d reflected light 40 Electric lock unit 41 Electric lock control unit 42 Electric Lock 43 Detection unit 44 Authentication Section 80 Door (flat member) 81 Operation section

Claims

1. A motor; a drive mechanism for transmitting the torque of the motor to a flat plate-shaped member; a sensor that detects an operating force applied to the flat-plate member when a user manually moves the flat-plate member; a control unit that applies a force to assist the movement to the flat-plate member by controlling the motor based on the detected operating force, The sensor is provided in the drive mechanism. Drive unit.

2. the drive mechanism includes a connection portion connected to the flat plate-like member, The sensor is provided at the connection portion and detects the operating force by sensing the displacement of the flat plate member in the moving direction. The drive device according to claim 1 .

3. The drive mechanism includes: a drive pulley that rotates in response to rotation of the rotor of the motor; A driven pulley; A belt is wound around the drive pulley and the driven pulley, The connection portion includes a first connection portion connected to the belt and a second connection portion connected to the flat plate-like member, The sensor senses a displacement of the second connection portion relative to the first connection portion in the moving direction. The drive device according to claim 2.

4. The drive mechanism includes: a drive pulley that rotates in response to rotation of the rotor of the motor; A driven pulley; a belt wound around the driving pulley and the driven pulley; A connection portion that connects the belt and the flat plate-shaped member is provided. The drive device according to claim 1 .

5. The sensor is provided on the belt and detects the operating force by sensing the expansion and contraction of the belt. The drive device according to claim 4.

6. The sensor is provided in the drive mechanism and detects the operating force by sensing the torque of the motor from outside the motor. The drive device according to claim 1 .

7. The control unit applies a force to assist the movement to the flat-plate member based on a first operating force, which is the operating force detected by the sensor, and a second operating force, which is the operating force estimated based on a current flowing through the motor. The drive device according to any one of claims 1 to 6.

8. The flat member is a door. The drive device according to claim 1 .

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