Automatic door device, control method of automatic door device, and control program of automatic door device

Abstract

To provide a technology of an automatic door device which can reduce the influence on a user when the user touching a door is to open the door.SOLUTION: An automatic door device 100 includes a door drive control unit 50 configured to open a door 20 on the basis of an open instruction of an open instruction output unit which outputs an open instruction in response to an operation to open the door 20. The door drive control unit 50 executes warning operation which issues a warning in an early stage of opening of the door 20 based on the open instruction.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an automatic door device, a control method for the automatic door device, and a control program for the automatic door device.

Background Art

[0002] An automatic door device that opens and closes a door by motor drive is known. For example, Patent Document 1 describes an automatic door device for a toilet installed in a facility such as a public toilet or a toilet in a shopping center. This automatic door device includes a sliding door that is openably and closably arranged at the doorway of the toilet cubicle, a controller and drive means disposed inside the door panel, and an outer operation unit including a push-button type outer opening switch and an outer closing switch attached to the outdoor side. This automatic door device opens and closes the door by driving a motor of the drive means controlled by the controller.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] The inventor of the present invention has obtained the following recognition regarding the automatic door device. When an open switch is operated while a part of a user's body is in contact with the door of the automatic door device, it is considered that the user will be affected to a certain extent according to the movement of the opening door.

[0005]

[0006] ​ The present invention has been made in view of such problems, and one of its objectives is to provide a technology for an automatic door device that can reduce the impact on a user when the user performs an operation to open the door while touching the door.

Means for Solving the Problems

[0007] In order to solve the above problems, an automatic door device according to an aspect of the present invention includes a door drive control unit that causes a door to perform an opening operation based on an opening instruction output from an opening instruction output unit that outputs an opening instruction by an operation of an opening instruction for the door. The door drive control unit executes a warning operation that issues a warning at the initial stage of the opening operation of the door performed based on the opening instruction.

[0008] Another aspect of the present invention is an automatic door device. This device includes a door that separates an interior and an exterior, an instruction output unit that outputs an opening instruction or a closing instruction by an operation of an opening instruction or a closing instruction for the door, and a control unit that controls the opening and closing drive of the door based on the instruction of the instruction output unit. The control unit performs a warning operation of driving the door at a speed lower than the normal driving speed of the door at the initial stage of the opening drive of the door based on the opening instruction output from the instruction output unit.

[0009] Still another aspect of the present invention is a control method for an automatic door device. This method includes a step of outputting an opening instruction from an instruction output unit by an operation of an opening instruction for the door, and a step of performing a warning operation of issuing a warning at the initial stage of driving the door to open in response to the opening instruction.

[0010] Still another aspect of the present invention is a control program for an automatic door device. This control program causes a computer to execute a step of outputting an opening instruction from an instruction output unit by an operation of an opening instruction for the door, and a step of performing a warning operation of issuing a warning at the initial stage of driving the door to open in response to the opening instruction.

[0011] Yet another aspect of the present invention is an automatic door device. This device includes a door drive control unit that opens and closes a door based on an instruction from an instruction output unit that outputs an opening instruction or a closing instruction by operating an opening instruction or a closing instruction, a first detection unit provided at a predetermined height of an opening to detect a person or an object present in the opening, a second detection unit that detects a person or an object present at a position lower than the detection area of the first detection unit, and a resistance detection unit that detects the moving resistance of the door. When the moving resistance detected by the resistance detection unit exceeds a threshold value while the door drive control unit is closing the door and the second detection unit is in a detection state, the door drive control unit performs an avoidance operation of opening the door or stopping the door.

[0012] Yet another aspect of the present invention is an automatic door device. This device includes a door provided at an opening separating an indoor area from an outdoor area, an instruction output unit that outputs an opening instruction or a closing instruction by operating an opening instruction or a closing instruction of the door, a control unit that controls the opening and closing drive of the door based on the instruction of the instruction output unit, a resistance detection unit that detects the moving resistance of the door, a first detection unit provided at a predetermined height of the opening to detect a person or an object present in the opening, and a second detection unit that detects a person or an object present at a position lower than the detection area of the first detection unit when the resistance detection unit is in a detection state. When the resistance detection unit is in a detection state while the control unit is closing the door, the control unit performs control to open the door or stop the door, and does not close the door until the second detection unit becomes a non-detection state.

[0013] Yet another aspect of the present invention is a control method for an automatic door device. This method includes, for an automatic door device that opens and closes a door based on an instruction from an instruction output unit that outputs an opening instruction or a closing instruction by operating an opening instruction or a closing instruction, a first detection step of detecting a person or an object present in the opening at a predetermined first height of the opening, a second detection step of detecting a person or an object present at a position lower than the first height, a resistance detection step of detecting the moving resistance of the door, and a step of opening the door or stopping the door when a person or an object is detected in the second detection step while the moving resistance detected in the resistance detection step exceeds a threshold value while the door is being closed.

[0014] Another aspect of the present invention is a control program for an automatic door device. This control program causes a computer to execute, for an automatic door device that opens and closes a door based on an instruction from an instruction output unit that outputs an opening instruction or a closing instruction by an operation of an opening instruction or a closing instruction: a first detection step of detecting a person or an object existing in an opening at a predetermined first height of the opening; a second detection step of detecting a person or an object existing at a position lower than the first height; a resistance detection step of detecting a moving resistance of the door; and a step of opening or stopping the door when a person or an object is detected in the second detection step in a state where the moving resistance detected in the resistance detection step exceeds a threshold value while the door is being closed.

[0015] In addition, any combination of the above, or those obtained by mutually replacing the components and expressions of the present invention among a method, an apparatus, a program, a temporary or non-temporary storage medium recording the program, a system, etc. are also effective as aspects of the present invention.

Advantages of the Invention

[0016] According to the present invention, it is possible to provide a technology for an automatic door device capable of reducing the influence on a user when the user operates to open the door while touching the door.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiment for Carrying Out the Invention

[0018] Hereinafter, the present invention will be described with reference to each drawing based on preferred embodiments. In the embodiments and modification examples, the same or equivalent components and members are denoted by the same reference numerals, and redundant explanations will be omitted as appropriate. Also, the dimensions of the members in each drawing are shown enlarged or reduced as appropriate for easy understanding. Also, some of the members that are not important for explaining the embodiments in each drawing are omitted from the display.

[0019] Also, separate components having common points are distinguished by attaching "first", "second", etc. at the beginning of the name, and these are omitted when collectively referred to. Also, terms including ordinals such as first and second are used to explain various components, but this term is used only for the purpose of distinguishing one component from another component, and the components are not limited by this term.

[0020] [First Embodiment] With reference to FIGS. 1, 2, and 3, the automatic door device 100 according to the first embodiment of the present invention will be described. FIG. 1 is a plan view schematically showing a room 10 equipped with the automatic door device 100. FIG. 2 is a front view showing the room 10 equipped with the automatic door device 100. FIG. 2 shows a part of the front wall 101 of the room 10 broken away. For convenience of explanation, as shown in the figure, a horizontal direction is taken as the X direction, a horizontal direction orthogonal to the X direction is taken as the Y direction, and a vertical direction orthogonal to both is taken as the Z direction. The X direction may be referred to as the left-right direction, the Y direction as the front-back direction, and the Z direction as the up-down direction. Such a direction notation does not limit the posture of the automatic door device 100, and the automatic door device 100 can be used in any posture.

[0021] FIG. 3 is a block diagram showing the automatic door device 100. Each block shown in FIG. 3 can be realized in terms of hardware by elements and electronic circuits such as a computer processor, CPU, and memory, as well as mechanical devices, and in terms of software by a computer program or the like. Here, however, functional blocks realized by their cooperation are depicted. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by a combination of hardware and software.

[0022] The automatic door device 100 is a device that opens and closes a door for opening and closing the frontage. The automatic door device 100 can be applied to the frontage of various partitioning means such as a wall that partitions a space. The automatic door device 100 of the present embodiment opens and closes an opening 102 provided in the front wall 101 of the room 10 with a door 20. The opening 102 in FIG. 2 is provided closer to the right end side than the left and right center of the front wall 101. The door 20 in this example is a sliding door that slides left and right. The room 10 can be provided in various facilities such as a station, a hotel, a department store, a hospital, and a nursing home for the elderly.

[0023] There is no limitation on the type of the room 10, but the room 10 in this example is a toilet room used as a multifunctional toilet. A multifunctional toilet is a toilet that is assumed to be used by wheelchair users, users with internal disabilities, etc. in addition to healthy people. A user with an internal disability is, for example, a user of a stoma such as an artificial anus or a urostomy. As an example, the room 10 is provided with a toilet 11, an ostomy 12, a washbasin 13, a bed 14, and a baby chair 19. The ostomy 12 is a washstand for a user to wash the stoma. Also, handrails 15 are provided around the toilet 11 and the ostomy 12.

[0024] In addition, in room 10, an operation unit 16 during calling is provided near the toilet 11. The operation unit 16 during calling detects a user operation for a user who wants to request assistance from others due to poor physical condition or the like and notifies the outside of this fact, and provides the detection result to the door drive control unit 50 as a calling signal. The operation unit 16 during calling of the present embodiment provides a calling signal composed of a detected state in which a user operation is detected and a non-detected state in which no detection is made to the door drive control unit 50 as a detection result. The calling signal is turned on in the detected state and turned off in the non-detected state. The operation unit 16 during calling in this example is a push button switch that turns on the calling signal when pressed and turns off the calling signal when released. The operation unit 16 during calling may be referred to as a calling switch. The door drive control unit 50 executes a predetermined emergency operation when the calling signal of the operation unit 16 during calling is on. This emergency operation includes notification of the detection result to the administrator of room 10, display of the detection result on the outdoor notification unit 46, and release of the movement restriction of the door 20 by the door lock unit 48. The operation unit 16 during calling also functions as an emergency button.

[0025] In addition, in room 10, an indoor notification unit 17 and an extension operation unit 18 are provided near the mate 12. The indoor notification unit 17 is a device that notifies a user of a predetermined matter from the administrator of room 10 or the door drive control unit 50. The indoor notification unit 17 can notify a predetermined matter, for example, through the sound of a speaker or display such as a liquid crystal display. When a usage restriction time (for example, 30 minutes) is set for room 10, the door drive control unit 50 executes a predetermined indoor notification operation through the indoor notification unit 17 according to the elapsed time since the user entered the room. This indoor notification operation includes notification of the remaining time until the usage restriction time, notification of exceeding the usage restriction time, and release of the movement restriction of the door 20 by the door lock unit 48. In addition, when the usage restriction time is exceeded, the door drive control unit 50 notifies the outdoor notification unit 46 and the administrator of room 10 that the usage restriction time has been exceeded.

[0026] The extension operation unit 18 detects a user operation for extending the usage restriction time, and provides the detection result to the door drive control unit 50 as an extension signal. The extension operation unit 18 of the present embodiment provides the door drive control unit 50 with an extension signal composed of a detection state in which a user operation is detected and a non-detection state in which no user operation is detected as a detection result. The extension signal is turned on in the detection state and turned off in the non-detection state. The extension operation unit 18 in this example is a push button switch that turns on the extension signal when pressed and turns off the extension signal when released. Hereinafter, the extension operation unit 18 may be referred to as an extension switch. The door drive control unit 50 extends the usage restriction time by a predetermined time (for example, 10 minutes) when the extension signal of the extension operation unit 18 is on.

[0027] The automatic door device 100 drives the door 20 to open and close a rectangular opening 102 when viewed from the front. The door 20 is a moving body that is horizontally slidable on a movement path 22 extending from the fully closed position on the right side to the fully open position on the left side. The movement path 22 is the movement locus of the door 20 projected onto the floor surface. The automatic door device 100 includes operation detection units 24 and 26 and a door drive control unit 50.

[0028] The operation detection units 24 and 26 detect a user's opening and closing operation, and provide an open door activation signal or a close door activation signal (hereinafter, may be collectively referred to as an "activation signal") to the door drive control unit 50 based on the detection result. The door drive control unit 50 opens and closes the door 20 based on the activation signal from the operation detection units 24 and 26. The operation detection units 24 and 26 exemplify an open instruction output unit that outputs an open instruction by an operation for instructing the opening of the door 20 and a close instruction output unit that outputs a close instruction by an operation for instructing the closing of the door 20. When collectively referring to the open instruction output unit and the close instruction output unit, it is called an instruction output unit.

[0029] In the present embodiment, the operation detection units 24 and 26 include an outer operation detection unit 24 that can be operated from the outside of the room 10 and an inner operation detection unit 26 that can be operated from the inside of the room 10. In the example of FIG. 2, the outer operation detection unit 24 is provided outside the front wall 101, and the inner operation detection unit 26 is provided inside the front wall 101. The operation detection units 24 and 26 may be provided on the door 20.

[0030] The outer operation detection unit 24 includes an outer opening operation unit 241 that detects an opening operation for opening the door 20, and an outer closing operation unit 242 that detects a closing operation for closing the door 20. The inner operation detection unit 26 includes an inner opening operation unit 261 that detects an opening operation for opening the door 20, and an inner closing operation unit 262 that detects a closing operation for closing the door 20.

[0031] As the outer opening operation unit 241, the outer closing operation unit 242, the inner opening operation unit 261, and the inner closing operation unit 262, devices based on various principles capable of detecting a user's operation can be adopted. Each operation unit 241, 242, 261, 262 in the present embodiment is a push button switch that turns on the activation signal when pressed and turns off the activation signal when released. Hereinafter, the outer opening operation unit 241 and the inner opening operation unit 261 may be referred to as open switches, and the outer closing operation unit 242 and the inner closing operation unit 262 may be referred to as close switches.

[0032] In the present embodiment, the door drive control unit 50 includes a control unit 52 and a drive unit 56. The control unit 52 controls the opening and closing operation of the door 20 based on the detection results of the operation detection units 24 and 26. The control unit 52 will be described later. The drive unit 56 slides the door 20 based on the control of the control unit 52. The drive unit 56 may be referred to as a door engine. For example, the drive unit 56 can be composed of a loop-shaped belt (not shown) to which the door 20 is connected, and a drive motor 562 that drives the belt. The rotation of the drive motor 562 is controlled by the control unit 52 via a drive circuit 561. The door drive control unit 50 may be provided invisibly on the front wall 101.

[0033] In this embodiment, the drive unit 56 includes a resistance detection unit 36 and a position detection unit 38. The resistance detection unit 36 and the position detection unit 38 provide the detection results to the door drive control unit 50. The resistance detection unit 36 detects the moving resistance of the door 20 during movement. The moving resistance of the door 20 is a resistance force in the direction opposite to the moving direction received by the door 20 during movement, and may be referred to as running resistance or sliding resistance. The moving resistance becomes larger than normal when there is something in contact with the moving body. As an example, the resistance detection unit 36 is a current sensor that transmits the result of detecting the drive current of the drive motor 562 to the door drive control unit 50. The door drive control unit 50 can identify the moving resistance based on the detection result of the resistance detection unit 36.

[0034] The position detection unit 38 detects the position of the door 20 from the fully closed position to the fully open position. As an example, the position detection unit 38 is an incremental encoder that transmits a position signal, which is a pulse signal of the number of pulses proportional to the rotation angle of the drive motor 562, to the door drive control unit 50. The door drive control unit 50 moves the door 20 to the fully closed position when the automatic door device 100 is activated, uses the fully closed position as a reference position, and counts the number of pulses of the position signal of the position detection unit 38, thereby being able to identify the position of the door 20.

[0035] The automatic door device 100 of this embodiment includes a warning output unit 44 that issues a warning to the user based on the control of the door drive control unit 50. The warning output unit 44 in this example has a sound output unit 441 that emits a warning sound and a light output unit 442 that emits a warning light based on the control of the door drive control unit 50. The sound output unit 441 can be configured to include, for example, a speaker. The light output unit 442 can be configured to include a light-emitting element such as an LED. The warning output unit 44 may be provided on the front wall 101 as shown in the figure.

[0036] In this embodiment, the automatic door device 100 includes a side detection unit 34 that can detect the presence of an object on the side surface of the door 20. Examples of the detected object of the side detection unit 34 include a part of the user's body such as hands and feet, and luggage. The side detection unit 34 in this example provides a side detection signal, which consists of a detection state in which the presence of an object is detected and a non-detection state in which no detection is made, as a detection result to the door drive control unit 50. The side detection signal turns on in the detection state and turns off in the non-detection state. The door drive control unit 50 performs a predetermined operation described later based on the detection result of the side detection unit 34. The side detection unit 34 of this embodiment detects the presence of an object on the outer side surface 201 and the inner side surface 202 of the door 20. The side detection unit 34 of this embodiment includes a light receiving element that receives the reflected light of infrared light projected along the side surfaces 201 and 202 of the door 20. As an example, the side detection unit 34 is provided invisibly on the front wall 101.

[0037] In this embodiment, the automatic door device 100 includes an opening detection unit 32 that can detect an object present in the movement path of the door 20 at the opened opening 102. The opening detection unit 32 may be referred to as an auxiliary sensor. The opening detection unit 32 in this example provides an opening detection signal, which consists of a detection state in which the presence of an object is detected and a non-detection state in which no detection is made, as a detection result to the door drive control unit 50. The opening detection signal turns on in the detection state and turns off in the non-detection state. The door drive control unit 50 performs a predetermined operation described later based on the detection result of the opening detection unit 32. Examples of the detected object of the opening detection unit 32 include the user's body and luggage. As an example, the opening detection unit 32 can be configured to include a set of a projector and a light receiver provided at positions separated left and right across the opening 102 on the front wall 101.

[0038] The opening detection unit 32 of this embodiment includes a first detection unit 321 that can detect an object existing in the movement path 22 of the door 20 at a predetermined first height H1, and a second detection unit 322 that can detect an object existing in the movement path of the door 20 at a second height H2 lower than the first height H1. The first height H1 is set at a height at which the first detection unit 321 can detect a user crossing the opening 102 while walking or in a wheelchair. As an example, the first height H1 can be set in the range of 200 mm to 700 mm. The second height H2 is set at a height at which the second detection unit 322 can detect a user in a fallen state in the movement path 22. As an example, the second height H2 can be set in the range of 100 mm to 300 mm.

[0039] In the room 10 of this embodiment, an activity determination unit 27 for determining whether a person is active in the room 10 is provided. The activity determination unit 27 includes an object detection sensor having a detection area composed of a plurality of detection spots. The detection principle of the object detection sensor is not particularly limited, but the activity determination unit 27 of this embodiment is configured to include a plurality of light receiving elements that receive the reflected light of the infrared rays projected onto each detection spot in the detection area. The activity determination unit 27 determines whether a person is active based on the difference between a plurality of detection results obtained at different times. The activity determination unit 27 in this example provides an activity determination signal including an active state in which it is determined that a person is active and an inactive state in which it is determined that a person is not active to the door drive control unit 50 as a determination result. The activity determination signal is turned on in the active state in which it is determined that a person is active and turned off in the inactive state in which it is determined that a person is not active.

[0040] In the room 10 of this embodiment, a presence detection unit 28 for detecting whether there is a person in the room 10 is provided. The detection principle of the presence detection unit 28 is not particularly limited, but the presence detection unit 28 of this embodiment is a human sensor configured to include a pyroelectric element capable of detecting a change in infrared rays emitted by a person. The presence detection unit 28 in this example provides a human detection signal including a detection state in which a person is detected and a non-detection state in which a person is not detected to the door drive control unit 50 as a detection result according to the signal of the pyroelectric element. The human detection signal is turned on in the detection state and turned off in the non-detection state.

[0041] In the room 10 of this embodiment, an outdoor notification unit 46 for notifying the outside of the indoor state such as the occupancy state and abnormal state of the room 10 is provided. As an example, the outdoor notification unit 46 in FIG. 2 is a display that displays the character "In use" based on the control of the door drive control unit 50. As shown in the figure, the outdoor notification unit 46 may be provided invisibly on the front wall 101. For example, when the occupancy detection unit 28 is in a detected state, the door drive control unit 50 causes the outdoor notification unit 46 to display "In use", and stops this display when it is in a non-detected state.

[0042] In the room 10 of this embodiment, a door lock unit 48 for restricting the movement of the closed door 20 is provided based on the control of the door drive control unit 50. The door lock unit 48 may be a device that locks the door 20 by electromagnetic force such as an electric lock and mechanically restricts the movement of the door 20, or may invalidate the door opening activation signal of the outer opening operation unit 241 and controllably restrict the opening operation by the operation of the outer opening operation unit 241, or may use a combination of these. For example, when the room 10 is in use, the door drive control unit 50 can turn on the door lock unit 48 to restrict the movement of the door 20. In this specification, invalidating the activation signal exemplifies making the opening / closing instruction of the instruction input unit invalid.

[0043] Next, the control unit 52 will be described. As shown in FIG. 3, the control unit 52 of this embodiment includes an information acquisition unit 521, an information output unit 522, a door operation control unit 523, a warning operation control unit 524, a storage unit 526, a time determination unit 527, a time management unit 528, and a transmission unit 529, and functions as an information processing unit.

[0044] The information acquisition unit 521 functions as an input port for acquiring activation signals, detection signals, etc. of the outer opening operation unit 241, the outer closing operation unit 242, the inner opening operation unit 261, the inner closing operation unit 262, the first detection unit 321, the second detection unit 322, the side detection unit 34, the activity determination unit 27, the occupancy detection unit 28, the operation unit 16 during calling, the extension operation unit 18, the resistance detection unit 36, and the position detection unit 38.

[0045] The information output unit 522 outputs control signals for controlling the sound output unit 441, the light output unit 442, the indoor notification unit 17, the outdoor notification unit 46, and the door lock unit 48. The information output unit 522 functions as an output port. The door operation control unit 523 outputs a control signal to the drive circuit 561 of the drive unit 56 to control the operation of the door 20. The warning operation control unit 524 controls the operation of the door 20 via the door operation control unit 523 to execute a warning operation described later. The storage unit 526 temporarily stores the information signals of the respective detection units acquired by the information acquisition unit 521. Control programs P100 and P200 described later are stored in the storage unit 526. The time management unit 528 functions as a time counter that counts the elapsed time after the user enters the room. The time determination unit 527 determines whether the elapsed time counted by the time management unit 528 exceeds the usage limit time. The transmission unit 529 transmits predetermined information output to the outside such as the administrator of the room 10. This predetermined information includes that the call operation unit 16 has been operated and that the usage limit time has been exceeded.

[0046] Next, the operation of the automatic door device 100 will be described. First, the opening and closing operation of the first operation example that does not include a warning operation will be described. In the first operation example, the automatic door device 100 operates as follows. (1) When entering the room 10, the user operates the outer opening operation unit 241 (open switch). When the outer opening operation unit 241 is operated, the door opening activation signal becomes ON, and the door drive control unit 50 performs an opening operation. By the opening operation, the door 20 moves to the fully open position and stops.

[0047] (2) After entering the room 10, the user operates the inner closing operation unit 262 (close switch). When the inner closing operation unit 262 is operated, the door closing activation signal becomes ON, and the door drive control unit 50 performs a closing operation. By the closing operation, the door 20 moves to the fully closed position and stops. (3) In this state, the user uses the facilities in the room 10.

[0048] (4) When exiting room 10, the user operates the inward opening operation unit 261 (open switch). When the inward opening operation unit 261 is operated, the door opening activation signal turns on, and the door drive control unit 50 performs an opening operation. By the opening operation, the door 20 moves to the fully open position and stops. (5) After exiting room 10, the user operates the outward closing operation unit 242 (close switch). When the outward closing operation unit 242 is operated, the door closing activation signal turns on, and the door drive control unit 50 performs a closing operation. By the closing operation, the door 20 moves to the fully closed position and stops.

[0049] The speed transition of the door 20 during the opening operation will be described. FIG. 4 is a diagram showing a first operation example of the speed transition of the door 20 during the opening operation. In this figure, the horizontal axis represents the position of the door 20, and the vertical axis represents the speed of the door 20. During the opening operation, the door 20 is controlled according to the position of the door 20 specified from the number of pulses of the position signal of the position detection unit 38 from the fully closed position to the fully open position. In this example, the door 20 accelerates from a stopped state to a high first speed, moves at a constant speed at the first speed, decelerates from a predetermined deceleration start position to a low second speed, slowly approaches the fully open position at the second speed, and stops at the fully open position.

[0050] This constant-speed movement is not limited to a precise constant speed movement, and it may be approximately constant speed including some fluctuations. During the opening operation, the door 20 moves the longest distance at the first speed. In this sense, the first speed is the normal movement speed of the door 20. The average speed during the movement of the door 20 from the fully closed position to the fully open position is referred to as the average movement speed of the door 20 in the first operation example. The average movement speed is obtained by dividing the movement distance of the door 20 by the movement time. Note that the closing operation is an operation in which the fully open position and the fully closed position are reversed and show a similar speed transition.

[0051] (Second operation example) Next, a second operation example of the present embodiment will be described. The second operation example includes a warning operation. In the opening operation, when the door 20 moves at a normal speed while the user's hand is touching the door 20, the user may lose their balance. For example, in an automatic door device of a facility frequently used by elderly people with reduced physical strength, such as an elderly care facility, in order to support the body, the user may press the open switch while holding the door. Even in this case, it is desirable that the automatic door device is configured so that the user is not pulled by the opening door.

[0052] Therefore, in the automatic door device 100 of the present embodiment, the door drive control unit 50 executes a warning operation of issuing a warning at the initial stage of the opening operation of the door 20. Due to the warning, the user can release their hand, so even if the door 20 then moves at a normal speed, the possibility of the user losing their balance is reduced.

[0053] The warning operation may be anything that can issue a warning to the user. In the present embodiment, the warning operation includes a preliminary movement operation of moving the door 20 at a speed lower than the normal movement speed of the door 20, and an operation of outputting a warning sound or warning light to the user. The warning sound is output from the sound output unit 441, and the warning light is output from the light output unit 442. By outputting the warning sound or warning light, the user can be alerted. Also, by performing the preliminary movement operation, the user can be alerted even when the sound and light cannot be recognized. Note that it is not essential for the warning operation to include a plurality of operations, but the warning operation may include two or more different operations.

[0054] In the warning operation, the initial stage of the opening operation means the period from when the door drive control unit 50 receives the door opening start signal until the door 20 reaches the first speed, and includes the period before the movement of the door 20 starts.

[0055] Referring to FIG. 5, an example of the preliminary movement operation will be described. FIG. 5 is a diagram showing an example of the speed transition of the door 20 during the opening operation including the preliminary movement operation, corresponding to FIG. 4. In this example, the door drive control unit 50 performs a preliminary movement operation of moving the door 20 at a low-speed third speed before accelerating the door 20 to the first speed. In the preliminary movement operation of FIG. 5, as indicated by reference sign A, after the door 20 is first accelerated to a third speed lower than the first speed, it temporarily moves at the third speed, and then a second acceleration is performed to the first speed. After the door 20 is accelerated to the first speed, it moves with the same speed transition as the opening operation in the first operation example. The moving distance of the door 20 during the preliminary movement operation may be 500 mm or less. Also, the moving distance of the door 20 during the preliminary movement operation may be 10 mm or more. By executing the preliminary movement operation as a warning operation, since the door 20 moves at a low speed at the initial stage of the opening operation, there is a time margin for the user to release their hand from the door 20, and the possibility of losing balance is reduced. Thus, the preliminary movement operation may include an operation that does not accelerate temporarily.

[0056] The speed of the preliminary movement operation is the average speed while the door 20 moves from the start position to the end position of the preliminary movement operation. The speed of the preliminary movement operation may be lower than the first speed, or may be lower than the average speed while the door 20 moves from the fully closed position to the fully open position, or may be lower than the second speed. As an example, the speed of the preliminary movement operation may be 10 mm / second to 100 mm / second.

[0057] Another example of the preliminary movement operation will be described. FIGS. 6 and 7 are diagrams showing the speed transition of the door 20 during the opening operation including the preliminary movement operation of another example, corresponding to FIG. 4. In the preliminary movement operation of FIG. 6, as indicated by reference sign B, after the first acceleration is performed, the door 20 is temporarily decelerated, and then a second acceleration is performed. Thus, the preliminary movement operation may include an operation that temporarily decelerates or stops.

[0058] In the preliminary movement operation of FIG. 7, as indicated by reference sign C, after the first acceleration is performed, the door 20 is accelerated with an acceleration smaller than the first acceleration, and then a second acceleration is performed. Thus, the preliminary movement operation may include an operation that temporarily reduces the acceleration.

[0059] When the user touches the door 20, it is desirable to stop the opening operation as quickly as possible. Therefore, this embodiment includes a resistance detection unit 36 that detects the moving resistance of the door 20 during movement, and the door drive control unit 50 stops the opening operation if the moving resistance detected by the resistance detection unit 36 exceeds a threshold value T1 during the warning operation. This threshold value T1 can be set between the moving resistance when there is no contact object on the door 20 and the moving resistance when there is a contact object.

[0060] From the perspective of improving usability, it is desirable to resume the opening operation promptly when the contact state is resolved. Therefore, in this embodiment, the door drive control unit 50 resumes the opening operation when the moving resistance detected by the resistance detection unit 36 after stopping the opening operation is equal to or less than a predetermined reference value. This reference value can be set between the moving resistance when there is no contact object on the door 20 and the moving resistance when there is a contact object. For example, this reference value may be different from the above-described threshold value T1, or may be lower than the threshold value T1.

[0061] When the user touches the door 20, it is desirable to stop the opening operation even faster. Therefore, this embodiment includes a side surface detection unit 34 that detects the presence of an object on the side surfaces 201 and 202 of the door 20, and the door drive control unit 50 stops the opening operation if the side surface detection unit 34 detects an object during the warning operation.

[0062] From the perspective of improving usability, it is desirable to resume the opening operation promptly when the object is removed from the side surface. Therefore, in this embodiment, the door drive control unit 50 resumes the opening operation when the side surface detection unit 34 stops detecting an object after stopping the opening operation.

[0063] (Third operation example) Next, the third operation example of this embodiment will be described. The third operation example includes an avoidance operation. For example, in an automatic door device of a facility frequently used by elderly people with reduced physical strength, such as an elderly care facility, during the closing operation, a user may fall at the opening, and there is a possibility that the moving door may contact the user. In this case, it is desirable that the automatic door device be configured to reduce the impact of the door on the user.

[0064] The second detection unit 322 of this embodiment is configured to be able to detect a user who has fallen at the opening 102. When the second detection unit 322 is in a detection state, it is also conceivable to prohibit the closing operation. Since the second detection unit 322 is installed at a relatively low position close to the floor, foreign matters such as mud and dust are more likely to adhere to it than the first detection unit 321, so a false detection state is likely to occur. In a false detection state, the door 20 will not close until the foreign matter is removed by maintenance, and the automatic door device 100 will malfunction. Therefore, it is desirable that the automatic door device 100 can maintain its function even when the second detection unit 322 is in a false detection state.

[0065] Therefore, the automatic door device 100 of this embodiment executes an operation (hereinafter referred to as an "avoidance operation") that can reduce the influence of the closing door 20 on the fallen person while maintaining the function of the automatic door device 100 even when the second detection unit 322 is in a false detection state.

[0066] In this embodiment, when the moving resistance detected by the resistance detection unit 36 during the closing operation of the door 20 exceeds the threshold value T2 and the second detection unit 322 is in a detection state, the door drive control unit 50 executes an avoidance operation of opening the door 20 or stopping the door 20. In this case, the presence of the fallen person is detected by the moving resistance, and the detection state of the second detection unit 322 is referred to in a state where the fallen person exists. Therefore, while avoiding malfunction due to the false detection state, the influence of the door 20 on the fallen person can be reduced. The threshold value T2 can be set between the moving resistance when there is no fallen person on the door 20 and the moving resistance when there is a fallen person.

[0067] An example of the closing operation process for moving the door 20 from the fully open position to the fully closed position of the automatic door device 100 will be described. This process includes an avoidance operation. In this description, the state where each detection unit is in the detection state is denoted as "on", and the state where each detection unit is in the non-detection state is denoted as "off". FIG. 8 is a flowchart showing the process S110 of an operation example of the automatic door device 100. When the process S110 starts and the close switch (outer close operation unit 242 or inner close operation unit 262) is turned on (step S111), the door drive control unit 50 determines whether the first detection unit 321 is on (step S112).

[0068] When the first detection unit 321 is on (Y in step S112), the door drive control unit 50 opens or stops the door 20 without performing the closing operation (step S113). After executing step S113, the door drive control unit 50 returns the process to the start of step S111 and repeats steps S111 to S113. That is, the closing operation is not started while the first detection unit 321 is on.

[0069] When the first detection unit 321 is off (N in step S112), the door drive control unit 50 starts the closing operation of closing the door 20 (step S114).

[0070] After starting the closing operation, the door drive control unit 50 determines whether the resistance detection unit 36 is on (step S115). When the resistance detection unit 36 is off (N in step S115), the door drive control unit 50 determines whether the door 20 has moved to the fully closed position (step S116).

[0071] When the door 20 has not moved to the fully closed position (N in step S116), the door drive control unit 50 returns the process to the start of step S115 and repeats steps S115 to S116. During this time, the door 20 moves toward the fully closed position.

[0072] When the resistance detection unit 36 is on (Y in step S115), the door drive control unit 50 determines that an abnormal resistance is applied and shifts to an avoidance operation. The door drive control unit 50 opens or stops the door 20 without performing a closing operation (step S117). Here, when the close switch is turned on (step S118), the door drive control unit 50 determines whether the second detection unit 322 is on before starting the closing operation (step S119). When the second detection unit 322 is off (N in step S119), the door drive control unit 50 performs a closing operation to close the door 20 (step S122). After executing step S122, the door drive control unit 50 returns the process to the start of step S115.

[0073] When the second detection unit 322 is on (Y in step S119), the door drive control unit 50 performs an avoidance operation to stop or close the door 20 at a low speed (step S120). In this step, if the door 20 stops, its state is maintained.

[0074] After executing step S120, the door drive control unit 50 determines whether the door 20 is in a stopped state (step S121). If the door 20 is in a stopped state (Y in step S121), the door drive control unit 50 returns the process to the start of step S118. If the door 20 is not in a stopped state (N in step S121), the door drive control unit 50 moves the process to the start of step S116. When the door 20 has moved to the fully closed position (Y in step S116), the door drive control unit 50 ends process S110. Process S110 is merely an example, and other steps may be added, some steps may be changed or deleted, or the order of the steps may be rearranged.

[0075] The control during and after the avoidance operation will be described. During the avoidance operation, if the door closing start signals of the operation detection units 24 and 26 are turned on, the door 20 may close and affect the fallen person. Therefore, in this embodiment, when the second detection unit 322 is in a detection state during the avoidance operation, the door drive control unit 50 invalidates the door closing start signals of the operation detection units 24 and 26.

[0076] From the perspective of improving usability, it is desirable to quickly return to normal operation when the detection state of the second detection unit 322 is eliminated. Therefore, in this embodiment, when the door 20 is fully opened and the second detection unit 322 is in a non-detection state during the avoidance operation, the door drive control unit 50 cancels the invalidation of the closing start signals of the operation detection units 24 and 26. In this specification, canceling the invalidation of the start signal exemplifies canceling the invalidation of the opening / closing instruction of the instruction input unit.

[0077] When the second detection unit 322 becomes non-detectable, it is desirable to quickly return to normal operation. Therefore, in this embodiment, after the second detection unit 322 becomes non-detectable, when the door drive control unit 50 performs a closing operation based on the closing start signals of the operation detection units 24 and 26, the door 20 is moved at the speed of the normal closing operation. Here, the speed of the normal closing operation is the speed of the speed transition of the normal closing operation before the avoidance operation (refer to FIG. 4).

[0078] Even when the second detection unit 322 becomes non-detectable, when performing a closing operation regardless of the user's operation, it is desirable to move the door 20 slowly. Therefore, in this embodiment, after the second detection unit 322 becomes non-detectable, when the door drive control unit 50 performs a closing operation when the closing start signals of the operation detection units 24 and 26 are off, the door 20 is moved at a speed lower than the speed of the door 20 in the normal closing operation. Here, performing a closing operation when the closing start signal is off means performing a closing operation when the operation detection units 24 and 26 are not operated. Also, being slower than the normal closing operation means that the average moving speed of the closing operation is lower than the average moving speed of the normal closing operation before the avoidance operation.

[0079] The features of the automatic door device 100 of this embodiment configured as described above will be described. The automatic door device 100 includes a door drive control unit 50 that opens the door 20 based on an opening instruction of an opening instruction output unit that outputs an opening instruction by operating an opening instruction of the door 20. The door drive control unit 50 executes a warning operation that issues a warning at the initial stage of the opening operation of the door 20 performed based on the opening instruction. According to this configuration, the influence on the user when the operation detection units 24 and 26 are opened while in contact with the door 20 can be reduced.

[0080] In this embodiment, the warning operation includes an operation of driving the door 20 at a speed lower than the normal driving speed of the door 20. In this case, since the door 20 is moved at a low speed, the influence on the user can be reduced.

[0081] In this embodiment, the warning operation further includes outputting a warning sound or warning light. In this case, since the sound or light is output to alert the user, the influence on the user can be reduced.

[0082] This embodiment includes a resistance detection unit 36 that detects the movement resistance of the door 20, and when the movement resistance detected by the resistance detection unit 36 during the warning operation exceeds a threshold value T1, the door drive control unit 50 stops the opening operation. In this case, when the user touches the door 20, the opening operation can be quickly stopped.

[0083] In this embodiment, when the movement resistance detected by the resistance detection unit 36 after the opening operation is stopped is equal to or less than a predetermined reference value, the door drive control unit 50 resumes the opening operation. In this case, when the contact state is resolved, the opening operation can be quickly resumed.

[0084] This embodiment includes a side detection unit 34 that detects the presence of an object on the side surfaces 201 and 202 of the door 20, and when the side detection unit 34 detects an object during the warning operation, the door drive control unit 50 stops the opening operation. In this case, when the user touches the side surfaces 201 and 202, the opening operation can be stopped even earlier.

[0085] In this embodiment, when the side detection unit 34 stops detecting after the opening operation is stopped, the door drive control unit 50 resumes the opening operation. In this case, when the object is removed from the side surfaces 201 and 202, the opening operation can be quickly resumed.

[0086] Describe the features of the automatic door device 100 of the present embodiment from another aspect. The automatic door device 100 includes a door drive control unit 50 that opens and closes the door 20 based on an instruction input to an instruction input unit where an open or close instruction is input, a first detection unit provided at a predetermined height of the opening to detect a person or object present in the opening, a second detection unit 322 that detects a person or object present at a position lower than the detection area of the first detection unit 321, and a resistance detection unit 36 that detects the moving resistance of the door 20. When the moving resistance detected by the resistance detection unit 36 exceeds the threshold value T2 while the door drive control unit 50 is closing the door 20 and the second detection unit 322 is in a detection state, the door drive control unit 50 performs an avoidance operation of opening the door 20 or stopping the door 20. According to this configuration, the influence exerted by the closing door 20 on a fallen person can be reduced.

[0087] In the present embodiment, when the second detection unit 322 is in a detection state, the door drive control unit 50 invalidates the close instruction of the instruction input unit. Here, invalidating the close instruction of the instruction input unit is exemplified by invalidating the close door activation signals of the operation detection units 24 and 26. In this case, during the avoidance operation, even if the close door activation signals of the operation detection units 24 and 26 turn on, the door 20 will not close, so the influence on a fallen person can be reduced.

[0088] In the present embodiment, when the second detection unit 322 is in a non-detection state while the door 20 is fully open during the avoidance operation, the door drive control unit 50 cancels the invalidation of the close instruction of the instruction input unit. Here, canceling the invalidation of the close instruction of the instruction input unit is exemplified by canceling the invalidation of the close door activation signals of the operation detection units 24 and 26. In this case, when the opening detection unit 32 becomes non-detectable, it can quickly return to the normal operation.

[0089] In the present embodiment, when the door drive control unit 50 closes based on the close instruction of the instruction input unit after the second detection unit 322 becomes non-detectable, the door drive control unit 50 drives the door 20 at the speed of the normal closing operation. In this case, when the opening detection unit 32 becomes non-detectable, it can quickly return to the normal operation.

[0090] In this embodiment, when the door drive control unit 50 performs a closing operation without relying on the closing instruction of the instruction input unit after the second detection unit 322 enters the non-detection state, the door 20 is moved at a speed lower than the speed of the door 20 during a normal closing operation. When performing a closing operation regardless of the user's operation, the door 20 can be moved slowly.

[0091] Hereinafter, the second to fifth embodiments of the present invention will be described. In the drawings and descriptions of the second to fifth embodiments, the same or equivalent components and members as those in the first embodiment are denoted by the same reference numerals. Descriptions overlapping with those in the first embodiment are omitted as appropriate, and configurations different from those in the first embodiment will be mainly described.

[0092] [Second Embodiment] The second embodiment of the present invention is a control method for an automatic door device. This control method includes a step of performing a warning operation of issuing a warning at the initial stage of the opening operation of the door 20 based on an opening instruction for an automatic door device 100 that opens the door 20 based on an instruction input from an instruction input unit to which an opening instruction for the door 20 is input. According to this control, even if the opening operation of the operation detection units 24 and 26 is performed while in contact with the door 20, the influence on the user can be reduced.

[0093] [Third Embodiment] The third embodiment of the present invention is a control program P100 (computer program) for an automatic door device. The control program P100 according to the present invention causes a computer to execute a step of performing a warning operation of issuing a warning at the initial stage of the opening operation of the door 20 based on an opening instruction for an automatic door device 100 that opens the door 20 based on an instruction input from an instruction input unit to which an opening instruction for the door 20 is input.

[0094] The control program P100 may be installed in a storage (for example, the storage unit 526) of the automatic door device 100 as an application program in which a plurality of modules corresponding to the functional blocks of the automatic door device 100 are implemented. The control program P100 may be read into the main memory of a processor (for example, a CPU) of a computer constituting the control unit 52 of the automatic door device 100 and executed.

[0095] According to the control program P100, even if the open operation of the operation detection units 24 and 26 is performed while in contact with the door 20, the influence on the user can be reduced.

[0096] [Fourth Embodiment] The fourth embodiment of the present invention is a control method for an automatic door device. This control method is for an automatic door device 100 that opens and closes a door 20 based on an instruction input from an instruction input unit to which an open or close instruction is input, and includes a first detection step of detecting a person or object present in the opening at a predetermined first height of the opening, a second detection step of detecting a person or object present at a position lower than the first height, a resistance detection step of detecting the moving resistance of the door 20, and a step of opening the door 20 or stopping the door 20 when a person or object is detected in the second detection step while the moving resistance detected in the resistance detection step exceeds a threshold value while the door 20 is being closed. According to this control, the influence of the door 20 during the closing operation on a fallen person can be reduced.

[0097] [Fifth Embodiment] The fifth embodiment of the present invention is a control program P200 (computer program) for an automatic door device. The control program P200 according to the present invention causes a computer to execute a first detection step of detecting a person or object present in the opening at a predetermined first height H1 of the opening, a second detection step of detecting a person or object present at a position lower than the first height, a resistance detection step of detecting the moving resistance of the door 20, and a step of opening the door or stopping the door when a person or object is detected in the second detection step while the moving resistance detected in the resistance detection step exceeds a threshold value while the door 20 is being closed, for an automatic door device 100 that opens and closes the door 20 based on an instruction input from an instruction input unit to which an open or close instruction is input.

[0098] In the control program P200, these functions may be installed in the storage (e.g., the storage unit 526) of the automatic door device 100 as an application program in which a plurality of modules corresponding to the function blocks of the automatic door device 100 are implemented. The control program P200 may be read into the main memory of the processor (e.g., CPU) of the computer constituting the control unit 52 of the automatic door device 100 and executed.

[0099] According to the control program P200, the influence exerted by the door 20 during the closing operation on a fallen person can be reduced.

[0100] As described above, the examples of the embodiments of the present invention have been described in detail. All of the above-described embodiments are merely specific examples for carrying out the present invention. The content of the embodiments does not limit the technical scope of the present invention, and many design changes such as changes, additions, and deletions of components are possible without departing from the idea of the invention defined in the claims. In the above-described embodiments, regarding the content for which such design changes are possible, descriptions have been made with notations such as "in the embodiment" and "in the embodiment", but design changes are not necessarily prohibited for the content without such notations.

[0101] [Modification Example] Hereinafter, the modification example will be described. In the drawings and descriptions of the modification example, the same reference numerals are given to the same or equivalent components and members as in the embodiment. Descriptions overlapping with the embodiment are appropriately omitted, and the configurations different from those of the first embodiment will be mainly described.

[0102] In the description of the embodiment, an example in which the preliminary movement operation decelerates or decelerates and accelerates at the initial stage of the opening operation has been shown. However, for example, the preliminary movement operation may be an operation of moving the door 20 in the left-right direction by a short distance at the initial stage of the opening operation, or may be an operation of vibrating the door 20.

[0103] In the description of the embodiment, an example in which a warning sound or warning light is output from the warning output unit 44 as a warning operation has been shown. However, for example, the warning operation may include an operation of displaying warning characters or images from the outdoor notification unit 46.

[0104] In the description of the embodiment, an example in which the moving path 22 does not have guide means such as rails or grooves has been shown, but the moving path 22 may have guide means such as rails or grooves.

[0105] In the description of the embodiment, an example in which the side detection unit 34 is provided invisibly on the front wall 101 has been shown, but for example, the side detection unit 34 may be provided on the door 20.

[0106] In the description of the embodiment, an example in which the outer operation detection unit 24 and the inner operation detection unit 26 are push button switches has been shown, but for example, the outer operation detection unit 24 and the inner operation detection unit 26 may be those in which operations are input wirelessly from a wireless device such as a smartphone or an IC card.

[0107] The above-described modification examples have the same operations and effects as those of the first embodiment.

[0108] Any combination of the above-described embodiments and modification examples is also useful as an embodiment of the present invention. The new embodiment resulting from the combination has the combined effects of the embodiments and modification examples being combined.

Description of Reference Numerals

[0109] 100 Automatic door device, 20 Door, 24 Outer operation detection unit, 241 Outer opening operation unit, 242 Outer closing operation unit, 26 Inner operation detection unit, 261 Inner opening operation unit, 262 Inner closing operation unit, 32 Opening detection unit, 34 Side detection unit, 36 Resistance detection unit, 44 Warning output unit, 50 Door drive control unit, 52 Control unit, 56 Drive unit.

Claims

1. A door drive control unit is provided which opens the door based on an open command from an open command output unit which outputs an open command in response to an operation of the door open command, The door drive control unit executes a warning operation for issuing a warning at an early stage of the door opening operation performed based on the opening command. Automatic door device.

2. The warning operation includes an operation of driving the door to open at a speed slower than a normal driving speed of the door.

2. The automatic door system according to claim 1.

3. The warning action further includes outputting a warning sound or a warning light.

3. The automatic door system according to claim 2.

4. A resistance detection unit is provided to detect the movement resistance of the door, The door drive control unit stops the opening drive when the movement resistance detected by the resistance detection unit exceeds a threshold value during the warning operation.

3. The automatic door system according to claim 2.

5. The door drive control unit resumes the opening drive when the movement resistance detected by the resistance detection unit after the opening drive is stopped is equal to or less than a predetermined reference value.

5. The automatic door system according to claim 4.

6. A side detection unit is provided to detect the presence of an object on a side of the door, The door drive control unit stops the opening drive when the side detection unit detects an object during the warning operation.

3. The automatic door system according to claim 2.

7. The door drive control unit resumes the opening drive when the side detection unit becomes non-detecting after the opening drive is stopped.

7. The automatic door system according to claim 6.

8. A door that separates the inside from the outside, an instruction output unit that outputs an open instruction or a close instruction in response to an operation of an open instruction or a close instruction of the door; A control unit that controls the opening and closing drive of the door based on an instruction from the instruction output unit; Equipped with The control unit performs a warning operation to drive the door at a speed slower than a normal drive speed of the door at an initial stage of the opening drive of the door based on the opening command output from the command output unit. Automatic door device.

9. outputting an open instruction from an instruction output unit in response to an operation of the door open instruction; a step of performing a warning operation to issue a warning at an initial stage of driving the door to open in response to the opening command; The automatic door system includes:

10. outputting an open instruction from an instruction output unit in response to an operation of the door open instruction; a step of performing a warning operation to issue a warning at an initial stage of driving the door to open in response to the opening command; A control program for an automatic door system to cause a computer to execute the above.

11. a door drive control unit that opens and closes the door based on an instruction from an instruction output unit that outputs an open instruction or a close instruction in response to an operation of an open instruction or a close instruction of the door; A first detection unit provided at a predetermined height of the opening and configured to detect a person or object present in the opening; A second detection unit that detects a person or object present at a position lower than the detection area of ​​the first detection unit; A resistance detection unit that detects the movement resistance of the door; Equipped with The door drive control unit executes an avoidance operation of opening or stopping the door when the movement resistance detected by the resistance detection unit exceeds a threshold value while the second detection unit is in a detection state during a closing operation of the door. Automatic door device.

12. The door drive control unit invalidates a closing instruction from the instruction output unit when the second detection unit is in a detection state. The automatic door system according to claim 11.

13. The door drive control unit cancels the invalidation of the close instruction of the instruction output unit when the door is fully open and the second detection unit is in a non-detection state during the avoidance operation. The automatic door system according to claim 12.

14. The door drive control unit drives the door at a normal closing speed when performing a closing operation based on a closing instruction from the instruction output unit after the second detection unit becomes in a non-detecting state. The automatic door system according to claim 13.

15. When the door drive control unit performs a closing operation without a closing instruction from the instruction output unit after the second detection unit becomes non-detecting, the door drive control unit moves the door at a speed slower than the speed of the door in a normal closing operation. The automatic door system according to claim 13.

16. A door provided at the opening to separate the inside and outside of the room; an instruction output unit that outputs an open instruction or a close instruction in response to an operation of an open instruction or a close instruction of the door; A control unit that controls the opening and closing drive of the door based on an instruction from the instruction output unit; A resistance detection unit that detects the movement resistance of the door; A first detection unit provided at a predetermined height of the opening and configured to detect a person or object present in the opening; a second detection unit configured to detect a person or object present at a position lower than a detection area of ​​the first detection unit when the resistance detection unit is in a detection state; The control unit performs control to open the door or to stop the door when the resistance detection unit is in a detection state during a closing operation of the door, and does not perform the closing operation of the door until the second detection unit is in a non-detection state. Automatic door device.

17. An automatic door system that opens and closes a door based on an instruction from an instruction output unit that outputs an open instruction or a close instruction in response to an operation to open or close the door, a first detection step of detecting a person or object present in the opening at a first predetermined height of the opening; A second detection step of detecting a person or object present at a position lower than the first height; A resistance detection step of detecting a movement resistance of the door; a step of opening or stopping the door when a person or an object is detected in the second detection step in a state in which the movement resistance detected in the resistance detection step exceeds a threshold value during the closing operation of the door; The automatic door system includes:

18. An automatic door system that opens and closes a door based on an instruction from an instruction output unit that outputs an open instruction or a close instruction in response to an operation to open or close the door, a first detection step of detecting a person or object present in the opening at a first predetermined height of the opening; A second detection step of detecting a person or object present at a position lower than the first height; A resistance detection step of detecting a movement resistance of the door; a step of opening or stopping the door when a person or an object is detected in the second detection step in a state in which the movement resistance detected in the resistance detection step exceeds a threshold value during the closing operation of the door; A control program for an automatic door system to cause a computer to execute the above.

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