Automatic door device and control method thereof

Abstract

To provide an automatic door device capable of controlling the door part less likely to collide with surrounding objects in the event of an earthquake, and a control method thereof.SOLUTION: An automatic door device 100 includes: a control unit 120 that controls the opening and closing of a door; and an earthquake determination unit 110 that determines whether a movement is an earthquake. The control unit 120 is configured so as to, when the earthquake determination unit 110 determines as an earthquake, execute control to hold the door at a predetermined place. The automatic door device 100 includes multiple stoppers arranged in the vertical direction above and below the center of the door in the vertical direction to come into contact with the door and restrict the movement of the door along the opening direction at the fully open position when the door moves in the opening direction. The automatic door device 100 includes a stopper that is configured to move to a position where it does not touch the door when a load greater than a specified load is applied thereon in the opening direction. The automatic door device 100 includes a stopper drive control unit that controls the stopper to move a position where it does not touch the door in response to the earthquake determination.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an automatic door device and a control method thereof.

Background Art

[0002] Patent Document 1 describes an automatic door device that forcibly opens a gate in order to quickly exit outdoors when an earthquake occurs.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a conventional automatic door device, when an earthquake occurs, the door portion swings and rotates (dances) on the door portion itself by colliding with surrounding objects such as stoppers of the door portion, and there is a problem that the door portion is likely to fall off or the surrounding objects are likely to be damaged.

[0005] In view of the above, an object of the present invention is to provide an automatic door device and a control method thereof that can make it difficult for a door portion to collide with surrounding objects during an earthquake.

Means for Solving the Problems

[0006] In order to solve the above problems, an automatic door device according to an aspect of the present invention includes a control unit that controls opening and closing of a door, and an earthquake determination unit that determines whether or not an earthquake has occurred. The control unit executes control to hold the door at a predetermined position when the earthquake determination unit determines that an earthquake has occurred.

[0007] The automatic door device according to another aspect of the present invention includes a door unit having a door movable in an opening / closing direction, and a plurality of stoppers arranged vertically above and below the center in the vertical direction of the door so as to contact the door unit when the door moves in the opening direction and limit the movement of the door unit along the opening direction at the fully open position of the door.

[0008] The automatic door device according to still another aspect of the present invention includes a door unit having a door movable in an opening / closing direction, and a stopper that contacts the door unit when the door moves in the opening direction and limits the movement of the door unit along the opening direction at the fully open position of the door, the stopper being configured to move to a position where it does not contact the door unit when a load of a predetermined load or more is applied in the opening direction.

[0009] The automatic door device according to still another aspect of the present invention includes a door unit having a door movable in an opening / closing direction, a stopper that contacts the door unit when the door moves in the opening direction and limits the movement of the door unit along the opening direction at the fully open position of the door, an earthquake determination unit that determines whether or not there is an earthquake, a stopper drive unit that moves the stopper to a position where it does not contact the door unit, and a stopper drive control unit that controls the stopper drive unit so as to move the stopper to a position where it does not contact the door unit in response to the determination of the earthquake.

[0010] The control method of the automatic door device according to still another aspect of the present invention includes a step of determining whether or not there is an earthquake, and a step of executing control to hold the door at a predetermined position in response to the determination of the earthquake.

[0011] The control method of the automatic door device according to still another aspect of the present invention is a control method of an automatic door device including a door unit having a door movable in an opening / closing direction, and a stopper that contacts the door unit when the door moves in the opening direction and limits the movement of the door unit along the opening direction at the fully open position of the door, the control method including a step of determining whether or not there is an earthquake, and a step of moving the stopper to a position where it does not contact the door unit in response to the determination of the earthquake.

Advantages of the Invention

[0012] According to the present invention, during an earthquake, it is possible to make the door portion less likely to collide with surrounding objects.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Modes for Carrying Out the Invention

[0014] In the following embodiments and modification examples, the same or equivalent components and members are denoted by the same reference numerals, and repeated explanations are omitted as appropriate. Also, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Further, some of the members that are not important for explaining the embodiments in each drawing are omitted from the display.

[0015] [First Embodiment] Refer to FIGS. 1 and 2. FIG. 1 is a front view schematically showing the automatic door 100. FIG. 2 is a block diagram schematically showing the functions of the automatic door 100. The automatic door 100 of the present embodiment is an example of an automatic door device. Each functional block shown in the following figures is realized, in terms of hardware, by a computer having arithmetic functions, control functions, storage functions, input functions, output functions, various electronic elements, mechanical parts, etc., and is realized, 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 combinations of hardware and software.

[0016] As shown in FIG. 1 or FIG. 2, the automatic door 100 mainly includes a door portion 10 that is driven to open and close, a guide mechanism 13 that guides the horizontal movement of the first movable door 11L and the second movable door 11R, a controller 20 that controls the entire automatic door 100, a door sensor 30 that detects a passerby, a drive unit 40 that generates power, and a power transmission unit 50 that transmits the power to the door portion 10. In the following description, the left-right direction in FIG. 1 is defined as the horizontal direction (opening and closing direction), the direction perpendicular to the plane of the paper in FIG. 1 is defined as the looking direction, and the up-down direction in FIG. 1 is defined as the vertical direction. However, the automatic door 100 can be installed in any posture, and its installation direction is not limited to the following examples. In the example of FIG. 1, the opening and closing method shows a double-leaf automatic door, but it is not limited thereto, and the opening and closing method may be a single-leaf type, a hinged door type, a folding door type, a rotary type, or the like.

[0017] The door part 10 includes a first movable door 11L and a second movable door 11R that are each movably provided in the horizontal direction, a first fixed door 12L and a second fixed door 12R provided at positions overlapping the first movable door 11L and the second movable door 11R when they are in the open state, a door hanger 132, a door wheel 133, and a stabilizer part 135. When the door part 10 is driven to open, the first movable door 11L shown on the left side in FIG. 1 is driven to the left, and the second movable door 11R shown on the right side in FIG. 1 is driven to the right. Also, when the door part 10 is driven to close, contrary to the opening drive, the first movable door 11L is driven to the right, and the second movable door 11R is driven to the left. Note that the number, shape, etc. of the doors constituting the door part 10 are not limited to the above and can be appropriately designed according to the needs of the installation location. Similarly, the movable direction of the door part 10 is not limited to the horizontal direction and may be a direction inclined from the horizontal direction. Hereinafter, the first movable door 11L and the second movable door 11R may be collectively referred to as the movable door 11. The movable door 11 of the present embodiment is an example of a door.

[0018] The guide mechanism 13 includes a running rail 131 and a guide rail 134. The running rail 131 is a columnar rail member that extends horizontally above the first and second movable doors 11L and 11R over the entire movable range thereof. A door hanger 132 attached to the upper parts of the first and second movable doors 11L and 11R is suspended from the running rail 131. The door hanger 132 has a resin-made door wheel 133. The door hanger 132 is attached to the movable door 11 so as to suspend the movable door 11.

[0019] The door wheels 133 are provided in pairs at the upper parts of the first and second movable doors 11L and 11R respectively, and are configured to be able to travel on the travel rail 131 while suspending the first and second movable doors 11L and 11R from the travel rail 131. When the first and second movable doors 11L and 11R are driven to open and close in the horizontal direction, the door wheels 133 roll on the travel rail 131, enabling a smooth opening and closing operation. The guide rail 134 is a groove-shaped rail member that extends horizontally over the entire movable range below the first and second movable doors 11L and 11R. The guide rail 134 guides the anti-sway portions 135 attached to the lower parts of the first and second movable doors 11L and 11R. The anti-sway portions 135 project from the lower parts of the first and second movable doors 11L and 11R and fit into the groove-shaped guide rail 134. When the first and second movable doors 11L and 11R are driven to open and close in the horizontal direction, the anti-sway portions 135 move along the guide rail 134, so that the expected vibration of the first and second movable doors 11L and 11R can be suppressed.

[0020] The automatic door 100 further includes a stopper 140. The stopper 140 contacts the door part 10 when the movable door 11 moves in the opening direction and restricts the movement of the door part 10 along the opening direction at the fully open position of the movable door 11. Specifically, the stopper 140 is provided at both the left and right ends of the travel rail 131 and can restrict further movement of the movable door 11 in the opening direction at the fully open position. The stopper 140 can contact the door hanger 132 of the door part 10 and stop the movable door 11 when the movable door 11 reaches the fully open position. The stopper 140 receives the force caused by the collision with the door hanger 132 of the door part 10. The stopper 140 is attached so as not to fall off the travel rail 131 even when the door part 10 collides.

[0021] The controller 20 can set various parameters related to the opening and closing of the movable door 11. For example, the controller 20 can adjust set values such as the opening and closing speed, the opening and closing strength, and the opening width. The opening and closing speed is the horizontal speed of the first movable door 11L and the second movable door 11R, and the directions of the speeds of both doors are opposite to each other. It is preferable that the magnitudes (speeds) of the speeds of both doors are equal, but they may be different. Also, different values may be set for the opening and closing speed during normal opening and closing and at other times. For example, in the case of so-called inversion where, during normal closing drive of the door unit 10, in order to urgently avoid a passerby being pinched between the closing first and second movable doors 11L and 11R, a switch to opening drive is made, the speeds of the first and second movable doors 11L and 11R during that opening drive may be set to values different from the speeds during normal opening drive.

[0022] The opening and closing strength is the magnitude of the force when the first and second movable doors 11L and 11R open and close, and is controlled by the generated torque value of the motor 41 of the drive unit 40 described later. Similar to the above-mentioned opening and closing speed, basically, it is preferable that the opening and closing strengths of the first and second movable doors 11L and 11R are equal. Also, different opening and closing strengths may be set during normal opening and closing and at other times. The opening width is the horizontal interval between the first movable door 11L and the second movable door 11R when the door unit 10 is fully open.

[0023] The controller 20 includes a control device 21, a storage device 22, a communication device 23, and a detection device 24. The control device 21 is realized by an arithmetic processing device mounted on a microcontroller, and is in charge of various information processing and control in the automatic door 100. The control device 21 controls the drive unit 40 according to the detection results of passersby and the like from the door sensor 30 to open and close the door unit 10. Also, the control device 21 can open and close the automatic door 100 in response to receiving an opening and closing command signal for opening and closing the automatic door 100 from a worker's work terminal or a remote computer via the communication device 23.

[0024] The storage device 22 is a general-purpose memory that stores various data of the automatic door 100.

[0025] The communication device 23 exchanges various information with external communication devices of the automatic door 100 through wired or wireless connections. For example, the communication device 23 can communicate with a work terminal used by a worker who has come to the site for the installation, maintenance, and inspection of the automatic door 100. Thereby, the worker can check the information of each part of the automatic door 100 on the work terminal and input various data of the automatic door 100. When the communication device 23 has a communication function via a public information communication network such as the Internet, it is possible to check the information of the automatic door 100 and input data from a remote computer.

[0026] The detection device 24 detects the operating information of the automatic door 100 and the occurrence of an earthquake. The detection device 24 includes a voltage sensor 24a that detects the drive voltage of the motor 41, a current sensor 24b that detects the drive current of the motor 41, a speed sensor 24c that detects the opening and closing speed of the automatic door 100, and an earthquake sensor 24d that detects seismic waves and generates earthquake information including the seismic waves. The detection device 24 may be provided outside the controller 20.

[0027] The door sensor 30 includes an activation sensor 31 and an auxiliary sensor 32. The activation sensor 31 is a photoelectric sensor provided on the surface of the blind 60 above the door portion 10. The activation sensor 31 includes a light emitting portion that emits light such as infrared rays toward the floor surface and a light receiving portion that detects the reflected light from the floor surface. When a passerby approaches the automatic door 100 and blocks the light, the amount of light received by the light receiving portion changes, so that the passerby can be detected. When the detection information from such an activation sensor 31 is input to the controller 20, the motor 41 is driven to open the door portion 10.

[0028] The auxiliary sensor 32 is a photoelectric sensor provided on the first fixed door 12L and the second fixed door 12R of the door unit 10. The auxiliary sensor 32 includes a light projecting unit provided on one of the first fixed door 12L and the second fixed door 12R, and a light receiving unit provided on the other. The light projecting unit and the light receiving unit are provided at the same height from the floor surface, and the light receiving unit detects light such as infrared rays emitted in the horizontal direction from the light projecting unit. When a passerby passes through the opening and blocks the light while the door unit 10 is open, the amount of light received by the light receiving unit changes, so that the passerby can be detected. The main purpose of the auxiliary sensor 32 is closing protection. When the auxiliary sensor 32 detects a passerby during the closing operation of the first and second movable doors 11L and 11R, the control device 21 performs reverse control to stop the closing drive and switch to the opening drive. Thereby, it is possible to prevent the passerby from being pinched by the first and second movable doors 11L and 11R that are closing.

[0029] The drive unit 40 includes a motor 41 as a power source that generates rotational power, and a drive pulley 42 that is rotationally driven by the motor 41. The motor 41 can be configured as various known motors. In this embodiment, as an example, it is a brushless motor including an encoder 41A using a Hall element. The position of the rotor of the motor 41 detected by the encoder 41A is input to the control device 21, and a drive voltage or drive current is applied to the motor 41 accordingly, thereby generating a desired rotational power. The drive pulley 42 is connected to the rotor of the motor 41 via a gear mechanism (not shown) and rotates in conjunction.

[0030] The power transmission unit 50 transmits the power generated by the drive unit 40 to the door unit 10 to drive the first and second movable doors 11L and 11R to open and close. The power transmission unit 50 includes a power transmission belt 51, a driven pulley 52, and a connecting member 53. The power transmission belt 51 is an annular timing belt having a large number of teeth formed on its inner peripheral surface. It is wound around the drive pulley 42 on the right side of FIG. 1 and wound around the driven pulley 52 on the left side of FIG. 1. In this state, the horizontal dimension of the power transmission belt 51 is equal to the horizontal distance between the drive pulley 42 and the driven pulley 52, and is also approximately the same as the horizontal dimension of the movable range of the first and second movable doors 11L and 11R. When the drive pulley 42 rotates by the motor 41, the driven pulley 52 rotates in conjunction via the power transmission belt 51.

[0031] The connecting member 53 connects the first and second movable doors 11L and 11R to the power transmission belt 51 respectively to drive them to open and close. Here, one movable door 11 is connected above the power transmission belt 51, and the other movable door 11 is connected below the power transmission belt 51. In the example of FIG. 1, when the power transmission belt 51 rotates counterclockwise, the first movable door 11L moves to the left and the second movable door 11R moves to the right for an opening operation. When the power transmission belt 51 rotates clockwise, the first movable door 11L moves to the right and the second movable door 11R moves to the left for a closing operation.

[0032] FIG. 3 schematically shows the functions of the controller 20 of the present embodiment. The controller 20 includes an earthquake determination unit 110, a control unit 120, and a storage unit 130.

[0033] The earthquake determination unit 110 acquires earthquake information including seismic waves from the earthquake sensor 24d of the detection device 24, and determines whether it is an earthquake based on this earthquake information.

[0034] The control unit 120 controls the opening and closing of the movable door 11. When the earthquake determination unit 110 determines that an earthquake has occurred, the control unit 120 executes control to hold the movable door 11 at a predetermined position. The predetermined position is preferably a position where the movable door 11 does not contact the surrounding components even if it moves slightly due to the shaking of the earthquake. The control unit 120 includes a drive control unit 121 that controls the drive unit 40 to move the movable door 11 in the opening and closing directions. The drive control unit 121 of the present embodiment executes control to hold the movable door 11 at an intermediate open position. The intermediate open position will be described later.

[0035] The storage unit 130 stores various data such as earthquake information and operation information of the automatic door 100.

[0036] The operation of the controller 20 of the present embodiment will be described with reference to FIG. 4. FIG. 4 is a flowchart showing the operation S100 of the controller 20 when an earthquake occurs in the present embodiment.

[0037] In step S101, the earthquake determination unit 110 acquires earthquake information from the earthquake sensor 24d.

[0038] In step S102, the earthquake determination unit 110 determines whether or not an earthquake has occurred based on the earthquake information. For example, when the time series data of the seismic waves in the earthquake information is equal to or greater than a preset reference value, the earthquake determination unit 110 determines that an earthquake has occurred. If it is determined that an earthquake has occurred (Y in step S102), the earthquake determination unit 110 supplies an earthquake detection signal to the control unit 120, and the operation S100 proceeds to step S103. If it is not determined that an earthquake has occurred in step S102, the operation S100 returns to step S101 (N in step S102).

[0039] In step S103, the drive control unit 121 controls the drive unit 40 to move and hold the movable door 11 at a predetermined position. As shown in FIG. 5, here, the drive voltage of the motor 41 is gradually increased, and the drive unit 40 is driven using a drive voltage slightly larger than the minimum voltage (door operation start voltage in FIG. 5) at which the movable door 11 moves. As a result, the movable door 11 will move with the braking force added as much as possible. As a result, it is possible to move the movable door 11 with the minimum drive voltage while suppressing the displacement of the movable door 11. Note that the upper limit of the drive voltage of the motor 41 at this time can be set to a drive voltage smaller than the drive voltage during the normal opening and closing operation of the automatic door 100 when a passerby of the automatic door 100 is detected by the door sensor 30 when it is not determined that an earthquake has occurred. In this case, the movable door 11 will move at a speed lower than the traveling speed in the normal opening and closing operation or with a driving force smaller than the driving force in the normal opening and closing control until it reaches the predetermined position. As a result, it is suppressed that the movable door 11 moves too much when the direction of the earthquake vibration overlaps with the moving direction of the movable door 11. As a result, it is suppressed that the movable door 11 collides with surrounding objects. The drive control unit 121 may drive the drive unit 40 to periodically add a braking force by periodically repeating the door operation start voltage and a voltage larger than the door operation start voltage.

[0040] Note that when a locking mechanism for locking the door unit 10 such as the pulley lock 54 (see FIG. 1) is provided, in step S103, the state of releasing the lock of the locking mechanism (pulley lock 54) is maintained so as not to interfere with the locking mechanism. Further, for example, the drive control unit 121 holds the movable door 11 at a predetermined position by stopping the supply of three-phase alternating current to the motor 41 after reaching the predetermined position.

[0041] The predetermined position in this embodiment is the intermediate opening position. Referring to FIG. 6, the intermediate opening position will be described. As shown in FIG. 6, the intermediate opening position is a position between the fully open position and the fully closed position of the movable door 11, and is a position separated from at least one of the fully open position and the fully closed position by a predetermined distance. Preferably, the intermediate opening position is a position equidistant from the fully open position and the fully closed position of the movable door 11. By holding at the above-mentioned equidistant position, even if the movable door 11 moves slightly due to the shaking of an earthquake, it can be made difficult to contact the surrounding objects.

[0042] In step S104, the drive control unit 121 determines whether the position of the movable door 11 has moved from the predetermined position. For example, the drive control unit 121 determines whether the position of the movable door 11 has moved from the predetermined position due to the shaking of an earthquake based on the stroke value of the movable door 11. The stroke value corresponds to the rotational position of the motor 41 and is obtained by counting the output signal of the encoder 41A. If it is determined that the position has moved (Y in step S104), the operation S100 proceeds to step S105. If it is determined that the position has not moved (N in step S104), the operation S100 proceeds to step S106.

[0043] In step S105, the drive control unit 121 controls the drive unit 40 to drive the movable door 11 back to the predetermined position and hold it. After step S105, the operation S100 proceeds to step S106.

[0044] In step S106, the drive control unit 121 determines whether the earthquake has subsided. For example, the drive control unit 121 determines that the earthquake has subsided when the time-series data of the seismic waves of the earthquake information becomes smaller than a preset reference value. If it is determined that the earthquake has not subsided (N in step S106), the operation S100 returns to step S104. If it is determined that the earthquake has subsided (Y in step S106), the operation S100 proceeds to step S107. Therefore, steps S104 to S106 are repeatedly executed until the earthquake subsides.

[0045] In step S107, the drive control unit 121 determines whether the earthquake has subsided and a predetermined time has elapsed. If it is determined that the earthquake has not subsided and the predetermined time has not elapsed (N in step S107), the operation S100 returns to the start of step S107. If it is determined that the predetermined time has elapsed since the earthquake has subsided (Y in step S107), the operation S100 proceeds to step S108.

[0046] In step S108, the drive control unit 121 controls the drive unit 40 to move the position of the movable door 11 from a predetermined position to the fully closed position. After step S108, the operation S100 ends, and the automatic door 100 starts to execute normal opening and closing control.

[0047] Here, when it is determined as an earthquake in step S102, the storage unit 130 stores the date and time when the earthquake determination unit 110 determines an earthquake and the operation information of the automatic door 100 obtained from when it is determined as an earthquake in step S102 until it is determined that the earthquake has subsided in step S102. The operation information of the automatic door includes at least one of, for example, the drive voltage and drive current of the motor 41, the stroke value, the running speed of the movable door 11, and the acceleration. The drive voltage and drive current of the motor 41 are obtained from the voltage sensor 24a and the current sensor 24b, respectively. The running speed and acceleration of the movable door 11 are obtained from the speed sensor 24c.

[0048] Hereinafter, the operation and effects of the present embodiment will be described.

[0049] Referring to FIG. 7, when an earthquake occurs, the movable door 11 may shake and the movable door 11 may collide with surrounding objects such as the other movable door 11 or the stopper 140. At this time, the movable door 11 bounces up and down and becomes easier to rotate. As a result, there has been a problem that the movable door 11 is likely to fall off and the surrounding objects are likely to be damaged.

[0050] Therefore, in the present embodiment, when the earthquake determination unit 110 determines that an earthquake has occurred, control is executed to hold the movable door 11 at a predetermined position. As a result, during an earthquake, since the movable door 11 is held at the predetermined position, it is possible to maintain a state in which it is difficult to collide with surrounding objects. Consequently, during an earthquake, rotation of the movable door 11 due to a collision between the movable door 11 and surrounding objects, and thus detachment of the movable door 11 and damage to surrounding objects can be suppressed.

[0051] Further, in the present embodiment, the predetermined position is an intermediate opening position that is a predetermined distance away from at least one of the fully open position and the fully closed position of the movable door 11. According to this configuration, since it is possible to maintain the interval between the movable door 11 and surrounding objects at a predetermined interval, it is possible to make it difficult for the movable door 11 to collide with surrounding objects. In addition, this configuration has the advantage that it can be realized without requiring a special device for realizing this configuration.

[0052] Here, even when the movable door 11 is held at a predetermined position, if a load greater than the holding force is applied to the door portion 10 by an earthquake, the position of the movable door 11 may deviate from the predetermined position. As a result, there is a risk that the movable door 11 may collide with surrounding objects such as the other movable door 11 or the stopper 140. In the present embodiment, the above-described holding control includes control to return the movable door 11 to the predetermined position when the position of the movable door 11 moves from the predetermined position after moving the position of the movable door 11 to the predetermined position. According to this configuration, when the position of the movable door 11 deviates from the predetermined position due to an earthquake after moving the position of the movable door 11 to the predetermined position, the movable door 11 can be moved back to the original predetermined position. As a result, it becomes easier to maintain the interval between the movable door 11 and surrounding objects at a predetermined interval.

[0053] In this embodiment, the drive control unit 121 moves the movable door 11 to a predetermined position by applying a voltage greater than the minimum voltage that allows the movable door 11 to move until the movable door 11 reaches the predetermined position to the motor 41. According to this configuration, the movable door 11 moves with the braking force added as much as possible. As a result, excessive movement due to the coincidence of the moving direction and the swaying direction can be suppressed, so that it is possible to move the movable door 11 with a minimum motor voltage while suppressing the displacement of the movable door 11.

[0054] In this embodiment, the storage unit 130 stores the operation information of the automatic door 100 when the earthquake determination unit 110 determines that an earthquake has occurred. According to this configuration, for example, an operator who has gone to the installation site of the automatic door 100 reads the operation information stored in the storage unit 130 via the work terminal. As a result, the operation information is presented on the display screen of the work terminal or the like and can be utilized for maintenance after the earthquake. For example, based on the stroke value in the operation information, it is possible to determine whether there has been a collision with surrounding objects, and it is possible to propose replacement recommendations for parts of the automatic door 100.

[0055] Hereinafter, a modification example of this embodiment will be described.

[0056] The controller 20 may further include a notification unit that notifies an earthquake when the earthquake determination unit 110 determines that an earthquake has occurred. For example, the notification unit may notify the earthquake by blinking an LED (such as the LED used in the door sensor 30) mounted on the automatic door 100 in a specific pattern in response to the determination of the earthquake.

[0057] The controller 20 may further include a transmitter that transmits the operation information or the information stored in the storage unit 130 to the outside. For example, the transmitter transmits the operation information to a remote computer such as a server via a public information communication network such as the Internet. The operator acquires the operation information from the server via the work terminal. Thereby, the operation information is presented on a display screen of the work terminal or the like and can be utilized for maintenance after an earthquake. For example, based on the stroke value in the operation information, it is possible to determine whether there has been a collision with a surrounding object, and it is possible to propose, for example, the replacement of parts of the automatic door 100.

[0058] In the embodiment, the storage unit 130 is provided in the controller 20, but is not limited thereto, and may be provided in a storage device external to the controller 20.

[0059] In the embodiment, the earthquake determination unit 110 determines the presence or absence of an earthquake based on the seismic wave obtained from the earthquake sensor 24d, but is not limited thereto. The earthquake determination unit 110 may acquire the earthquake determination result from the earthquake sensor 24d or an earthquake detection system outside the automatic door 100, and determine that it is an earthquake based on the determination result. In this case, in step S106, the earthquake determination unit 110 may acquire the earthquake convergence determination result from the earthquake sensor 24d or an external earthquake detection system, and determine that the earthquake has subsided based on the earthquake convergence determination result. Further, the earthquake determination unit 110 may determine the presence or absence of an earthquake based on information from constituent devices (for example, the hall IC of the motor 41, the activation sensor 31, the opening protection sensor, etc.) used for the opening / closing control of the automatic door 100.

[0060] In the embodiment, the drive control unit 121 determines whether the earthquake has subsided in step S106 and determines whether a predetermined time has elapsed since the earthquake subsided in S107, but it is not limited thereto. For example, instead of S106 and S107, the drive control unit 121 may determine whether a predetermined time has elapsed since it was determined that there was an earthquake in step S102. In this case, when a predetermined time has elapsed since it was determined that there was an earthquake, the operation S100 may be shifted to S108. At this time, the predetermined time may be set to a time sufficient for the earthquake to subside. Also, based on a release signal from the outside, the operation S100 may be shifted to S108.

[0061] In the embodiment, the drive control unit moves the movable door 11 to the fully closed position in step S108, but it may be moved to the fully open position.

[0062] [Second Embodiment] Hereinafter, a second embodiment of the present invention will be described. In the drawings and description of the second embodiment, the same or equivalent components and members as those in the first embodiment are denoted by the same reference numerals. Descriptions overlapping with those of the first embodiment are omitted as appropriate, and the configuration different from that of the first embodiment will be mainly described.

[0063] In the above step S103, the predetermined position in the first embodiment was the halfway open position, but the predetermined position in the second embodiment is the fully open position. Also, in the first embodiment, the movable door 11 was held at the predetermined position by stopping the supply of three-phase alternating current to the motor 41, but in the second embodiment, after the movable door 11 reaches the fully open position, the movable door 11 is continuously driven in the opening direction so that the movable door 11 is held at the fully open position.

[0064] In this embodiment, the holding control includes control for continuously driving the movable door 11 in the opening direction after the movable door 11 reaches its fully open position. According to this configuration, the door hanger 132 is held in a state of being pressed against the stopper 140. Therefore, due to the shaking of an earthquake, it becomes difficult for the movable door 11 to move from the fully closed position, so it is possible to make it difficult for the movable door 11 to collide with surrounding objects. Also, this configuration has the advantage that, similar to the first embodiment, it can be realized without requiring a special device for realizing this configuration.

[0065] In the above-described control for continuously driving, when it is not determined to be an earthquake by the earthquake determination unit 110, the movable door 11 is driven in the opening direction with a driving force (pushing force) greater than the driving force when the automatic door 100 moves in the opening direction in normal opening and closing control. This control for continuously driving is executed, for example, by applying a constant driving voltage equal to or higher than the above-described door operation start voltage to the motor 41.

[0066] In the second embodiment, a predetermined position is set as the fully open position, but it is not limited to this, and it may be the fully closed position. In this case, the drive control unit 121 may execute control for continuously driving the movable door 11 in the closing direction after the movable door 11 reaches its fully closed position. In this case, when it is not determined to be an earthquake by the earthquake determination unit 110, the movable door 11 is driven using a driving force greater than the driving force when the automatic door 100 moves in the closing direction in normal opening and closing control. Thereby, the first and second movable doors 11L and 11R are held in a state of being pressed against each other.

[0067] [Third Embodiment] Hereinafter, a third embodiment of the present invention will be described. In the drawings and description of the third embodiment, the same or equivalent components and members as those in the first embodiment are denoted by the same reference numerals. Descriptions overlapping with those of the first embodiment are appropriately omitted, and the configurations different from those of the first embodiment will be mainly described.

[0068] In the third embodiment, a pulley lock 54 (see FIG. 1) that locks the drive pulley 42 and the driven pulley 52 so that the power transmission belt 51 cannot be wound up is used to hold the movable door 11 at a predetermined position. The pulley lock 54 of the third embodiment is an example of a lock mechanism that locks the movable door 11. Referring to FIG. 8, the control unit 120 of the third embodiment includes a lock control unit 122 that controls the operation (locking) and the release of the operation (unlocking) of the pulley lock 54.

[0069] In the third embodiment, when the movable door 11 reaches a predetermined position in step S103 in response to the determination of an earthquake, the lock control unit 122 executes control to operate the pulley lock 54 to lock the movable door 11. As a result, the movable door 11 is held at the predetermined position. In the third embodiment, when it is determined that a predetermined time has elapsed after the earthquake has subsided (Y in step S107), the pulley lock 54 is unlocked and the process proceeds to step S108.

[0070] According to the third embodiment, by using the pulley lock 54, it is possible to hold the movable door 11 at a predetermined position more firmly than in the case of the first and second embodiments.

[0071] Note that when the predetermined position is the fully closed position, the movable door 11 may be held at the fully closed position by using an electric lock that locks the movable door 11.

[0072] [Fourth Embodiment] Hereinafter, a fourth embodiment of the present invention will be described. In the drawings and description of the fourth embodiment, 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 will be omitted as appropriate, and configurations different from those in the first embodiment will be mainly described.

[0073] Referring to FIG. 7 again, when the door hanger 132 collides with the stopper 140, the movable door 11 rotates about the stopper 140 as a fulcrum, and the lower part of the movable door 11 swings, making it easier for the movable door 11 to fall off.

[0074] Refer to FIG. 9. In the present embodiment, a plurality of stoppers 140 are arranged side by side in the vertical direction above and below the center in the vertical direction of the movable door 11. The plurality of stoppers 140 in the present embodiment include upper stoppers 140a provided at both left and right ends of a running rail 131 that guides the door portion 10 from above along the opening and closing direction, and lower stoppers 140 provided at both left and right ends of a guide rail 134 that guides the door portion 10 from below along the opening and closing direction. The running rail 131 is an example of an upper rail, and the guide rail 134 is an example of a lower rail.

[0075] The upper stopper 140a contacts the door hanger 132 at the fully open position, and the lower stopper 140b contacts the anti-sway member 135 at the fully open position. When the door portion 10 contacts the upper stopper 140a and the lower stopper 140b at the fully open position, the movement of the movable door 11 along the opening direction is restricted at the fully open position. The position in the opening and closing direction where the upper stopper 140a contacts the door hanger 132 of the door portion 10 at the fully open position is equal to the position in the opening and closing direction where the lower stopper 140b contacts the anti-sway portion 135 of the door portion 10 at the fully open position.

[0076] In the present embodiment, a plurality of stoppers 140 are arranged side by side in the vertical direction above and below the center in the vertical direction of the movable door 11. According to this configuration, during an earthquake, it becomes possible to simultaneously collide the door hanger 132 and the anti-sway portion 135 of the door portion 10 with the upper stopper 140a and the lower stopper 140b, respectively. Thereby, when the door portion 10 collides with the stopper 140, rotation centered on the contact portion between the movable door 11 and the upper stopper 140a or the lower stopper 140b can be suppressed.

[0077] In the present embodiment, the upper stopper 140a and the lower stopper 140b are respectively provided on the running rail 131 and the guide rail 134, but it is not limited thereto. For example, the upper stopper 140a and the lower stopper 140b may be provided on the left and right vertical frames of the frame body to which the door portion 10 is attachably and detachably attached, or may be provided on the left and right fixed doors 12L and 12R.

[0078] In this embodiment, two stoppers 140, i.e., an upper stopper 140a and a lower stopper 140b, are provided, but the present invention is not limited thereto, and three or more stoppers 140 may be provided.

[0079] In this embodiment, the upper stopper 140a and the lower stopper 140b are configured to contact the door hanger 132 and the anti-sway portion 135, but the present invention is not limited thereto. For example, the upper stopper 140a and the lower stopper 140b may be configured to contact the butt of the movable door 11.

[0080] In this embodiment, the stopper 140 includes the upper stopper 140a and the lower stopper 140b, but the present invention is not limited thereto, and one stopper 140 extending in the vertical direction and contacting the entire butt of the movable door 11 may be used. Alternatively, at least one of the upper stopper 140a and the lower stopper 140b may extend in the vertical direction and contact the entire butt of the movable door 11.

[0081] In this embodiment, the upper stopper 140a and the lower stopper 140b are configured to contact the door portion 10 at the fully open position, but the present invention is not limited thereto. For example, the upper stopper 140a and the lower stopper 140b may be configured to contact the door portion 10 at the fully closed position, or may be provided on both sides of the fully closed position and the fully open position so as to contact the door portion 10 at both the fully closed position and the fully open position. When the upper stopper 140a and the lower stopper 140b are provided so as to contact the door portion 10 at the fully open position, the upper stopper 140a and the lower stopper 140b may be configured to contact the leading edge of the movable door 11.

[0082] [Fifth Embodiment] Hereinafter, a fifth embodiment of the present invention will be described. In the drawings and description of the fifth embodiment, the same or equivalent components and members as those in the first embodiment are denoted by the same reference numerals. Descriptions overlapping with those of the first embodiment are omitted as appropriate, and configurations different from those of the first embodiment will be mainly described.

[0083] In this embodiment, the stopper 140 is configured to move to a position where it does not contact the door portion 10 when a load equal to or greater than a predetermined load is applied in the opening direction. For example, the stopper 140 is configured to drop off the running rail 131 due to the impact when the door portion 10 collides with it during an earthquake and a load equal to or greater than a predetermined load is applied in the opening direction. Alternatively, the stopper 140 may be configured to be housed inside the automatic door 100 due to the impact when the door portion 10 collides with it during an earthquake and a load equal to or greater than a predetermined load is applied in the opening direction. The predetermined load here is appropriately set to be greater than, for example, the load applied to the stopper 140 during normal opening drive of the door portion 10.

[0084] According to this embodiment, even when the door portion 10 shakes and collides forcefully with the stopper 140 during an earthquake, the impact causes the stopper 140 to move to a position where it does not contact the door portion 10. Therefore, the load applied to the stopper 140 due to the collision can be alleviated, and thus the rotation of the movable door 11 with the stopper 140 as a fulcrum can be suppressed. Further, after the stopper 140 moves to a position where it does not contact the door portion 10, the stopper 140 cannot contact the door portion 10, so the occurrence of rotation of the movable door 11 with the stopper 140 as a fulcrum is itself suppressed.

[0085] [Sixth Embodiment] Hereinafter, a sixth embodiment of the present invention will be described. In the drawings and description of the sixth embodiment, the same or equivalent components and members as those in the first embodiment are denoted by the same reference numerals. Descriptions overlapping with those of the first embodiment are appropriately omitted, and the configurations different from those of the first embodiment will be mainly described.

[0086] Referring to FIG. 10, the automatic door 100 includes a stopper drive unit 43 that moves the stopper 140 to a position where it does not contact the door portion 10. The control unit 120 includes a stopper drive control unit 123 that controls the stopper drive unit 43 so as to move the stopper 140 to a position where it does not contact the door portion 10 when the earthquake determination unit 110 determines that an earthquake has occurred.

[0087] The stopper driving unit 43 is an actuator capable of moving the stopper 140 to a position where it does not contact the door unit 10. For example, the stopper driving unit 43 can drop the stopper 140 from the traveling rail 131 in response to a movement instruction from the stopper driving control unit 123. Alternatively, the stopper driving unit 43 may move the stopper 140 so as to be stored inside the automatic door 100 in response to a movement instruction from the stopper driving control unit 123.

[0088] According to the present embodiment, in response to the determination of an earthquake, the stopper 140 moves to a position where it does not contact the door unit 10, so that the occurrence of rotation of the movable door 11 with the stopper 140 as a fulcrum is suppressed.

[0089] [Seventh Embodiment] Hereinafter, a seventh embodiment of the present invention will be described. In the drawings and description of the seventh embodiment, the same or equivalent components and members as those in the first embodiment are denoted by the same reference numerals. Descriptions overlapping with those of the first embodiment will be omitted as appropriate, and the configurations different from those of the first embodiment will be mainly described.

[0090] FIG. 11 shows a door wheel 133 of the automatic door 100 according to the seventh embodiment. In FIG. 11, for simplicity, only the traveling rail 131 and the door wheel 133 are shown, and other components (such as the door hanger 132) are omitted. As shown in FIG. 11, the door wheel 133 of the seventh embodiment has a large-diameter end portion 133a with a relatively large diameter on one side in the rotation axis direction, and a small-diameter end portion 133b with a relatively small diameter on the other side in the rotation axis direction. In the seventh embodiment, the large-diameter end portion 133a is located on the left side of the paper surface of FIG. 11 (the front side of the paper surface of FIG. 1), and the small-diameter end portion 133b is located on the right side of the paper surface of FIG. 11 (the back side of the paper surface of FIG. 1), but it is not limited thereto, and the positions of the large-diameter end portion 133a and the small-diameter end portion 133b may be reversed.

[0091] Thus, the diameter of one end (the large-diameter end portion 133a) of the door wheel 133 in the rotation axis direction of the seventh embodiment is larger than the diameter of the other end (the small-diameter end portion 133b) in the rotation axis direction. According to this configuration, even if a sway occurs in the expected direction, the inclination of the door wheel 133 in the expected direction can be suppressed by the contact between the large-diameter end portion 133a and the traveling rail 131. As a result, the rotation of the movable door 11 in the expected direction is suppressed, and the door wheel 133 does not climb over the traveling rail 131, so that it is possible to improve the anti-derailment performance of the door wheel 133.

Explanation of Signs

[0092] 10 Door portion, 20 Controller, 21 Control device, 22 Storage device, 23 Communication device, 24 Detection device, 40 Driving unit, 41 Motor, 43 Stopper driving unit, 54 Pulley lock, 100 Automatic door, 110 Earthquake determination unit, 120 Control unit, 121 Driving control unit, 122 Lock control unit, 123 Stopper driving control unit, 130 Storage unit, 133 Door wheel, 133a Large-diameter end portion, 133b Small-diameter end portion, 140 Stopper, 140a Upper stopper, 140b Lower stopper.

Claims

1. A control unit for controlling the opening and closing of a door, and an earthquake determination unit for determining whether or not there is an earthquake, and when the earthquake determination unit determines that there is an earthquake, the control unit executes control to hold the door at a predetermined position Automatic door device.

2. The predetermined position is a position separated by a predetermined distance from at least one of the fully open position and the fully closed position of the door, and the control for holding the door at the predetermined position includes control to return the door to the predetermined position when the position of the door moves from the predetermined position after moving the door to the predetermined position The automatic door device according to claim 1.

3. The predetermined position is the fully open position or the fully closed position of the door, and the control for holding the door at the predetermined position by the control unit includes control to continuously drive the door in the opening direction or the closing direction after the door reaches the fully open position or the fully closed position The automatic door device according to claim 1.

4. After the door reaches the fully open position, the control unit drives the door in the opening direction with a driving force greater than the driving force when moving the door in the opening direction in the normal opening and closing control of the door The automatic door device according to claim 3.

5. Comprising a lock mechanism for locking the door, and the control for holding the door at the predetermined position includes control to operate the lock mechanism to lock the door when the door reaches the predetermined position The automatic door device according to claim 1 or 2.

6. Until the door reaches the predetermined position, the control unit moves the door to the predetermined position at a speed lower than the running speed of the door in the normal opening and closing control of the door or with a driving force smaller than the driving force in the normal opening and closing control The automatic door device according to any one of claims 1 to 5.

7. Until the door reaches the predetermined position, the control unit moves the door to the predetermined position by applying a voltage higher than the minimum voltage at which the door can move to the motor that drives the door The automatic door device according to claim 6.

8. Comprising a storage unit for storing the operation information of the automatic door device when the earthquake determination unit determines that there is an earthquake The automatic door device according to any one of claims 1 to 7.

9. Comprising a transmission unit for transmitting the operation information of the automatic door device when the earthquake determination unit determines that there is an earthquake or the information stored in the storage unit that stores the operation information of the automatic door device when the earthquake determination unit determines that there is an earthquake to the outside The automatic door device according to any one of claims 1 to 8.

10. Comprising a notification unit that notifies of the earthquake when the earthquake determination unit determines that it is an earthquake The automatic door device according to any one of claims 1 to 9.

11. A door unit having a door movable in the opening and closing direction, A plurality of stoppers arranged above and below the center in the vertical direction of the door so as to be in contact with the door unit when the door moves in the opening direction and limit the movement of the door unit along the opening direction at the fully open position of the door Comprising Automatic door device.

12. The plurality of stoppers include an upper stopper provided on an upper rail that guides the door unit along the opening and closing direction and a lower stopper provided on a lower rail that guides the door unit from below along the opening and closing direction The automatic door device according to claim 11.

13. A door unit having a door movable in the opening and closing direction, A stopper that contacts the door unit when the door moves in the opening direction and restricts the movement of the door unit along the opening direction at the fully open position of the door, and is configured to move to a position where it does not contact the door unit when a load of a predetermined load or more is applied in the opening direction Comprising Automatic door device.

14. A door unit having a door movable in the opening and closing direction, A stopper that contacts the door unit when the door moves in the opening direction and restricts the movement of the door unit along the opening direction at the fully open position of the door, An earthquake determination unit that determines whether it is an earthquake, A stopper drive unit that moves the stopper to a position where it does not contact the door unit, A stopper drive control unit that controls the stopper drive unit so as to move the stopper to a position where it does not contact the door unit when the earthquake determination unit determines that it is an earthquake Comprising Automatic door device.

15. Comprising a door unit having the door movable in the opening and closing direction, The door unit includes a door wheel that travels on a door rail that guides the door unit along the opening and closing direction, The diameter of one end on one side in the rotation axis direction of the door wheel is larger than the diameter of the other end on the other side in the rotation axis direction The automatic door device according to any one of claims 1 to 14.

16. A step of determining whether it is an earthquake, A step of executing control to hold the door at a predetermined position in response to the determination of the earthquake Comprising Control method of an automatic door device.

17. A door unit having a door movable in the opening and closing direction, A control method of an automatic door device comprising a stopper that contacts the door unit when the door moves in the opening direction and restricts the movement of the door unit along the opening direction at the fully open position of the door A step of determining whether or not there is an earthquake, A step of moving the stopper to a position where it does not contact the door portion in response to the determination of the earthquake, Comprising A control method for an automatic door device.

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