Opening / closing control system

Abstract

To provide an opening / closing control system capable of enhancing safety when a sliding door is used.SOLUTION: An opening / closing control system 40 comprises: a full-open position detection unit 43; an open side deceleration position detection unit 45; a first obstacle detection unit 46 and a second obstacle detection unit 47; and an opening / closing regulation unit for regulating an opening / closing movement of an opening / closing body 20. The opening / closing regulation unit performs: open side deceleration control when the opening / closing body 20 performs opening movement and the open side deceleration position detection unit 45 detects that the opening / closing body 20 reaches an open side deceleration position; open side stop control when open side deceleration control is performed and the full-open position detection unit 43 detects that the opening / closing body 20 reaches a full-open position; and avoidance control when the open side deceleration control is performed and the first obstacle detection unit 46 or / and the second obstacle detection unit 47 detect an obstacle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an opening and closing control system. [Background technology]

[0002] As one of the conventional technologies for controlling the opening and closing of an opening / closing body that constitutes a sliding door installed at an opening in a building, a technology has been disclosed in which, when a person is detected by a human detection sensor, the opening / closing body is moved open at high speed, and when a person is not detected by the human detection sensor but the opening movement of the opening / closing body is detected by a position detection element in the motor due to wind or the like, the opening / closing body is moved closed at low speed (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-247374 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, as described above, when a person is detected by the human detection sensor, the opening / closing body is simply moved open at high speed, so if a person is present on the door trailing edge side of the opening / closing body during the opening movement, there is a risk that the person's feet may be pinched between the opening / closing body and the door stop portion located on the door trailing edge side of the opening / closing body. Therefore, there is room for improvement in terms of increasing safety when using the sliding door.

[0005] The present invention is intended to solve the problems in the conventional technology described above, and has an object to provide an opening and closing control system that can improve safety when using a sliding door. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the opening / closing control system according to claim 1 is an opening / closing body constituting a sliding door provided at an opening of a building, and is an opening / closing control system for controlling opening / closing movement of the opening / closing body that opens and closes the opening, and is equipped with: a fully open position detection means that detects whether the opening / closing body has reached a fully open position that is a position corresponding to a state in which the opening is fully opened by the opening / closing body; an opening side deceleration position detection means that detects whether the opening / closing body has reached an opening side deceleration position that is located just before the fully open position and is a position that triggers deceleration of the opening movement of the opening / closing body; an obstacle detection means that detects an obstacle that obstructs the opening / closing movement of the opening / closing body; and an opening / closing control means that controls the opening / closing movement of the opening / closing body. When the opening / closing body is moving in an open position, and the opening / closing control means detects that the opening / closing body has reached the opening side deceleration position, the opening / closing control means performs opening side deceleration control, which is a control to decelerate the speed of the opening movement; when the opening side deceleration control is being performed and the fully open position detection means detects that the opening / closing body has reached the fully open position, the opening / closing control means performs opening side stop control, which is a control to stop the opening movement of the opening / closing body; and when the opening side deceleration control is being performed and the obstacle is detected by the obstacle detection means, the opening / closing control means performs avoidance control, which is a control related to the opening / closing movement of the opening / closing body and is a control to avoid at least the obstacle from being pinched by the opening / closing body.

[0007] The opening / closing control system of claim 2 is the opening / closing control system of claim 1, in which the opening / closing control means does not perform the avoidance control regardless of the detection result of the obstacle detection means when the opening / closing body is moving in the open position and the opening side deceleration control is not being performed.

[0008] The opening / closing control system of claim 3 is an opening / closing control system of claim 1 or 2, in which the avoidance control includes a non-reverse closing control that simply stops the opening movement of the opening / closing body, and / or a reverse closing control that, after stopping the opening movement of the opening / closing body, moves the opening / closing body to a closed position by a predetermined distance or a predetermined time and then stops it.

[0009] The opening and closing control system described in claim 4 is the opening and closing control system described in claim 1 or 2, in which the obstacle detection means is a non-contact obstacle detection sensor, and the obstacle detection means is configured so that the detection range of the obstacle detection means includes the entire area in which the opening and closing body is moved to open and close.

[0010] An opening and closing control system according to a fifth aspect of the present invention is the opening and closing control system according to the first or second aspect, wherein the obstacle detection means is a contact-type obstacle detection sensor. [Effects of the Invention]

[0011] According to the opening / closing control system described in claim 1, when opening side deceleration control is being performed and an obstacle is detected by the obstacle detection means, the opening / closing control means performs avoidance control, so when opening side deceleration control is being performed, the avoidance control can at least prevent the obstacle from being pinched by the opening / closing body, making it possible to increase safety when using the sliding door.

[0012] According to the opening / closing control system of claim 2, when the opening / closing body is moving in the open position and opening-side deceleration control is not being performed, the opening / closing control means does not perform avoidance control regardless of the detection result of the obstacle detection means, so when the opening / closing body is moving in the open position and opening-side deceleration control is not being performed, it is possible to avoid the avoidance control from blocking passage of a passing object through the opening, ensuring usability of the sliding door. Also, it is possible to avoid harm to a passing object caused by the opening / closing body (such as pinching of the passing object by the opening / closing body or collision between the opening / closing body and the passing object), making it possible to further improve safety when using the sliding door.

[0013] According to the opening and closing control system described in claim 3, the avoidance control includes non-reverse closing control and / or reverse closing control, so that avoidance control can be performed according to the usage situation, thereby improving the usability of the opening and closing control system.

[0014] According to the opening / closing control system of claim 4, the obstacle detection means is a non-contact obstacle detection sensor, and the obstacle detection means is configured so that the detection range of the obstacle detection means includes the entire area in which the opening / closing body is moved to open and close.Therefore, even if only a non-contact obstacle detection sensor is installed, obstacles can be accurately detected, and the installation costs of the obstacle detection means can be reduced.

[0015] According to the opening and closing control system of claim 5, the obstacle detection means is a contact-type obstacle detection sensor, so that it is possible to accurately detect an obstacle, and the accuracy of the detection can be improved. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a front view conceptually showing a sliding door according to an embodiment of the present invention, illustrating a fully closed state. [Figure 2] FIG. 2 is a front view conceptually showing the sliding door in a fully open state. [Figure 3] FIG. 2 is a block diagram showing the electrical configuration of a control unit. [Figure 4] 10 is a flowchart of an opening / closing process according to an embodiment. [Figure 5] 10 is a flowchart of a closing process. [Figure 6] 10 is a flowchart of a release process. [Figure 7] FIG. 10 is a diagram illustrating a modified example of the first obstacle detection unit. DETAILED DESCRIPTION OF THE INVENTION

[0017] An embodiment of the opening / closing control system according to the present invention will be described in detail below with reference to the accompanying drawings. First, [I] the basic concept of the embodiment will be described, then [II] specific details of the embodiment will be described, and finally, [III] modifications to the embodiment will be described. However, the present invention is not limited to the embodiment.

[0018] [I] Basic Concept of the Embodiment First, the basic concept of the embodiment will be described.

[0019] The embodiment generally relates to an opening / closing control system for controlling the opening and closing movement of an opening / closing body that constitutes a sliding door provided at an opening of a building and that opens and closes the opening.

[0020] Here, the specific type of "building" is arbitrary, but the concept includes, for example, factory facilities, apartment complexes such as apartments and condominiums, detached houses, office buildings, commercial facilities, and public facilities.

[0021] Furthermore, an "opening in a building" is an opening formed in a part of the building's framework (for example, a wall, floor, ceiling, etc.) for installing an entrance or window.

[0022] Furthermore, the "open / closed state of the opening / closing body" is a concept that includes, for example, a "fully closed state," a "fully open state," and a "half-open state."

[0023] Of these, the "fully closed state" refers to a state in which the opening is fully closed by the opening / closing body, and in the embodiment, the position of the opening / closing body in the fully closed state is referred to as the "fully closed position."

[0024] Further, the "fully open state" refers to a state in which the opening is fully opened by the opening / closing body, and in the embodiment, the position of the opening / closing body in the fully open state is referred to as the "fully open position."

[0025] Furthermore, the "half-open state" refers to a state in which the opening / closing body is positioned between the fully closed position and the fully open position, and the position of the opening / closing body in the half-open state is referred to as the "half-open position."

[0026] Furthermore, the specific structure of the "sliding door" is arbitrary, and it can be configured as, for example, a sliding door, a single sliding door, a double sliding door, or a double single sliding door.

[0027] In the following embodiments, a case will be described in which the sliding door is an electric sliding door that opens and closes from left to right and is a single-sliding door provided at the entrance of a building such as a factory facility.

[0028] [II] Specific details of the embodiment Next, specific details of the embodiment will be described.

[0029] (composition) First, the configuration of a sliding door 1 to which an opening / closing control system according to an embodiment is applied will be described.

[0030] In the following explanation, the X direction in FIG. 1 will be referred to as the left-right direction of the sliding door 1 (-X direction is the left direction of the sliding door 1, and +X direction is the right direction of the sliding door 1), the Y direction in FIG. 1 will be referred to as the up-down direction of the sliding door 1 (+Y direction is the up direction of the sliding door 1, and -Y direction is the down direction of the sliding door 1), and the direction perpendicular to the X and Y directions will be referred to as the front-to-back direction (the direction leading to the front side of the paper in FIG. 1 is the front direction of the sliding door 1, and the direction leading to the back side of the paper in FIG. 1 is the rear direction of the sliding door 1).

[0031] The sliding door 1 is used to restrict or limit access to an opening 3 in a building. As shown in Figs. 1 and 2, the sliding door 1 generally comprises a frame 10, an opening / closing body 20, a drive unit 30, and an opening / closing control system 40.

[0032] It should be noted that the configuration of the sliding door 1 that is not specifically mentioned is the same as that of a conventional electric sliding door, and therefore the description thereof will be omitted.

[0033] Furthermore, the components that make up the sliding door 1 may be connected in any manner, but in this embodiment, they are set as follows.

[0034] That is, the control unit 50 of the opening / closing control system 40 described later is electrically connected via wiring 4 to each of the drive unit 30, the operation unit 41 of the opening / closing control system 40 described later, the fully closed position detection unit 42, the fully open position detection unit 43, the closing side deceleration position detection unit 44, the opening side deceleration position detection unit 45, the first obstacle detection unit 46, the second obstacle detection unit 47, and the opening / closing output unit 48.

[0035] This allows communication or power supply to be performed directly or indirectly between the control unit 50 described below and the drive unit 30, the operation unit 41 described below, the fully closed position detection unit 42 described below, the fully open position detection unit 43 described below, the closing side deceleration position detection unit 44 described below, the opening side deceleration position detection unit 45 described below, the first obstacle detection unit 46 described below, the second obstacle detection unit 47 described below, or the opening / closing output unit 48 described below.

[0036] The method of attaching (or connecting) the various components that make up the sliding door 1 to each other is arbitrary, but for example, a method is used in which the component on the attachment side is attached (or connected) to the component on the other side through an attachment hole (for example, a rivet hole, a screw hole, a screw hole, etc.) formed in the component on the attachment side or the component on the other side using a fastener (for example, a rivet, a mounting screw, a screw, etc.), welding, an adhesive, double-sided tape, etc.

[0037] (Configuration - Frame) The frame 10 is installed on the periphery of an opening 3 formed in a building frame 2 (for example, an exterior wall or a floor, etc.). The frame 10 is formed by combining multiple frame materials (for example, frame materials made of steel (steel, stainless steel, etc.)).

[0038] Specifically, as shown in Figure 1, the multiple frame members are composed of a left vertical frame 11, a right vertical frame 14, a lower horizontal frame 12, and a crossbeam 13. The left vertical frame 11, the right vertical frame 14, the lower horizontal frame 12, and the crossbeam 13 are each directly fixed to the building frame 2 around the periphery of the opening 3 by a known method.

[0039] (Configuration - Frame - No eyelets) Of these, the transom 13 is used to store each part of the sliding door 1. As shown in Fig. 1, the transom 13 is attached to the building frame 2 (for example, an exterior wall or the like).

[0040] The specific configuration of the interlock 13 is arbitrary, but in this embodiment, it is configured as follows.

[0041] That is, the transom 13 is shaped as a long hollow body extending substantially along the left-right direction, and the bottom surface of the hollow body is open.

[0042] The length of the interlock 13 in the left-right direction is set to a length that can accommodate the drive unit 30, and specifically, is set to be longer than the length of the drive unit 30 in the left-right direction.

[0043] In addition, the length of the interlock 13 in the front-to-back direction is set to be longer than the length of the opening-closing body 20 in the front-to-back direction, and may be set to, for example, approximately three to five times the length of the opening-closing body 20 in the front-to-back direction.

[0044] The vertical length of the interlock 13 is set to be longer than the vertical length of the drive unit 30.

[0045] In addition, the transom 13 is installed so that its left end is located to the left of the opening / closing body 20 in the fully closed state, and its right end is located to the right of the opening / closing body 20 in the fully open state.

[0046] The method of forming the interlock 13 is to connect a plurality of bent steel plate-like bodies to each other with fixtures such as screws or mounting screws, thereby forming the interlock 13.

[0047] With this configuration, as shown in Figure 1, the interior of the interceptor 13 can accommodate the drive unit 30, the fully closed position detection unit 42 of the opening / closing control system 40 described later, the fully open position detection unit 43, the closing side deceleration position detection unit 44, the opening side deceleration position detection unit 45, the second obstacle detection unit 47, and the control unit 50.

[0048] (Configuration - Frame - Other configurations) The other configurations of the frame portion 10 are optional, but in this embodiment, as shown in Figure 1, the frame portion 10 further includes a guide rail 15, a closing side door stop portion 16, and an opening side door stop portion 17.

[0049] (Configuration - Frame - Other configurations - Guide rail) The guide rail 15 guides the opening / closing body 20 to move in the opening / closing direction (left-right direction in the embodiment) of the opening 3. The guide rail 15 is an elongated body formed so that the cross section along the YZ plane has a substantially convex (or substantially U-shaped) shape, and is disposed on the underside of the crossbar 13 and on the floor of the building so that the longitudinal direction of the guide rail 15 is substantially along the left-right direction, and is fixed to the crossbar 13 or the floor of the building by fixtures or the like.

[0050] In the following, where necessary, the guide rail 15 provided on the interlock 13 (not shown) will be referred to as the "upper guide rail," and the guide rail 15a provided on the floor surface of the building will be referred to as the "lower guide rail 15a."

[0051] Furthermore, the specific configuration of the guide rail 15 is arbitrary, but in this embodiment, it is configured as follows.

[0052] That is, the length of the guide rail 15 in the left-right direction is set to a length that allows the opening / closing body 20 to be moved from the fully open position to the fully closed position. Specifically, the length is set to be longer than the left-right length of the opening 3, and may be set to, for example, about twice the left-right length of the opening / closing body 20.

[0053] The length of the guide rail 15 in the front-rear direction is set to be approximately the same as or longer than the length of the opening / closing body 20 in the front-rear direction.

[0054] Regarding the method of installing the upper guide rail, the upper guide rail is installed on the lintel 13 at a position outside the building from the lower horizontal frame 12 so that the left end of the upper guide rail is positioned approximately at the same position as the left end of the opening / closing body 20 in the fully closed state, and the right end of the upper guide rail is positioned approximately at the same position as the opening / closing body 20 in the fully open state.

[0055] Regarding the method of installing the lower guide rail 15a, the lower guide rail 15a is installed on the floor of the building so that, at a position outside the building beyond the lower horizontal frame 12, the left end of the lower guide rail 15a is positioned approximately at the same position as the left end of the opening / closing body 20 in the fully closed state, and the right end of the lower guide rail 15a is positioned approximately at the same position as the opening / closing body 20 in the fully open state.

[0056] (Configuration - Frame - Other configurations - Closing side door stop) The closing side door stop 16 is intended to restrict the closing movement of the opening / closing body 20 beyond the fully closed position. This closing side door stop 16 is made up of a known door stop member and is provided on the left vertical frame 11 as shown in Figures 1 and 2.

[0057] Specifically, the closing side door stop portion 16 is provided over approximately the entire length in the vertical direction of the right end face of the left vertical frame 11, and is provided in a position where the closing side door stop portion 16 and the opening / closing body 20 can come into contact with each other in the fully closed state, and is connected to the left vertical frame 11 by a fixing device or the like.

[0058] (Configuration - Frame - Other configurations - Open side door stop)

[0059] The opening-side door stop portion 17 is intended to restrict the opening / closing body 20 from moving beyond the fully open position. This opening-side door stop portion 17 is made up of a known door stop member, and is provided on the lower guide rail 15a as shown in Figure 1.

[0060] Specifically, the open side door stop portion 17 is arranged to protrude upward from the right end portion of the lower guide rail 15a, and is arranged in a position where the open side door stop portion 17 and the opening / closing body 20 can come into contact with each other when the door is fully open, and is connected to the lower guide rail 15a by a fixing device or welding, etc.

[0061] The specific configuration of the open-side door stop portion 17 is arbitrary, but in the embodiment, the vertical length of the open-side door stop portion 17 is set to be longer than the vertical length of the lower guide rail 15a, and may be set to, for example, approximately two to three times the vertical length of the lower guide rail 15a.

[0062] (Configuration - Opening and closing body) The opening / closing body 20 is configured to switch the opening / closing state of the opening / closing body 20 to a fully open state, a fully closed state, or a half-open state by moving the opening / closing body 20 substantially along the opening / closing direction (left / right direction) using the drive unit 30. The opening / closing body 20 is configured using, for example, a known one-way pull opening / closing body, and is provided at a position where the opening / closing state of the opening / closing body 20 can be switched to a fully open state, a fully closed state, or a half-open state.

[0063] The opening / closing body 20 may be installed in any manner, but in this embodiment, it is installed as follows.

[0064] That is, first, a guided member (e.g., a guide roller, etc.) not shown is attached to the upper end of the opening / closing body 20, and this guided member is arranged slidably on the upper guide rail, thereby hanging the opening / closing body 20 from the upper guide rail.

[0065] Next, a guided member (e.g., a slider, etc.) not shown is attached to the lower end of the opening / closing body 20, and this guided member is inserted into the interior of the lower guide rail 15a through the U-shaped open end of the lower guide rail 15a, thereby fitting it into the upper guide rail and the lower guide rail 15a, thereby installing the opening / closing body 20.

[0066] This installation method allows the opening / closing body 20 to slide inside the upper guide rail and lower guide rail 15a in the left-right direction, and can prevent it from falling outside the upper guide rail or lower guide rail 15a in the front-to-back direction.

[0067] (Configuration - Drive unit) The drive unit 30 is a drive means for electrically moving the opening / closing body 20 to open and close. The drive unit 30 is provided inside the transom 13 and is configured using, for example, a known drive means for a sliding door that has a deceleration function.

[0068] Specifically, as shown in FIG. 1, the drive unit 30 includes an endless belt 31 connected to the opening / closing body 20, a drive pulley 32 and a driven pulley 33 arranged inside the endless belt 31 to rotate the endless belt 31, and a motor 34 to rotate the drive pulley 32.

[0069] With this configuration, the opening / closing body 20 can be moved to open or close by rotating the drive pulley 32 with the motor .

[0070] (Configuration - Opening and closing control system) The opening / closing control system 40 is a system for controlling the opening / closing movement of the opening / closing body 20, and as shown in Figure 1, it is equipped with an operating unit 41, a fully closed position detection unit 42, a fully open position detection unit 43, a closing side deceleration position detection unit 44, an opening side deceleration position detection unit 45, a first obstacle detection unit 46, a second obstacle detection unit 47, an opening / closing output unit 48, and a control unit 50.

[0071] (Configuration - Opening and closing control system - Operation unit) The operation unit 41 is an operation means that receives operation input to the opening and closing control system 40. The operation unit 41 is attached to the outer surface and inner surface of the body 2 in the vicinity of the opening 3, as shown in FIG.

[0072] The operating unit 41 is configured using, for example, a known wired operating device, etc. Specifically, it includes an open button that electrically moves the opening / closing body 20 to the open position, a close button that electrically moves the opening / closing body 20 to the closed position, and a stop button that stops the electrically moved closing or opening position (all of which are not shown).

[0073] Furthermore, the specific operation of the operating unit 41 is arbitrary, but in the embodiment, when the open button, close button, or stop button is pressed by the user, an operation signal (i.e., open signal, close signal, stop signal) corresponding to the pressed button is output to the drive unit 30 via the control unit 50, so that the drive unit 30 can electrically move the opening / closing body 20 to open or close, or electrically stop the opening / closing movement of the opening / closing body 20.

[0074] (Configuration - Opening and closing control system - Fully closed position detection unit) The fully closed position detector 42 is a fully closed position detector that detects whether the opening / closing body 20 has reached the fully closed position. This fully closed position detector 42 is configured using, for example, a known position detection sensor (one example is a self-holding proximity switch (magnetic proximity switch)), and is provided inside the interlock 13 at a position corresponding to or near the end of the opening 3 in the closing direction (the left end in FIG. 1), as shown in FIG.

[0075] Furthermore, the detection operation of the fully closed position detection unit 42 is optional, but in this embodiment it operates as follows.

[0076] That is, when the opening / closing body 20 is in the fully closed position, a magnet portion (not shown) provided at the door-tip end of the upper end of the opening / closing body 20 or in the vicinity thereof acts on the fully closed position detection unit 42, causing the operation state of the fully closed position detection unit 42 to turn on, and the fully closed position detection unit 42 outputs a signal indicating that the opening / closing body 20 has reached the fully closed position (hereinafter referred to as the "fully closed position detection signal"). Note that as long as the operation state of the fully closed position detection unit 42 remains on, the fully closed position detection unit 42 continues to output the fully closed position detection signal.

[0077] On the other hand, when the opening / closing body 20 is not positioned in the fully closed position, the magnet portion provided on the opening / closing body 20 does not act on the fully closed position detection unit 42, causing the operating state of the fully closed position detection unit 42 to be turned off, and therefore the fully closed position detection unit 42 does not output a fully closed position detection signal.

[0078] (Configuration - Opening and closing control system - Full open position detection unit) The fully open position detector 43 is a fully open position detector that detects whether the opening / closing body 20 has reached the fully open position. This fully open position detector 43 is configured using, for example, a known position detection sensor (one example is a self-holding proximity switch (magnetic proximity switch)), and is provided inside the interlock 13 at a position corresponding to or near the end of the opening 3 in the opening direction (the right end in FIG. 1), as shown in FIG.

[0079] Further, the detection operation of the fully open position detector 43 is optional, but in this embodiment it operates as follows.

[0080] That is, when the opening-closing body 20 is in the fully open position, the magnet portion provided in the opening-closing body 20 acts on the fully open position detector 43, causing the fully open position detector 43 to turn on, and output a signal indicating that the opening-closing body 20 has reached the fully open position (hereinafter referred to as the "fully open position detection signal"). Note that as long as the fully open position detector 43 maintains its on state, the fully open position detector 43 continues to output the fully open position detection signal.

[0081] On the other hand, when the opening / closing body 20 is not positioned in the fully open position, the magnet portion provided on the opening / closing body 20 does not act on the fully open position detection unit 43, causing the operating state of the fully open position detection unit 43 to be turned off, and therefore the fully open position detection unit 43 does not output a fully open position detection signal.

[0082] (Configuration - Opening and closing control system - Closing side deceleration position detection unit) The closing side deceleration position detection unit 44 is a closing side deceleration position detection means that detects whether or not the opening / closing body 20 has reached the closing side deceleration position.

[0083] Here, the "closing side deceleration position" refers to a position just before the fully closed position, which is a trigger position that slows down the speed of the closing movement of the opening / closing body 20, and in the embodiment, it is described as a position that is a predetermined distance (e.g., about 100 mm) away from the fully closed position in the opening direction.

[0084] This closing side deceleration position detection unit 44 is constructed using, for example, a known position detection sensor (one example is a self-holding proximity switch (magnetic proximity switch)), and is provided inside the interlock 13 in a position adjacent to the fully closed position detection unit 42, as shown in Figure 1.

[0085] Specifically, the closing side deceleration position detection unit 44 is positioned such that when the opening / closing body 20 is positioned in the range from the closing side deceleration position to the fully closed position, the magnet portion provided on the opening / closing body 20 acts on the closing side deceleration position detection unit 44, causing the operating state of the closing side deceleration position detection unit 44 to be in the on state.

[0086] However, this is not limited to this, and for example, the closing side deceleration position detection unit 44 may be located in a position where the operating state of the closing side deceleration position detection unit 44 is turned on when the magnet portion provided on the opening / closing body 20 acts on the closing side deceleration position detection unit 44 only when the opening / closing body 20 is located in the closing side deceleration position.

[0087] Furthermore, the detection operation of the closing side deceleration position detection unit 44 is optional, but in this embodiment it operates as follows.

[0088] That is, when the opening-closing body 20 is located at the closing side deceleration position, the magnet portion provided in the opening-closing body 20 acts on the closing side deceleration position detection unit 44, causing the operating state of the closing side deceleration position detection unit 44 to turn on, and the closing side deceleration position detection unit 44 outputs a signal indicating that the opening-closing body 20 has reached the closing side deceleration position (hereinafter referred to as the "closing side deceleration position detection signal"). Note that as long as the operating state of the closing side deceleration position detection unit 44 remains on, the closing side deceleration position detection unit 44 continues to output the closing side deceleration position detection signal.

[0089] On the other hand, when the opening / closing body 20 is not positioned in the closing side deceleration position (except in the range from the closing side deceleration position to the fully closed position), the magnet portion provided on the opening / closing body 20 does not act on the closing side deceleration position detection unit 44, causing the operating state of the closing side deceleration position detection unit 44 to be in the off state, and therefore the closing side deceleration position detection unit 44 does not output a closing side deceleration position detection signal.

[0090] (Configuration - Opening / Closing Control System - Opening Side Deceleration Position Detection Unit) The opening-side deceleration position detection unit 45 is an opening-side deceleration position detection means that detects whether or not the opening-closing body 20 has reached the opening-side deceleration position.

[0091] Here, the "opening side deceleration position" refers to a position just before the fully open position, which is a trigger position that slows down the speed of the opening movement of the opening / closing body 20, and in the embodiment, it is described as a position that is a predetermined distance (e.g., about 100 mm) away from the fully open position toward the closing direction.

[0092] This open side deceleration position detection unit 45 is constructed using, for example, a known position detection sensor (one example is a self-holding proximity switch (magnetic proximity switch)), and is provided inside the interlock 13 at a position corresponding to the vicinity of the fully open position detection unit 43, as shown in Figure 1.

[0093] Specifically, the opening side deceleration position detection unit 45 is located in a position where, when the opening / closing body 20 is located in a range from the opening side deceleration position to the fully open position, the magnet portion provided on the opening / closing body 20 acts on the opening side deceleration position detection unit 45, causing the operating state of the opening side deceleration position detection unit 45 to be in the on state.

[0094] However, this is not limited to this, and for example, the opening side deceleration position detection unit 45 may be located in a position where the magnet portion provided on the opening / closing body 20 acts on the opening side deceleration position detection unit 45, causing the operating state of the opening side deceleration position detection unit 45 to be in the on state only when the opening / closing body 20 is located in the opening side deceleration position.

[0095] Further, the detection operation of the disengagement side deceleration position detection unit 45 is optional, but in this embodiment it operates as follows.

[0096] That is, when the opening-closing body 20 is located at the opening-side deceleration position, the magnet portion provided in the opening-closing body 20 acts on the opening-side deceleration position detection unit 45, causing the opening-side deceleration position detection unit 45 to turn on, causing the opening-side deceleration position detection unit 45 to output a signal indicating that the opening-side body 20 has reached the opening-side deceleration position (hereinafter referred to as the "opening-side deceleration position detection signal"). Note that as long as the opening-side deceleration position detection unit 45 maintains its on state, the opening-side deceleration position detection unit 45 continues to output the opening-side deceleration position detection signal.

[0097] On the other hand, when the opening / closing body 20 is not positioned in the opening side deceleration position (except in the range from the opening side deceleration position to the fully open position), the magnet portion provided on the opening / closing body 20 does not act on the opening side deceleration position detection unit 45, causing the operating state of the opening side deceleration position detection unit 45 to be in the off state, and therefore the opening side deceleration position detection unit 45 does not output an opening side deceleration position detection signal.

[0098] (Configuration - Opening and closing control system - First obstacle detection unit) The first obstacle detection unit 46 is an obstacle detection means that detects an obstacle (not shown) and also serves as a first obstacle detection means.

[0099] Here, the term "obstacle" refers to anything that becomes an obstacle that impedes the opening and closing movement of the opening and closing body 20, and includes, for example, a person, an animal, an object, etc.

[0100] This first obstacle detection unit 46 is configured using a non-contact obstacle detection sensor (for example, a photoelectric sensor), and specifically, as shown in Figure 1, is configured to include a light-transmitting unit 46a and a light-receiving unit 46b that receives the detection light transmitted from the light-transmitting unit 46a.

[0101] As shown in FIG. 1, the first obstacle detector 46 is provided below the opening 3 and in front of and / or behind the opening 3.

[0102] Furthermore, the method of installing the first obstacle detection unit 46 is arbitrary, but in the embodiment, the first obstacle detection unit 46 is installed so that the detection range of the first obstacle detection unit 46 includes only a portion of the area in which the opening / closing body 20 moves open and closed.

[0103] Specifically, as shown in FIG. 1, the first obstacle detection unit 46 is installed so that the light-transmitting unit 46a is located at or near the left end of the opening 3, and the light-receiving unit 46b is located at or near the right end of the opening 3.

[0104] The reason for installing the first obstacle detection unit 46 as described above is that in the embodiment, in addition to the first obstacle detection unit 46, a second obstacle detection unit 47 is provided, and therefore the second obstacle detection unit 47 can cover the detection range that the detection range of the first obstacle detection unit 46 cannot cover.

[0105] Furthermore, the detection operation of the first obstacle detection unit 46 is optional, but in this embodiment it operates as follows.

[0106] In other words, if the detection light sent from the light-transmitting unit 46a is blocked by an obstacle and the light-receiving unit 46b cannot receive the detection light, it is determined that an obstacle is present and a signal indicating that an obstacle has been detected (hereinafter referred to as the "first obstacle detection signal") is output.

[0107] On the other hand, if the light receiving section 46b can receive the detection light sent from the light sending section 46a, it is determined that no obstacle is present and the first obstacle detection signal is not output.

[0108] (Configuration - Opening and closing control system - Second obstacle detection unit) The second obstacle detection unit 47 is an obstacle detection means for detecting an obstacle and also serves as a second obstacle detection means. From the viewpoint of accurately detecting an obstacle, the second obstacle detection unit 47 is configured using a contact-type obstacle detection sensor, and more specifically, is configured with an overload detection sensor for detecting whether the drive unit 30 is in an overload state.

[0109] As shown in FIG. 1, the second obstacle detection unit 47 is provided inside the interceptor 13 and near the drive unit 30.

[0110] Furthermore, the detection operation of the second obstacle detection unit 47 is optional, but in this embodiment it operates as follows.

[0111] That is, when the load on the drive unit 30 becomes equal to or greater than a threshold value due to an obstacle being caught by the opening / closing body 20, it is determined that an obstacle is present, and a signal indicating that an obstacle has been detected (hereinafter referred to as a "second obstacle detection signal") is output.

[0112] On the other hand, when the load amount on the drive unit 30 is less than the threshold value, it is determined that no obstacle is present, and the second obstacle detection signal is not output.

[0113] (Configuration - Switching control system - Switching output section) The open / close output unit 48 is an output means that outputs various information based on the control of the control unit 50. The open / close output unit 48 is configured using, for example, a known display means (a display as one example) or a known audio output means (a speaker as one example), and is provided in the vicinity of the opening 3 as shown in FIG.

[0114] (Configuration - Opening and closing control system - Control unit) The control unit 50 is a unit for controlling the opening and closing control system 40, and as shown in FIG. 3, is configured to include an input unit 51, an output unit 52, a power supply unit 53, a control unit 54, and a storage unit 55.

[0115] (Configuration - Opening and closing control system - Control unit - Input section) The input unit 51 is an input means that receives various signal inputs from the drive unit 30, the operation unit 41, the fully closed position detection unit 42, the fully open position detection unit 43, the closed side deceleration position detection unit 44, the open side deceleration position detection unit 45, the first obstacle detection unit 46, or the second obstacle detection unit 47, and is configured using, for example, a known input terminal, etc.

[0116] (Configuration - Opening and closing control system - Control unit - Output section) The output section 52 is an output means for outputting various signals to the drive section 30 or the switching output section 48, and is configured using, for example, known output terminals.

[0117] (Configuration - Opening and closing control system - Control unit - Power supply unit) The power supply unit 53 is a power supply means that supplies power supplied from a commercial power source or a battery (e.g., a battery, etc.) not shown to each part of the control unit 50, and also supplies power via wiring 4 to the drive unit 30, operation unit 41, fully closed position detection unit 42, fully open position detection unit 43, closed side deceleration position detection unit 44, open side deceleration position detection unit 45, first obstacle detection unit 46, second obstacle detection unit 47, and / or opening / closing output unit 48.

[0118] (Configuration - Opening and closing control system - Control unit - Control section) The control unit 54 is a control means that controls each part of the control unit 50. Specifically, the control unit 54 is a computer that includes a CPU, various programs that are interpreted and executed on the CPU (including basic control programs such as an OS, and application programs that are started on the OS and realize specific functions), and an internal memory such as a RAM for storing the programs and various data.

[0119] As shown in FIG. 3, the control section 54 conceptually includes an opening / closing control section 54a.

[0120] Of these, the opening / closing control section 54 a is an opening / closing control means that controls the opening / closing movement of the opening / closing body 20 .

[0121] The processing executed by the control unit 54 will be described in detail later.

[0122] (Configuration - Opening and closing control system - Control unit - Memory unit) The storage unit 55 is a storage means for storing programs and various data required for the operation of the control device, and is configured using a rewritable recording medium, and may be a non-volatile recording medium such as a flash memory.

[0123] (Opening and closing process) Next, the opening and closing process executed by the control section 54 of the control unit 50 of the opening and closing control system 40 will be described.

[0124] In the following description, steps will be abbreviated as "S" in the explanation of each process shown in FIGS.

[0125] The opening / closing process is a process for controlling the opening / closing movement of the opening / closing body 20.

[0126] The timing for executing this opening / closing process is arbitrary, but in the embodiment, it will be described that the process is started after the sliding door 1 is powered on.

[0127] (Opening and closing process - premise) Next, the premise of the opening and closing process in this embodiment is as follows.

[0128] That is, the description will be given assuming that the opening / closing body 20 is in a fully open state.

[0129] In addition, the sliding door 1 will be described assuming that the processing necessary to perform opening and closing processes (for example, setting processes to set the fully open position, fully closed position, closing side deceleration position, and opening side deceleration position) has already been performed.

[0130] (Opening and closing process - Opening and closing process details) Next, the opening and closing process will be described in detail.

[0131] When the opening / closing process is started, the opening / closing control section 54a of the control unit 50 determines whether or not a closing signal has been input from the operation section 41 via the input section 51 at SA1, as shown in FIG.

[0132] When it is determined that the input of the close signal has been received (SA1, Yes), the opening / closing control section 54a of the control unit 50 starts the close process (SA2) and then proceeds to SA1. Details of the process of the close process will be described later.

[0133] On the other hand, if it is determined that the input of the close signal has not been accepted (SA1, No), the opening / closing control section 54a of the control unit 50 proceeds to SA3.

[0134] In SA3, the opening / closing control section 54a of the control unit 50 determines whether or not an input of an opening signal from the operation section 41 via the input section 51 has been accepted.

[0135] When it is determined that the input of the opening signal has been received (SA3, Yes), the opening / closing control section 54a of the control unit 50 starts an opening process (SA4) and then proceeds to SA1. Details of the opening process will be described later.

[0136] On the other hand, if it is determined that the input of the open signal has not been accepted (SA3, No), the opening / closing control section 54a of the control unit 50 proceeds to SA1, and thereafter similarly repeats the processes from SA1 to SA4.

[0137] In the embodiment, although not shown in the flowcharts of FIGS. 4 to 6, the following processing is performed.

[0138] Specifically, when a stop signal is received from the operation unit 41 via the input unit 51 during the closing process of SA2 or the opening process of SA4, the opening / closing control unit 54a of the control unit 50 stops the closing or opening movement of the opening / closing body 20 (this may be omitted if the stop has already been made), and transitions to SA1 after completing the closing or opening process.

[0139] Furthermore, when an opening signal is received from the operation unit 41 via the input unit 51 during the closing process of SA2, the opening / closing control unit 54a of the control unit 50 stops the closing movement of the opening / closing body 20 (this may be omitted if the stopping has already been performed), and after completing the closing process, transitions to SA4.

[0140] Furthermore, if the opening / closing control unit 54a of the control unit 50 receives a closing signal input from the operation unit 41 via the input unit 51 during the opening process of SA4, it stops the opening movement of the opening / closing body 20 (this may be omitted if the stop has already been made), and transitions to SA2 after completing the opening process.

[0141] (Opening / closing process - Closing process) Next, the closing process will be described.

[0142] The closing process is a process for controlling the closing movement of the opening / closing body 20.

[0143] When the closing process is initiated, as shown in Figure 5, the opening / closing control unit 54a of the control unit 50 at SB1 performs control (hereinafter referred to as "closing control") to move the opening / closing body 20 to the closing position based on the closing signal received as input at SA1.

[0144] The control content of this closing control is arbitrary, but in the embodiment, the opening / closing control unit 54a of the control unit 50 simply outputs a control signal corresponding to the closing signal whose input is accepted at SA1 to the drive unit 30 via the output unit 52, and drives the drive unit 30 based on the control signal, thereby moving the opening / closing body 20 to the closing position.

[0145] In this case, in the embodiment, even if the acceptance of the input of the closing signal is stopped, the closing movement of the opening / closing body 20 is continued by continuing to output the control signal to drive the drive unit 30. In other words, the closing movement of the opening / closing body 20 is performed in accordance with the so-called "self-holding operation."

[0146] However, the present invention is not limited to this, and for example, when the reception of the input of the closing signal is stopped, the closing movement of the opening / closing body 20 may be stopped. In other words, the closing movement of the opening / closing body 20 may be performed in response to a so-called "push-off operation."

[0147] In SB2, the opening / closing control section 54a of the control unit 50 determines whether the first obstacle detection section 46 and / or the second obstacle detection section 47 has detected an obstacle.

[0148] The method for determining whether or not the above-mentioned obstacle has been detected is arbitrary, but in this embodiment, the determination is made based on whether or not input of the first obstacle detection signal and / or the second obstacle detection signal has been received from the first obstacle detection unit 46 and / or the second obstacle detection unit 47 via the input unit 51.

[0149] Here, if the input of the first obstacle detection signal or / and the second obstacle detection signal is accepted, it is determined that an obstacle has been detected, and if the input of the first obstacle detection signal and the second obstacle detection signal is not accepted, it is determined that an obstacle has not been detected.

[0150] Then, if the opening / closing control unit 54a of the control unit 50 determines that the above-mentioned obstacle has been detected (SB2, Yes), it proceeds to SB3, and if it determines that the above-mentioned obstacle has not been detected (SB2, No), it proceeds to SB4.

[0151] In SB3, the opening / closing control section 54a of the control unit 50 performs the first avoidance control or the second avoidance control, and after the first avoidance control or the second avoidance control is performed, the closing process is terminated.

[0152] In the embodiment, when the input of the first obstacle detection signal and the second obstacle detection signal is accepted at SB2, the opening / closing control section 54a of the control unit 50 performs only the first avoidance control. However, this is not limiting, and for example, only the second avoidance control may be performed, or either the first avoidance control or the second avoidance control may be selected at random and performed.

[0153] Here, "first avoidance control" refers to control regarding the opening and closing movement of the opening / closing body 20 when an obstacle is detected by the first obstacle detection unit 46, and means control that at least avoids the obstacle from being pinched by the opening / closing body 20.

[0154] In addition, the "second avoidance control" refers to control relating to the opening and closing movement of the opening-closing body 20 when an obstacle is detected by the second obstacle detection unit 47, and means control that at least avoids the obstacle from being pinched by the opening-closing body 20.

[0155] In this embodiment, the phrase "an obstacle being caught by the opening / closing body 20" means that an obstacle is caught between the opening / closing body 20 and the closing-side door stop portion 16.

[0156] However, the present invention is not limited to this, and may mean that an obstacle is caught between the opening and closing bodies 20 when the sliding door 1 is a sliding door, for example.

[0157] Furthermore, each of these first avoidance control and second avoidance control is a concept that includes, for example, non-reverse opening control, first reverse opening control, and / or second reverse opening control, but in the embodiment, the first avoidance control will be described as performing second reverse opening control, and the second avoidance control will be described as performing non-reverse opening control.

[0158] Of these, the "non-reverse opening control" means a control that simply stops the closing movement of the opening / closing body 20.

[0159] The control content of this non-reverse opening control is arbitrary, but for example, the opening / closing control unit 54a of the control unit 50 outputs a control signal corresponding to a stop signal to the drive unit 30 via the output unit 52, thereby stopping the drive of the drive unit 30 based on the control signal, thereby stopping the closing movement of the opening / closing body 20.

[0160] In addition, "first reverse opening control" means a control in which, after stopping the closing movement of the opening / closing body 20, the opening / closing body 20 is moved to an opening position by a predetermined distance (e.g., approximately 5 cm to 10 cm) or a predetermined time (e.g., approximately 3 seconds to 6 seconds) and then stopped.

[0161] The control content of this first reverse opening control is arbitrary, but for example, first, the opening / closing control unit 54a of the control unit 50 outputs a control signal corresponding to a stop signal to the drive unit 30 via the output unit 52, thereby stopping the drive of the drive unit 30 based on the control signal, thereby stopping the closing movement of the opening / closing body 20. Next, by outputting a control signal corresponding to an opening signal to the drive unit 30 via the output unit 52 for a predetermined distance or a predetermined time, the drive unit 30 is driven based on the control signal, thereby moving the opening / closing body 20 to an opening position for a predetermined distance or a predetermined time. Thereafter, by outputting a control signal corresponding to a stop signal to the drive unit 30 via the output unit 52, the drive of the drive unit 30 is stopped based on the control signal, thereby stopping the opening movement.

[0162] Further, the "second reverse opening control" refers to a control in which, after the closing movement of the opening / closing body 20 is stopped, the opening movement of the opening / closing body 20 is continued until the opening / closing body 20 reaches the fully open position, and then the opening / closing body 20 is stopped.

[0163] The control content of this second reverse opening control is arbitrary, but for example, first, the opening / closing control unit 54a of the control unit 50 outputs a control signal corresponding to a stop signal to the drive unit 30 via the output unit 52, thereby stopping the driving of the drive unit 30 based on the control signal, thereby stopping the closing movement of the opening / closing body 20. Next, it outputs a control signal corresponding to an open signal to the drive unit 30 via the output unit 52, thereby driving the drive unit 30 based on the control signal, thereby moving the opening / closing body 20 to the open position. Thereafter, when the fully open position detection unit 43 detects that the opening / closing body 20 has reached the fully open position, it outputs a control signal corresponding to the stop signal to the drive unit 30 via the output unit 52, thereby stopping the driving of the drive unit 30 based on the control signal, thereby stopping the opening movement.

[0164] For example, when the first avoidance control or the second avoidance control is performed, the opening / closing control section 54a of the control unit 50 may display and / or output by voice information indicating that the first avoidance control or the second avoidance control is being performed by the opening / closing output section 48 via the output section 52 (the same applies to the avoidance control described below).

[0165] As described above, each of the first avoidance control and the second avoidance control includes non-reverse opening control, first reverse opening control, and / or second reverse opening control, so that the first avoidance control and the second avoidance control can be performed according to the usage situation, thereby improving the usability of the opening / closing control system 40.

[0166] In the embodiment, the first avoidance control and the second avoidance control are each described as controls to avoid an obstacle being pinched by the opening / closing body 20, but this is not limited to this, and for example, in addition to the above controls, they may also include controls to avoid collision or contact between the opening / closing body 20 and an obstacle (note that the same applies to the avoidance controls described below).

[0167] By processing SB1 to SB3 in this manner, when closing control is being performed, the first avoidance control or the second avoidance control can at least prevent an obstacle from being pinched by the opening / closing body 20, thereby increasing safety when using the sliding door 1.

[0168] In SB4, the opening / closing control section 54a of the control unit 50 determines whether the opening / closing body 20 has reached the closing side deceleration position.

[0169] The method for determining whether or not the closing side deceleration position has been reached is arbitrary, but in this embodiment, the determination is made based on whether or not an input of a closing side deceleration position detection signal has been received from the closing side deceleration position detection unit 44 via the input unit 51.

[0170] Here, if the input of the closing side deceleration position detection signal is accepted, it is determined that the closing side deceleration position has been reached, and if the input of the closing side deceleration position detection signal is not accepted, it is determined that the closing side deceleration position has not been reached.

[0171] Then, if the opening / closing control unit 54a of the control unit 50 determines that the closing side deceleration position has been reached (SB4, Yes), it proceeds to SB5, and if it determines that the closing side deceleration position has not been reached (SB4, No), it proceeds to SB2.

[0172] In SB5, the opening / closing control section 54a of the control unit 50 performs control to decelerate the speed of the closing movement of the opening / closing body 20 due to the closing control of SB1 (hereinafter referred to as "closing side deceleration control").

[0173] The control content of this closing side deceleration control is arbitrary, but in the embodiment, in addition to controlling the closing of SB1, the opening / closing control unit 54a of the control unit 50 outputs a signal (hereinafter referred to as a "deceleration operation signal") to the driving unit 30 via the output unit 52 to decelerate the rotational speed of the motor 34 of the driving unit 30, thereby slowing down the speed of the closing movement of the opening / closing body 20 below the speed during the closing control based on the deceleration operation signal.

[0174] In SB6, the opening / closing control section 54a of the control unit 50 determines whether or not an obstacle has been detected by the first obstacle detection section 46 and / or the second obstacle detection section 47, in substantially the same manner as in the process of SB2.

[0175] Then, if the opening / closing control unit 54a of the control unit 50 determines that the above-mentioned obstacle has been detected (SB6, Yes), it proceeds to SB7, and if it determines that the above-mentioned obstacle has not been detected (SB6, No), it proceeds to SB8.

[0176] In SB7, the opening / closing control section 54a of the control unit 50 performs the first avoidance control or the second avoidance control in substantially the same manner as in the process of SB3, and then ends the closing process.

[0177] By processing SB5 to SB7 in this manner, when closing side deceleration control is being performed, the first avoidance control or the second avoidance control can at least prevent obstacles from being pinched by the opening / closing body 20, thereby increasing safety when using the sliding door 1.

[0178] Furthermore, taking into consideration the processing of SB1 to SB7, when the opening / closing body 20 is moving to the closed position, the opening / closing control section 54a of the control unit 50 performs the second avoidance control if the fully closed position detection section 42 does not detect that the opening / closing body 20 has reached the fully closed position, but an obstacle is detected by the second obstacle detection section 47.Therefore, when the opening / closing body 20 has not reached the fully closed position, the second avoidance control can at least prevent the opening / closing body 20 from pinching an obstacle, thereby further improving safety when using the sliding door 1.

[0179] In SB8, the opening / closing control section 54a of the control unit 50 determines whether the opening / closing body 20 has reached the fully closed position.

[0180] The method for determining whether or not the fully closed position has been reached is arbitrary, but in this embodiment, the determination is made based on whether or not input of a fully closed position detection signal has been received from the fully closed position detection unit 42 via the input unit 51.

[0181] Here, if the input of the fully closed position detection signal is accepted, it is determined that the fully closed position has been reached, and if the input of the fully closed position detection signal is not accepted, it is determined that the fully closed position has not been reached.

[0182] Then, if the opening / closing control section 54a of the control unit 50 determines that the fully closed position has been reached (SB8, Yes), it proceeds to SB9, and if it determines that the fully closed position has not been reached (SB8, No), it proceeds to SB6.

[0183] In SB9, the opening / closing control unit 54a of the control unit 50 performs control (hereinafter referred to as "pressing control") to continue the closing movement of the opening / closing body 20 for a predetermined time (e.g., approximately 2 to 10 seconds) or a predetermined distance (e.g., approximately 1 mm to 5 cm) and then stop it.

[0184] The control content of this pressing control is arbitrary, but in the embodiment, the opening / closing control unit 54a of the control unit 50 continues the closing movement of the opening / closing body 20 by the closing side deceleration control of SB5 for a predetermined time or a predetermined distance even after processing SB8, and then outputs a control signal corresponding to a stop signal to the drive unit 30 via the output unit 52, thereby stopping the drive of the drive unit 30 based on the control signal and thereby stopping the closing movement.

[0185] However, without being limited thereto, for example, the opening / closing control unit 54a of the control unit 50 outputs a control signal corresponding to a stop signal to the drive unit 30 via the output unit 52, thereby stopping the drive of the drive unit 30 based on the control signal, thereby stopping the closing movement of the opening / closing body 20 through the closing side deceleration control of SB5. Next, by outputting a control signal corresponding to the closing signal to the drive unit 30 via the output unit 52 for a predetermined distance or a predetermined time, the drive unit 30 is driven based on the control signal, thereby moving the opening / closing body 20 in the closing direction. Thereafter, by outputting a control signal corresponding to the stop signal to the drive unit 30 via the output unit 52, the drive of the drive unit 30 is stopped based on the control signal, thereby stopping the above-mentioned closing movement.

[0186] In SB10, the opening / closing control section 54a of the control unit 50 determines whether or not an obstacle has been detected by the first obstacle detection section 46, in substantially the same manner as in the processing in SB2.

[0187] Then, the opening / closing control unit 54a of the control unit 50 transitions to SB11 if it determines that the above-mentioned obstacle has been detected (SB10, Yes), and transitions to SB12 if it determines that the above-mentioned obstacle has not been detected (SB10, No).

[0188] In SB11, the opening / closing control section 54a of the control unit 50 performs the first avoidance control in substantially the same manner as in the process in SB3, and then ends the closing process.

[0189] In addition, in SB11, the opening / closing control unit 54a of the control unit 50 will not perform the second avoidance control regardless of the detection result of the second obstacle detection unit 47 (in other words, when the opening / closing body 20 is moving to the closed position and the fully closed position detection unit 42 detects that the opening / closing body 20 has reached the fully closed position, the second avoidance control will not be performed regardless of the detection result of the second obstacle detection unit 47).

[0190] The reason why the second avoidance control is not performed in the processing of SB11 is as follows.

[0191] That is, if the opening / closing body 20 comes into contact with the closing-side door stop portion 16 during the pressing control of SB9, and the second obstacle detection unit 47 erroneously detects the presence of an obstacle, the second avoidance control is performed, which causes a problem that it becomes difficult to maintain the pressing control. Therefore, in order to avoid such a problem, the second avoidance control is not performed in the processing of SB11.

[0192] By performing the processes from SB9 to SB11 in this manner, when the pressing control is being performed, the first avoidance control can be used to prevent an obstacle from being caught by the opening / closing body 20, thereby making it possible to improve safety when using the sliding door 1.

[0193] Furthermore, when the opening / closing body 20 has reached the fully closed position, it is possible to prevent the pressing control from being hindered by the second avoidance control, thereby improving the usability of the opening / closing control system 40.

[0194] In SB12, the opening / closing control section 54a of the control unit 50 determines whether or not the timing for ending the pressing control of SB9 (hereinafter referred to as "ending timing") has arrived.

[0195] The method for determining whether this end timing has arrived is arbitrary, but in the embodiment, the determination is made based on whether the drive of the drive unit 30 has stopped after the closing movement of the opening / closing body 20 has been performed for a predetermined time or distance by the pressing control of SB9.

[0196] Here, if the driving of the drive unit 30 has stopped, it is determined that the end timing has arrived, and if the driving of the drive unit 30 has not stopped, it is determined that the end timing has not arrived.

[0197] Then, the opening / closing control unit 54a of the control unit 50 terminates the closing process if it determines that the end timing has arrived (SB12, Yes), and transitions to SB10 if it determines that the end timing has not arrived (SB12, No).

[0198] By such a closing process, when the opening / closing body 20 is moved to close, safety during use of the sliding door 1 and usability of the sliding door 1 can be ensured, and usability of the opening / closing control system 40 can be improved.

[0199] (Opening and closing process - Opening process) Next, the release process will be described.

[0200] The opening process is a process for controlling the opening movement of the opening / closing body 20.

[0201] When the opening process is initiated, as shown in Figure 6, the opening / closing control unit 54a of the control unit 50 at SC1 performs control (hereinafter referred to as "opening control") to move the opening / closing body 20 to open based on the opening signal input accepted at SA3.

[0202] The control content of this opening control is arbitrary, but in the embodiment, the opening / closing control unit 54a of the control unit 50 simply outputs a control signal corresponding to the opening signal received as input at SA3 to the drive unit 30 via the output unit 52, and drives the drive unit 30 based on the control signal, thereby moving the opening / closing body 20 to the open position.

[0203] In this case, in the embodiment, the opening / closing body 20 is moved to open in response to the "self-holding operation" in a manner similar to the closing control of SB1. However, this is not limiting, and the opening / closing body 20 may be moved to close in response to, for example, the "push-off operation."

[0204] At SC2, the opening / closing control section 54a of the control unit 50 determines whether or not an obstacle has been detected by the second obstacle detection section 47, regardless of the detection result of the first obstacle detection section 46.

[0205] Then, if the opening / closing control unit 54a of the control unit 50 determines that the above-mentioned obstacle has been detected (SC2, Yes), it proceeds to SC3, and if it determines that the above-mentioned obstacle has not been detected (SC2, No), it proceeds to SC4.

[0206] At SC3, the opening / closing control section 54a of the control unit 50 performs avoidance control, and then ends the opening process.

[0207] Here, the reason why avoidance control is not performed based on the detection result of the first obstacle detection unit 46 in the processes of SC2 and SC3 is as follows.

[0208] That is, since the first obstacle detection unit 46 is a non-contact type obstacle detection sensor, it always detects an obstacle when a passing object (not shown, for example, a person, an animal, or an object (such as a vehicle, for example)) passes through the opening 3. On the other hand, since the second obstacle detection unit 47 is a contact type obstacle detection sensor, it does not always detect an obstacle when passing through the opening 3, and also detects a malfunction of the drive unit 30 or a collision between the opening / closing body 20 and an object as an obstacle. Considering these points, from the viewpoint of improving safety when using the sliding door 1, it is preferable to perform avoidance control based only on the detection result of the second obstacle detection unit 47 when opening side deceleration control is not being performed, and therefore, in the processing of SC3, avoidance control is not performed based on the detection result of the first obstacle detection unit 46.

[0209] In addition, "avoidance control" refers to control regarding the opening and closing movement of the opening / closing body 20 when an obstacle is detected by the first obstacle detection unit 46 and / or the second obstacle detection unit 47, and means control that at least avoids the obstacle from being pinched by the opening / closing body 20.

[0210] In the embodiment, "an obstacle being pinched by the opening / closing body 20" means that an obstacle is pinched between the opening / closing body 20 and the open side door stop portion 17 (the same applies, for example, to the case where the sliding door 1 is a sliding door).

[0211] Furthermore, this avoidance control is a concept that includes, for example, non-reverse closing control and / or reversal closing control, but in the embodiment, the description will be given assuming that non-reversal closing control is performed.

[0212] Of these, the "non-reverse closing control" means control that simply stops the opening movement of the opening / closing body 20.

[0213] The control content of this non-reversal closing control is arbitrary, but for example, the opening / closing control unit 54a of the control unit 50 outputs a control signal corresponding to a stop signal to the drive unit 30 via the output unit 52, thereby stopping the drive of the drive unit 30 based on the control signal, thereby stopping the closing movement of the opening / closing body 20.

[0214] In addition, "reverse closing control" means control in which, after stopping the closing movement of the opening / closing body 20, the opening / closing body 20 is moved in the closing direction for a predetermined distance (e.g., approximately 5 cm to 10 cm) or a predetermined time (e.g., approximately 3 seconds to 6 seconds) and then stopped.

[0215] The control content of this reverse closing control is arbitrary, but for example, first, the opening / closing control unit 54a of the control unit 50 outputs a control signal corresponding to a stop signal to the drive unit 30 via the output unit 52, thereby stopping the drive of the drive unit 30 based on the control signal, thereby stopping the opening movement of the opening / closing body 20. Next, the control signal corresponding to a closing signal is output to the drive unit 30 via the output unit 52 for a predetermined distance or a predetermined time, thereby driving the drive unit 30 based on the control signal, thereby moving the opening / closing body 20 to close for a predetermined distance or a predetermined time. Thereafter, the control signal corresponding to the stop signal is output to the drive unit 30 via the output unit 52, thereby stopping the drive of the drive unit 30 based on the control signal, thereby stopping the closing movement.

[0216] As described above, the avoidance control includes non-reverse closing control and / or reverse closing control, so that avoidance control can be performed according to the usage situation, and the usability of the opening and closing control system 40 can be improved.

[0217] Furthermore, by processing SC1 to SC3 in this manner, when opening control is being performed, avoidance control can be used to prevent the opening / closing body 20 from causing harm to passing objects (for example, a collision between the opening / closing body 20 and a passing object), thereby increasing safety when using the sliding door 1.

[0218] In SC4, the opening / closing control section 54a of the control unit 50 determines whether the opening / closing body 20 has reached the opening-side deceleration position.

[0219] The method for determining whether or not the above-mentioned opening side deceleration position has been reached is arbitrary, but in this embodiment, the determination is made based on whether or not an input of an opening side deceleration position detection signal has been received from the opening side deceleration position detection unit 45 via the input unit 51.

[0220] Here, if the input of the opening side deceleration position detection signal is accepted, it is determined that the opening side deceleration position has been reached, and if the input of the opening side deceleration position detection signal is not accepted, it is determined that the opening side deceleration position has not been reached.

[0221] Then, if the opening / closing control unit 54a of the control unit 50 determines that the above-mentioned opening side deceleration position has been reached (SC4, Yes), it proceeds to SC5, and if it determines that the above-mentioned opening side deceleration position has not been reached (SC4, No), it proceeds to SC2.

[0222] In SC5, the opening / closing control section 54a of the control unit 50 performs control to decelerate the speed of the opening movement of the opening / closing body 20 due to the opening control in SC1 (hereinafter referred to as "opening side deceleration control").

[0223] The control content of this opening side deceleration control is arbitrary, but in the embodiment, the opening / closing control unit 54a of the control unit 50, in addition to controlling the opening of SC1, outputs a deceleration operation signal to the drive unit 30 via the output unit 52, thereby slowing down the opening movement speed of the opening / closing body 20 below the speed at which it moves during the opening control based on the deceleration operation signal.

[0224] In SC6, the opening / closing control section 54a of the control unit 50 determines whether or not an obstacle has been detected by the first obstacle detection section 46 and / or the second obstacle detection section 47, in substantially the same manner as in the process of SB2.

[0225] Then, if the opening / closing control unit 54a of the control unit 50 determines that the above-mentioned obstacle has been detected (SC6, Yes), it proceeds to SC7, and if it determines that the above-mentioned obstacle has not been detected (SC6, No), it proceeds to SC8.

[0226] At SC7, the opening / closing control section 54a of the control unit 50 performs avoidance control, and then ends the opening process.

[0227] This avoidance control is a concept that includes, for example, non-reverse closing control and / or reverse closing control, but in the embodiment, the description will be given assuming that reverse closing control is performed.

[0228] Furthermore, by processing SC5 to SC7 in this manner, when opening side deceleration control is being performed, the avoidance control can prevent harm to passing objects by the opening / closing body 20 (for example, the passing object being pinched by the opening / closing body 20, or a collision between the opening / closing body 20 and the passing object, etc.), thereby making it possible to increase safety when using the sliding door 1.

[0229] In SC8, the opening / closing control section 54a of the control unit 50 determines whether the opening / closing body 20 has reached the fully open position.

[0230] The method for determining whether or not the fully open position has been reached is arbitrary, but in this embodiment, the determination is made based on whether or not a fully open position detection signal has been received from the fully open position detection unit 43 via the input unit 51.

[0231] Here, if the input of the fully open position detection signal is accepted, it is determined that the fully open position has been reached, and if the input of the fully open position detection signal is not accepted, it is determined that the fully open position has not been reached.

[0232] Then, if the opening / closing control unit 54a of the control unit 50 determines that the fully open position has been reached (SC8, Yes), it proceeds to SC9, and if it determines that the fully open position has not been reached (SC8, No), it proceeds to SC6.

[0233] In SC9, the opening / closing control section 54a of the control unit 50 performs control to stop the opening movement of the opening / closing body 20 (hereinafter referred to as "opening side stop control"), and then ends the opening process.

[0234] The control content of this opening side stop control is arbitrary, but in the embodiment, the opening / closing control unit 54a of the control unit 50 outputs a control signal corresponding to the stop signal to the drive unit 30 via the output unit 52, thereby stopping the drive of the drive unit 30 based on the control signal, thereby stopping the closing movement of the opening / closing body 20 due to the opening side deceleration control of SC5.

[0235] By such an opening process, when the opening / closing body 20 is moved to open, safety during use of the sliding door 1 and usability of the sliding door 1 can be ensured, and usability of the opening / closing control system 40 can be improved.

[0236] (Effects of the embodiment) According to this embodiment, when opening side deceleration control is being performed, the opening / closing control unit 54a performs avoidance control if an obstacle is detected by the first obstacle detection unit 46 or / and the second obstacle detection unit 47. Therefore, when opening side deceleration control is being performed, the avoidance control can at least prevent the obstacle from being pinched by the opening / closing body 20, thereby increasing safety when using the sliding door 1.

[0237] Furthermore, since the avoidance control includes non-reverse closing control and / or reverse closing control, it is possible to perform avoidance control according to the usage situation, and the usability of the opening and closing control system 40 can be improved.

[0238] Furthermore, since the second obstacle detector 47 is a contact-type obstacle detection sensor, it can accurately detect obstacles, thereby improving the accuracy of the detection.

[0239] [III] Modifications to the embodiment Although the embodiments of the present invention have been described above, the specific configurations and means of the present invention can be modified and improved as desired within the scope of the technical ideas of the inventions set forth in the claims. Such modifications will be described below.

[0240] (About the problem to be solved and the effects of the invention) First, the problems that the invention aims to solve and the effects of the invention are not limited to those described above, and the present invention may solve problems that are not described above or achieve effects that are not described above, or may solve only some of the problems that are described or achieve only some of the effects that are described.

[0241] (Regarding decentralization and integration) Furthermore, the electrical components described above are functional concepts and do not necessarily have to be physically configured as shown in the drawings. In other words, the specific form of distribution or integration of each part is not limited to that shown in the drawings, and all or part of them can be functionally or physically distributed or integrated in any unit depending on various loads, usage conditions, etc. Furthermore, the term "device" in this application is not limited to a single device, but includes a device configured from multiple devices.

[0242] For example, the control unit 50 according to the embodiment may be distributed among multiple devices that are configured to be able to communicate with each other, with a control unit 54 provided in some of the devices and a memory unit 55 provided in another part of the devices.

[0243] (shape, numbers, structure, time series) The components illustrated in the embodiments and drawings may be modified and improved as desired within the scope of the technical concept of the present invention in terms of shape, numerical value, or the structure or chronological relationship of multiple components.

[0244] (Opening and closing control system) In the above embodiment, the opening / closing control system 40 is described as being equipped with a closing side deceleration position detection unit 44, a first obstacle detection unit 46 (or a second obstacle detection unit 47), and an opening / closing output unit 48, but this is not limited to this, and for example, the closing side deceleration position detection unit 44, the first obstacle detection unit 46 (or the second obstacle detection unit 47), and the opening / closing output unit 48 may be omitted.

[0245] Here, if the second obstacle detection unit 47 is omitted, the first obstacle detection unit 46 may be configured so that the detection range of the first obstacle detection unit 46 includes the entire area in which the opening / closing body 20 is moved open and closed.

[0246] As an example, as shown in Figure 7, the first obstacle detection unit 46 may be configured so that the light-transmitting unit 46a is located at or near the left end of the opening 3, and the light-receiving unit 46b is located near the open-side door stop 17.

[0247] With this configuration, even if only a non-contact type obstacle detection sensor is installed, obstacles can be detected accurately, and the installation cost of the obstacle detection means can be reduced.

[0248] Furthermore, when the closing side deceleration position detection unit 44 and the first obstacle detection unit 46 (or the second obstacle detection unit 47) are omitted, SB4 to SB7 of the closing process and SC2 and SC3 of the opening process may be omitted. Alternatively, the first avoidance control (or second avoidance control) of SB3 and SB7 may be omitted.

[0249] Incidentally, by omitting the processes of SC2 and SC3 (i.e., when the opening-closing body 20 is moving in the open position and the opening-side deceleration control is not being performed, the opening / closing control section 54a of the control unit 50 does not perform the avoidance control regardless of the detection result of the first obstacle detection section 46 or the second obstacle detection section 47), when the opening-closing body 20 is moving in the open position and the opening-side deceleration control is not being performed, it is possible to avoid the obstacle from blocking the passage of the target through the opening 3 due to the avoidance control, and ensure the usability of the sliding door 1. Furthermore, it is possible to avoid harm to the target by the opening-closing body 20 (such as the target being caught in the opening-closing body 20 or a collision between the opening-closing body 20 and the target), and it is possible to improve the safety when using the sliding door 1.

[0250] (About various detection units) In the above embodiment, the fully closed position detection unit 42, the fully open position detection unit 43, the closing side deceleration position detection unit 44, and the opening side deceleration position detection unit 45 are described as self-holding proximity switches, but this is not limited to this and they may also be, for example, non-self-holding proximity switches.

[0251] Furthermore, in the above embodiment, it has been explained that the fully closed position detection unit 42 is provided inside the transom 13 at a position corresponding to the end of the opening 3 in the closing direction or its vicinity, and the fully open position detection unit 43 is provided inside the transom 13 at a position corresponding to the end of the opening 3 in the opening direction or its vicinity, but this is not limited to this.

[0252] For example, the fully closed position detection unit 42 may be provided inside the transom 13 at a position corresponding to the end of the opening direction side of the opening 3 or its vicinity, and the fully open position detection unit 43 may be provided inside the transom 13 at a position corresponding to the opening side door stop 17 or its vicinity. In this case, the magnet unit provided on the opening / closing body 20 may be provided at the trailing edge of the upper end of the opening / closing body 20 or its vicinity.

[0253] Alternatively, the fully closed position detection unit 42 may be provided inside the transom 13 at a position corresponding to the end of the opening 3 in the closing direction or its vicinity, and the fully open position detection unit 43 may be provided inside the transom 13 at a position corresponding to the opening-side door stop 17 or its vicinity. In this case, the magnet units provided on the opening / closing body 20 may be provided at the leading end or its vicinity of the upper end of the opening / closing body 20, and at the trailing end or its vicinity.

[0254] In the above embodiment, the first obstacle detector 46 is described as a photoelectric sensor, but is not limited to this. For example, it may be a non-contact obstacle detection sensor other than a photoelectric sensor (e.g., an infrared sensor, a microwave sensor, a transmission type photoelectric sensor, etc.).

[0255] In the above embodiment, the second obstacle detector 47 is described as an overload detection sensor, but is not limited to this. For example, the second obstacle detector 47 may be a contact-type obstacle detection sensor other than an overload detection sensor (e.g., a contact-type displacement sensor, a pressure sensor, etc.).

[0256] (About opening and closing process) In the above embodiment, the opening process or closing process is performed based on the opening signal or closing signal received as input from the operation unit 41 via the input unit 51, but the present invention is not limited to this.

[0257] For example, the opening process may be performed based on an opening signal received from the operation unit 41 via the input unit 51, and the closing process may be performed immediately after the opening process is completed or after a predetermined time has elapsed since the opening process is completed.

[0258] Alternatively, instead of the operation unit 41, if detection means (for example, a photoelectric sensor or an infrared sensor) for detecting a passing object located near the opening 3 are provided at a position outside the building and a position inside the building, the opening process may be performed when the passing object is detected by the detection means. Also, the closing process may be performed immediately after the opening process is completed, or after a predetermined time has elapsed since the opening process was completed.

[0259] (About the closure process) In the above embodiment, it was explained that in SB9, the opening / closing control unit 54a of the control unit 50 performs pressing control, but this is not limited to this, and for example, control to stop the closing movement of the opening / closing body 20 (hereinafter referred to as "closing side stop control") may also be performed.

[0260] In this case, for example, the processes from SB10 to SB12 may be omitted, and the opening / closing control section 54a of the control unit 50 may end the closing process after the closing side stop control is performed.

[0261] (About the release process) In the above embodiment, it was explained that the opening / closing control unit 54a of the control unit 50 does not perform avoidance control based on the detection result of the first obstacle detection unit 46 when the opening / closing body 20 is moving in the open position and opening side deceleration control is not being performed, but this is not limited to this.

[0262] For example, when the opening / closing body 20 is moving in the open position and the opening-side deceleration control is not being performed, the opening / closing control section 54a of the control unit 50 may not perform the avoidance control regardless of the detection results of the first obstacle detection section 46 and the second obstacle detection section 47. In this case, the processes of SC2 and SC3 may be omitted.

[0263] As a result, when the opening / closing body 20 is moving to open and the opening-side deceleration control is not being performed, it is possible to avoid the avoidance control from obstructing the passage of the pass-through object through the opening 3, thereby ensuring the usability of the sliding door 1. It is also possible to avoid harm to the pass-through object caused by the opening / closing body 20 (such as the pass-through object being pinched by the opening / closing body 20 or a collision between the opening / closing body 20 and the pass-through object), thereby making it possible to improve safety when using the sliding door 1.

[0264] Alternatively, when avoidance control is performed to prevent the passage of the object through the opening 3 from being obstructed and / or to prevent harm to the object by the opening / closing body 20, the opening / closing control unit 54a of the control unit 50 may perform the avoidance control based on the detection results of the first obstacle detection unit 46 and / or the second obstacle detection unit 47.

[0265] (Addendum) The opening / closing control system of Supplementary Note 1 is an opening / closing body constituting a sliding door provided at an opening of a building, and is an opening / closing control system for controlling the opening / closing movement of the opening / closing body that opens and closes the opening, and includes: a fully open position detection means that detects whether the opening / closing body has reached a fully open position that is a position corresponding to a state in which the opening is fully opened by the opening / closing body; an opening side deceleration position detection means that detects whether the opening / closing body has reached an opening side deceleration position that is located just before the fully open position and is a position that triggers deceleration of the opening movement of the opening / closing body; an obstacle detection means that detects an obstacle that obstructs the opening / closing movement of the opening / closing body; and an opening / closing control means that controls the opening / closing movement of the opening / closing body, When the opening / closing body is moving in the open position, if the opening side deceleration position detection means detects that the opening / closing body has reached the opening side deceleration position, an opening side deceleration control is performed, which is a control to decelerate the speed of the opening movement; when the opening side deceleration control is being performed, if the fully open position detection means detects that the opening / closing body has reached the fully open position, an opening side stop control is performed, which is a control to stop the opening movement of the opening / closing body; and when the opening side deceleration control is being performed, if the obstacle is detected by the obstacle detection means, an avoidance control is performed, which is a control related to the opening / closing movement of the opening / closing body, and is a control to avoid at least the obstacle from being pinched by the opening / closing body.

[0266] The opening / closing control system of Appendix 2 is the opening / closing control system described in Appendix 1, wherein when the opening / closing body is moving in an open position and the opening side deceleration control is not being performed, the opening / closing control means does not perform the avoidance control regardless of the detection result of the obstacle detection means.

[0267] The opening / closing control system of Appendix 3 is an opening / closing control system described in Appendix 1 or 2, wherein the avoidance control includes a non-reverse closing control that simply stops the opening movement of the opening / closing body, and / or a reverse closing control that, after stopping the opening movement of the opening / closing body, moves the opening / closing body to a closed position by a predetermined distance or a predetermined time and then stops it.

[0268] The opening / closing control system of Appendix 4 is the opening / closing control system described in Appendix 1 or 2, wherein the obstacle detection means is a non-contact obstacle detection sensor, and the obstacle detection means is configured so that the detection range of the obstacle detection means includes the entire area in which the opening / closing body is moved to open and close.

[0269] The opening and closing control system of Supplementary Note 5 is the opening and closing control system of Supplementary Note 1 or 2, wherein the obstacle detection means is a contact-type obstacle detection sensor.

[0270] (Effect of supplementary notes) According to the opening / closing control system described in Appendix 1, when opening side deceleration control is being performed and an obstacle is detected by the obstacle detection means, the opening / closing control means performs avoidance control, so when opening side deceleration control is being performed, the avoidance control can at least prevent the obstacle from being pinched by the opening / closing body, making it possible to increase safety when using the sliding door.

[0271] According to the opening / closing control system described in Supplementary Note 2, when the opening / closing body is moving in the open position and opening-side deceleration control is not being performed, the opening / closing control means does not perform avoidance control regardless of the detection result of the obstacle detection means, so when the opening / closing body is moving in the open position and opening-side deceleration control is not being performed, it is possible to avoid the avoidance control from obstructing the passage of a passing object through the opening, ensuring usability of the sliding door. Also, it is possible to avoid harm to a passing object caused by the opening / closing body (such as the opening / closing body pinching the passing object, or a collision between the opening / closing body and the passing object), making it possible to further improve safety when using the sliding door.

[0272] According to the opening and closing control system described in Appendix 3, the avoidance control includes non-reverse closing control and / or reverse closing control, so that avoidance control can be performed according to the usage situation, thereby improving the usability of the opening and closing control system.

[0273] According to the opening / closing control system described in Appendix 4, the obstacle detection means is a non-contact obstacle detection sensor, and the obstacle detection means is configured so that the detection range of the obstacle detection means includes the entire area in which the opening / closing body is moved to open and close.Therefore, even if only a non-contact obstacle detection sensor is installed, obstacles can be accurately detected, and the installation cost of the obstacle detection means can be reduced.

[0274] According to the opening and closing control system described in Supplementary Note 5, the obstacle detection means is a contact-type obstacle detection sensor, so that it is possible to accurately detect an obstacle, and the accuracy of the detection can be improved. [Explanation of symbols]

[0275] 1 sliding door 2 skeleton 3 Opening 4 Wiring 10 Frame 11 Left vertical frame 12 Lower horizontal frame 13 No Eyes 14 Right vertical frame 15 Guide rail 15a Lower guide rail 16 Closing side door stop 17 Open side door stop 20 Opening and closing body 30 Drive unit 31 endless belt 32 Drive pulley 33 Driven pulley 34 Motor 40 Opening and Closing Control System 41 Operation section 42 Fully closed position detection unit 43 Fully open position detection unit 44 Closing side deceleration position detection unit 45 Opening side deceleration position detection unit 46 First obstacle detection unit 46a Light transmitter 46b Light receiving part 47 Second obstacle detection unit 48 Switching output section 50 Control Unit 51 Input section 52 Output section 53 Power supply section 54 Control Unit 54a Opening and closing control section 55 Storage section

Claims

1. An opening / closing control system for controlling the opening and closing movement of an opening / closing body that constitutes a sliding door provided at an opening of a building, the opening / closing control system comprising: a fully open position detection means for detecting whether the opening / closing body has reached a fully open position, which is a position corresponding to a state in which the opening is fully opened by the opening / closing body; an opening-side deceleration position detection means for detecting whether the opening-side body has reached an opening-side deceleration position located just before the fully open position, the opening-side deceleration position being a trigger position for decelerating the speed of the opening movement of the opening-side body; an obstacle detection means for detecting an obstacle that may hinder the opening and closing movement of the opening and closing body; an opening / closing control means for controlling the opening / closing movement of the opening / closing body, The opening / closing control means When the opening / closing body is moving to the opening position, if the opening-side deceleration position detection means detects that the opening / closing body has reached the opening-side deceleration position, an opening-side deceleration control is performed, which is a control for decelerating the speed of the opening movement, When the opening-side deceleration control is being performed and the fully open position detection means detects that the opening-and-closing body has reached the fully open position, an opening-side stop control is performed, which is a control to stop the opening movement of the opening-and-closing body, When the opening side deceleration control is being performed and the obstacle is detected by the obstacle detection means, an avoidance control is performed which is a control related to the opening / closing movement of the opening / closing body, and is a control to avoid at least the obstacle from being pinched by the opening / closing body. Opening and closing control system.

2. When the opening / closing body is moving in an open position and the opening / closing control means is not performing the opening side deceleration control, the opening / closing control means does not perform the avoidance control regardless of the detection result of the obstacle detection means. The opening and closing control system according to claim 1 .

3. The avoidance control includes a non-reverse closing control that simply stops the opening movement of the opening / closing body, and / or a reverse closing control that stops the opening movement of the opening / closing body by moving the opening / closing body for a predetermined distance or a predetermined time, and then stops the opening / closing body. The opening and closing control system according to claim 1 or 2.

4. the obstacle detection means is a non-contact obstacle detection sensor, The obstacle detection means is configured so that the detection range of the obstacle detection means includes the entire area in which the opening / closing body is opened and closed. The opening and closing control system according to claim 1 or 2.

5. The obstacle detection means is a contact-type obstacle detection sensor. The opening and closing control system according to claim 1 or 2.

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