Automatic door system, control method for automatic door system, and control program for automatic door system

Abstract

To provide an automatic door device, a control method of the automatic door device, and a control program of the automatic door device, for performing stable opening-closing operation of a door.SOLUTION: The automatic door device 10 includes a first door and a second door of a hinged door provided at an opening, a first door engine 30 and a second door engine 40 configured to drive the first door and the second door, a control unit 21 configured to control the first door engine 30 and the second door engine 40, a rotation information acquisition unit 22 configured to acquire rotation information related to a rotation direction of the first door engine 30 and the second door engine 40, a determination unit 24 configured to determine, based on the rotation information, whether flapping in which the first door and the second door move in a direction opposite to a driving direction of the first door and the second door has occurred after deceleration control of the first door engine 30 and the second door engine 40, and a change unit 25 configured to change a control parameter of the control unit 21 so that flapping does not occur when the determination unit 24 determines that flapping has occurred.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an automatic door system, a control method for an automatic door system, and a control program for an automatic door system. [Background technology]

[0002] The automatic door system described in Patent Document 1 is a hinged door installed at an opening in a building. The door of the hinged door rotates around a rotation axis. The hinged door opens and closes the opening in the building by rotating the door. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-28136 Summary of the Invention [Problem to be solved by the invention]

[0004] However, because the moment of inertia of a swing door is larger than that of a sliding door, swing doors are more likely to flap when decelerating than sliding doors. As a result, when installing swing doors, automatic door systems must be adjusted to prevent the door from flapping after they are installed in the building's opening. Furthermore, because the state of automatic door systems changes, adjusting the door to prevent flapping every time an adjusted door flap due to changes is not suited to the actual situation of automatic doors. For this reason, there is a demand for doors to be able to open and close stably. [Means for solving the problem]

[0005] An automatic door system that solves the above-mentioned problems includes a swinging or folding door installed in an opening, a drive unit that drives the door, a control unit that controls the drive unit, a rotation information acquisition unit that acquires rotation information related to the rotation of the drive unit, a judgment unit that judges based on the rotation information whether fluttering has occurred, in which the door moves in the opposite direction to the drive direction of the door after the drive unit has been controlled to slow down, and a modification unit that, when the judgment unit determines that fluttering has occurred, modifies the control parameters of the control unit that control the drive unit so that fluttering does not occur.

[0006] According to the above configuration, it is determined whether or not the door flutters, and when the determination unit determines that the door flutters, the change unit changes the control parameters of the control unit so that the door does not flutter. This makes it possible to suppress the door fluttering, thereby achieving stable opening and closing operations of the door.

[0007] The automatic door system preferably includes a speed calculation unit that calculates the movement speed of the door from the rotation information acquired by the rotation information acquisition unit, and the determination unit determines that a no-cushion state has occurred, in which the door collides with a stopper and bounces off at the fully open or fully closed position, when the movement speed of the door calculated by the speed calculation unit is equal to or greater than a threshold value near the fully open or fully closed position of the door, and the change unit changes the control parameters when the determination unit determines that a no-cushion state has occurred so that the no-cushion state does not occur.

[0008] In the above-mentioned automatic door system, when the determination unit determines that the flapping has occurred, it is preferable that the change unit performs at least one of the following: change the deceleration rate when controlling the deceleration of the door to a value lower than the control parameter; start the deceleration control of the door earlier than the control parameter; or change the drive speed of the door to a value lower than the control parameter.

[0009] In the above automatic door system, when the determination unit determines that the no-cushion condition has occurred, it is preferable that the change unit performs at least one of the following: change the deceleration rate when controlling the deceleration of the door to a rate higher than the control parameter; start the deceleration control of the door earlier than the control parameter; or change the drive speed of the door to a rate lower than the control parameter.

[0010] The automatic door system is preferably provided with a memory unit that stores the control parameters used by the control unit to control the drive unit and the judgment results of the judgment unit for those control parameters, and the change unit changes the control parameters that control the drive unit based on the control parameters stored in the memory unit and the judgment results.

[0011] It is preferable that the above-mentioned automatic door system be equipped with a change judgment unit that judges whether or not the control parameters can be further changed based on the control parameters stored in the memory unit and the judgment result, and a notification unit that issues an alert when the change judgment unit determines that the control parameters cannot be further changed.

[0012] The control method for an automatic door system that solves the above-mentioned problems includes a rotation information acquisition step for acquiring rotation information regarding the rotation of a drive unit that drives a swinging door or folding door installed in an opening; a judgment step for judging, based on the rotation information, whether or not fluttering has occurred in which the door moves in the opposite direction to the drive direction of the door after the drive unit has been controlled to slow down; and a modification step for, when it is determined in the judgment step that fluttering has occurred, changing the control parameters that control the drive unit to prevent fluttering from occurring.

[0013] According to the above method, it is determined whether or not the door is flapping, and when it is determined that the door is flapping, the control parameters for controlling the drive unit are changed so that the door does not flap. This makes it possible to suppress the door from flapping, thereby enabling the door to be opened and closed stably.

[0014] The control program for an automatic door system that solves the above-mentioned problems includes a rotation direction information acquisition step for acquiring rotation information related to the rotation of a drive unit that drives a swinging or folding door installed in an opening; a judgment step for judging, based on the rotation direction information, whether or not fluttering has occurred in which the door moves in the opposite direction to the drive direction of the door after the drive unit has been controlled to slow down; and a modification step for changing the control parameters that control the drive unit to prevent fluttering from occurring when it is determined in the judgment step that fluttering has occurred.

[0015] According to the program, it is determined whether the door has fluttered, and when it is determined that fluttering has occurred, it changes the control parameters that control the drive unit so that the door does not flutter. This makes it possible to suppress the door fluttering, and thus the door can be opened and closed stably.

[0016] An automatic door system that solves the above problem includes a swinging or folding door installed in an opening, a drive unit that controls the opening and closing of the door, a control unit that controls the drive unit, a degree information acquisition unit that acquires degree information from outside that indicates the degree of shaking that occurs in the door when the control unit is driving the door, and a modification unit that changes the control parameters that control the drive unit of the control unit based on the degree information acquired by the degree information acquisition unit.

[0017] According to the above configuration, the change unit changes the control parameters of the control unit based on the degree of door sway, which makes it possible to suppress door sway and thereby perform stable opening and closing operations of the door.

[0018] With regard to the above-mentioned automatic door system, it is preferable that the degree information acquisition unit acquires operation phase information of the door when the shaking occurs, and the change unit changes the control parameters in accordance with the operation phase information acquired by the degree information acquisition unit.

[0019] In the above-mentioned automatic door system, when the change unit determines that the control parameter needs to be changed based on the degree of shaking, it is preferable that it performs at least one of the following: change the deceleration rate when controlling the deceleration of the door to a value lower than the control parameter; start the deceleration control of the door earlier than the control parameter; or change the drive speed of the door to a value lower than the control parameter.

[0020] The control method for an automatic door system that solves the above problem includes a degree information acquisition step of externally acquiring degree information indicating the degree of shaking that occurs in a swinging door or folding door installed in an opening when the drive unit is driving the door, and a modification step of modifying control parameters that control the drive unit so that the shaking does not occur based on the degree information acquired in the degree information acquisition step.

[0021] According to the above method, the control parameters of the control unit are changed based on the degree of door sway, which makes it possible to suppress door sway and thereby ensure stable opening and closing of the door.

[0022] The control program for an automatic door system that solves the above-mentioned problems includes a degree information acquisition step in which degree information indicating the degree of shaking that occurs in a swinging door or folding door installed in an opening when the drive unit is driving the door is acquired from outside, and a modification step in which control parameters that control the drive unit are modified based on the degree information acquired in the degree information acquisition step so that the shaking does not occur.

[0023] According to the program, the control parameters of the control unit are changed based on the degree of door sway, which makes it possible to suppress door sway and thereby ensure stable opening and closing of the door. [Effects of the Invention]

[0024] According to the present invention, the door can be opened and closed stably. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a front view showing the schematic configuration of a first embodiment of an automatic door system. [Figure 2] FIG. 2 is a plan view showing the schematic configuration of the automatic door system according to the embodiment. [Figure 3] FIG. 2 is a block diagram showing the electrical configuration of the automatic door system according to the embodiment. [Figure 4] 4 is a diagram showing the relationship between time and speed during opening and closing operations of the automatic door system according to the embodiment; FIG. [Figure 5] 4 is a flowchart showing the operation of the automatic door system according to the embodiment. [Figure 6] FIG. 4 is a block diagram showing the electrical configuration of a second embodiment of an automatic door system. [Figure 7] 4 is a flowchart showing the operation of the automatic door system according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0026] (First embodiment) A first embodiment of an automatic door system will be described below with reference to Figures 1 to 5. The automatic door system is a double swing door.

[0027] (Automatic door device 10) As shown in Figures 1 and 2, an automatic door system 10 is installed in an opening 1 of a building. The automatic door system 10 includes two doors: a first door 11 and a second door 12. The first door 11 is located on the left side of the figure. The first door 11 rotates around a rotation axis PL located near the door tail 11B. When viewed from the side where the door opens to the rear, the first door 11 is a left-handed door with the rotation axis PL on the left side. The second door 12 is located on the right side of the figure. The second door 12 rotates around a rotation axis PR located near the door tail 12B. When viewed from the side where the door opens to the rear, the second door 12 is a right-handed door with the rotation axis PR on the right side. A transom 13 is provided at the top of the first door 11 and the second door 12 of the opening 1. A door stop 14 is provided on the underside of the transom 13 at the top of the opening 1 to prevent the door from opening toward the front. The door engine and door controller of the automatic door system 10 are installed in the transom 13. In addition, door stop 14 corresponds to the stopper.

[0028] As shown in FIG. 3, the automatic door system 10 includes a door controller 20 that controls the automatic door system 10. The door controller 20 may be configured as one or more processors that execute various processes according to a computer program (software). The processes executed by the door controller 20, i.e., the processor, include a control method for the automatic door system 10. The control method for the automatic door system 10 includes a rotation information acquisition step, a determination step, and a change step, which will be described later. Note that the door controller 20 may also be configured as a circuit including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), or a combination thereof, that execute at least some of the various processes. The processor includes a CPU and memory, such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute the processes. The memory, i.e., computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The program stored on the computer-readable medium includes a control program for the automatic door system 10. The control program for the automatic door system 10 causes a computer to execute a rotation information acquisition step, a determination step, and a change step.

[0029] The automatic door device 10 includes a first door engine 30 that drives the first door 11 and a second door engine 40 that drives the second door 12. The first door engine 30 includes a first motor 31 and a first transmission mechanism 32. The first motor 31 is driven and controlled by the door controller 20. The first transmission mechanism 32 transmits the driving force of the first motor 31 to the first door 11. The first motor 31 is provided with a first encoder 31A that detects rotation. The first encoder 31A outputs the detection result, including the presence or absence of rotation and the direction of rotation, to the door controller 20. The second door engine 40 includes a second motor 41 and a second transmission mechanism 42. The second motor 41 is driven and controlled by the door controller 20. The second transmission mechanism 42 transmits the driving force of the second motor 41 to the second door 12. The second motor 41 is provided with a second encoder 41A that detects rotation. The second encoder 41A outputs the detection result including the presence or absence of rotation and the direction of rotation to the door controller 20. The first door engine 30 and the second door engine 40 correspond to a drive unit.

[0030] The automatic door system 10 includes an activation sensor 15, an alarm unit 28, and a communication unit 29. The door controller 20 is electrically connected to the activation sensor 15, the alarm unit 28, and the communication unit 29. The activation sensor 15 is a sensor that detects a person or object within a predetermined range of the automatic door system 10, and outputs a signal to the door controller 20 when it detects a person or object. When the activation sensor 15 detects a person or object, the door controller 20 opens the first door 11 and the second door 12. The alarm unit 28 is an LED that issues an alert with light or a speaker that issues an alert with sound. The communication unit 29 communicates with a communication terminal 50 via short-range wireless communication such as Bluetooth (registered trademark), and inputs information from the communication terminal 50 to the door controller 20 and outputs information from the door controller 20 to the communication terminal 50.

[0031] (communication terminal 50) The communication terminal 50 is a smartphone, tablet, or other device that is operated by an operator by launching a dedicated app when configuring the automatic door device 10. The communication terminal 50 acquires information such as the operating status from the door controller 20 via the communication unit 29. The operator can check the operating status of the automatic door device 10 using the communication terminal 50.

[0032] (Door Controller 20) The door controller 20 includes a control unit 21, a rotation information acquisition unit 22, a speed calculation unit 23, a determination unit 24, a change unit 25, a memory unit 26, and a change determination unit 27. The control unit 21 controls the first door engine 30 and the second door engine 40. Specifically, the control unit 21 drives and controls the first motor 31 and the second motor 41 to open and close the first door 11 and the second door 12. The control unit 21 controls deceleration and then stops the first door 11 and the second door 12. If the first motor 31 and the second motor 41 are motors with brakes, the deceleration is increased by increasing the braking force of the brakes.

[0033] As shown in Fig. 4, the control unit 21 accelerates the first door 11 and the second door 12 to a specified speed V0, moves them at a constant speed when the specified speed V0 is reached, and controls them to decelerate before stopping, moving them at a constant speed when the door reaches a cushion speed VC, and then further decelerates and stops them. The time when the door reaches the specified speed V0 is defined as the first time T1. The time when the door starts to decelerate from the specified speed V0 is defined as the second time T2. The time when the door reaches the cushion speed VC is defined as the third time T3. The time when the door starts to decelerate from the cushion speed VC is defined as the fourth time T4. The time when the door stops is defined as the fifth time T5. The cushion speed VC is the speed when the door is moved at a constant speed to reduce the acceleration of the door.

[0034] As shown in FIG. 3 , the rotation information acquisition unit 22 acquires rotation information regarding the rotation of the first door engine 30 and the second door engine 40 after deceleration control. The rotation information acquisition unit 22 acquires detection results, including the presence or absence of rotation and the direction of rotation, from the first encoder 31A and the second encoder 41A. The speed calculation unit 23 calculates the movement speed of the first door 11 and the second door 12 from the rotation information. The determination unit 24 determines whether flapping has occurred based on the rotation information. Flopping refers to the movement of the first door 11 and the second door 12 in the direction opposite to the driving direction of the first door 11 and the second door 12 after deceleration control of the first door engine 30 and the second door engine 40. The determination unit 24 determines that no cushioning has occurred when the movement speed of the first door 11 and the second door 12 is equal to or greater than a threshold value when the first door 11 and the second door 12 are near the fully open or fully closed position. The no-cushion state means that the first door 11 and the second door 12 collide with the door stop 14 at the fully open or fully closed position without sufficiently decelerating. The memory unit 26 stores control parameters that the control unit 21 uses to control the first door engine 30 and the second door engine 40 based on the result of the determination unit 24.

[0035] Then, the control unit 21 controls the first door engine 30 and the second door engine 40 so as not to cause flapping based on the result of the determination unit 24. That is, when the determination unit 24 determines that flapping has occurred, the change unit 25 performs at least one of the following: The change unit 25 changes the control parameters in the order of (A), (B), and (C).

[0036] (A) The deceleration rate during deceleration control is changed to a value lower than the control parameter. (B) The deceleration control is started a predetermined time earlier than the control parameter. (C) The door drive speed is changed to a predetermined speed lower than the control parameter.

[0037] Furthermore, the control unit 21 controls the first door engine 30 and the second door engine 40 so that no cushioning occurs based on the result of the determination unit 24. That is, when the determination unit 24 determines that no cushioning has occurred, the change unit 25 performs at least one of the following: The change unit 25 changes the control parameters in the order of (D), (B), and (C).

[0038] (D) The deceleration rate during deceleration control is changed to a value higher than the control parameter. (B) The deceleration control is started a predetermined time earlier than the control parameter. (C) The door drive speed is changed to a predetermined speed lower than the control parameter.

[0039] The storage unit 26 also stores control parameters used by the control unit 21 to control the first door engine 30 and the second door engine 40, and the determination results of the determination unit 24 for the control parameters. The change unit 25 may change the control parameters used to control the first door engine 30 and the second door engine 40, based on the control parameters stored in the storage unit 26 and the determination results.

[0040] The change determination unit 27 determines whether or not further changes to the control parameters are possible based on the control parameters stored in the storage unit 26 and the determination results. The notification unit 28 issues a notification when the change determination unit 27 determines that further changes to the control parameters are not possible.

[0041] (Drive control) Next, with reference to FIG. 5, the drive control of the automatic door system 10 configured as above will be described.

[0042] 5, the automatic door system 10 performs an opening and closing operation (step S11). That is, the control unit 21 controls the first door engine 30 and the second door engine 40 using preset control parameters.

[0043] Next, the automatic door device 10 determines whether or not there is fluttering during the opening / closing operation (step S12). That is, the rotation information acquisition unit 22 acquires rotation information regarding the rotation of the first door engine 30 and the second door engine 40 after the control unit 21 has performed deceleration control during the opening / closing operation. Then, the determination unit 24 determines, based on the rotation information, whether or not there is fluttering, in which the first door 11 and the second door 12 move in the direction opposite to the driving direction of the first door 11 and the second door 12, after the first door engine 30 and the second door engine 40 have been subjected to deceleration control. Note that step S12 corresponds to a rotation information acquisition step and a determination step.

[0044] If the determination unit 24 determines that there is no flapping during the opening / closing operation (step S12: NO), it determines whether or not there is a no-cushion during the opening / closing operation (step S21). That is, the speed calculation unit 23 calculates the movement speed of the first door 11 and the second door 12 from the rotation information. Then, the determination unit 24 determines whether or not a no-cushion has occurred depending on whether or not the movement speed of the first door 11 and the second door 12 is equal to or greater than a threshold value when the first door 11 and the second door 12 are near the fully open position or the fully closed position.

[0045] If the determination unit 24 determines that there is no no-cushion during the opening / closing operation (step S21: NO), there is neither flapping nor no-cushion, so the change unit 25 proceeds to step S20 without changing the control parameters.

[0046] On the other hand, if the determination unit 24 determines that there is no cushion during the opening / closing operation (step S21: YES), the change unit 25 changes the deceleration of the control unit 21 to be higher than the default parameter (step S22). That is, the change unit 25 makes the gradient of the speed (deceleration) with respect to time in the deceleration control from the second time T2 in FIG. 4 larger than the default parameter. In this case, the deceleration is made gentler just before stopping. Note that step S22 corresponds to the change step.

[0047] Next, the automatic door system 10 performs opening and closing operations (step S23). That is, the control unit 21 controls the first door engine 30 and the second door engine 40 using the control parameters changed in step S22.

[0048] Next, the determination unit 24 determines whether or not there is a no-cushion state during the opening / closing operation (step S24). The speed calculation unit 23 calculates the movement speed of the first door 11 and the second door 12 from the rotation information. Then, the determination unit 24 determines whether or not a no-cushion state has occurred based on whether or not the movement speed of the first door 11 and the second door 12 is equal to or greater than a threshold value when the first door 11 and the second door 12 are in the vicinity of the fully open position or the fully closed position. Then, if the determination unit 24 determines that there is a no-cushion state during the opening / closing operation (step S24: YES), the process proceeds to step S22, and the change unit 25 further changes the deceleration to be higher than the default parameter.

[0049] On the other hand, if the determination unit 24 determines that there is no no-cushion during the opening / closing operation (step S24: NO), it then determines whether or not there is fluttering during the opening / closing operation (step S25). The rotation information acquisition unit 22 acquires rotation information regarding the rotation of the first door engine 30 and the second door engine 40 after the control unit 21 performs deceleration control during the opening / closing operation. Then, the determination unit 24 determines, based on the rotation information, whether or not fluttering has occurred, in which the first door 11 and the second door 12 move in the direction opposite to the direction in which the control unit 21 drove them. Note that step S25 corresponds to the rotation information acquisition step and the determination step. Then, if the determination unit 24 determines that there is no fluttering during the opening / closing operation (step S25: NO), the control parameters changed in step S22 are set as the control parameters of the control unit 21, and the process proceeds to step S20.

[0050] On the other hand, if the determination unit 24 determines that fluttering occurs during the opening / closing operation (step S25: YES), the process proceeds to step S17. That is, although the no-cushion phenomenon could be prevented by increasing the deceleration rate during the deceleration control, fluttering occurs, so the control parameters are further changed to prevent fluttering from occurring.

[0051] On the other hand, if the determination unit 24 determines that fluttering occurs during the opening / closing operation in step S11 (step S12: YES), the change unit 25 reduces the deceleration of the control unit 21 below the default parameter (step S13). That is, the change unit 25 reduces the gradient of the speed (deceleration) with respect to time in the deceleration control from the second time T2 in Fig. 4. Note that step S13 corresponds to the change step.

[0052] Next, the automatic door system 10 performs opening and closing operations (step S14). That is, the control unit 21 controls the first door engine 30 and the second door engine 40 using the control parameters changed in step S13.

[0053] Next, the determination unit 24 determines whether fluttering occurs during the opening / closing operation (step S15). The rotation information acquisition unit 22 acquires rotation information related to the rotation of the first door engine 30 and the second door engine 40 after the control unit 21 performs deceleration control during the opening / closing operation. Then, the determination unit 24 determines whether fluttering has occurred, in which the first door 11 and the second door 12 move in the direction opposite to the drive direction driven by the control unit 21, based on the rotation information. Note that step S15 corresponds to the rotation information acquisition step and the determination step. Then, if the determination unit 24 determines that fluttering occurs during the opening / closing operation (step S15: YES), the process proceeds to step S13, and the change unit 25 further changes the deceleration to be lower than the default parameter.

[0054] On the other hand, if the determination unit 24 determines that there is no flapping during the opening and closing operation (step S15: NO), it then determines whether there is a no-cushion during the opening and closing operation (step S16). If the determination unit 24 determines that there is no no-cushion during the opening and closing operation (step S16: NO), it sets the control parameters changed in step S13 as the control parameters of the control unit 21, and proceeds to step S20.

[0055] On the other hand, if the determination unit 24 determines that there is no cushion during the opening / closing operation (step S16: YES), the change unit 25 causes the control unit 21 to start deceleration control earlier than the default parameters (step S17). That is, the change unit 25 advances the start of the deceleration control shown in FIG. 4 by a predetermined time, changing it from the second time T2 to time T2A. In this case, the gradient of the speed with respect to time during the deceleration control (deceleration) is not changed, and the deceleration is made gentler just before stopping. Note that step S17 corresponds to the change step.

[0056] Next, the determination unit 24 determines whether the deceleration start position is equal to or greater than a specified value (step S18). That is, when the deceleration start position is equal to or greater than the specified value, it is necessary to reduce the moving speed, so the determination unit 24 determines whether this is necessary. Then, when the determination unit 24 determines that the deceleration start position is less than the specified value (step S18: NO), the change unit 25 sets the control parameters changed in step S17 as the control parameters of the control unit 21, and the process proceeds to step S20.

[0057] On the other hand, if the determination unit 24 determines that the deceleration start position is equal to or greater than the specified value (step S18: YES), the change unit 25 changes the movement speed of the control unit 21 to a value lower than the default parameter (step S19). That is, the change unit 25 reduces the movement speed of the first door 11 and the second door 12 shown in FIG. 4 by a predetermined speed, changing it from the specified speed V0 to a movement speed V1. In this case, the gradient of the speed with respect to time during deceleration control (deceleration) is made gentle so that it stops at a fifth time T5. Note that step S19 corresponds to the change step.

[0058] Next, the control unit 21 performs the opening and closing operation of the first door 11 and the second door 12 according to the set control parameters (step S20). The opening and closing operation in each step is a single operation from the fully closed position to the fully open position or from the fully open position to the fully closed position, and the control parameters are changed for each operation to determine whether flapping and no cushioning will occur.

[0059] Furthermore, after the opening / closing operation, the change determination unit 27 determines whether or not further changes to the control parameters are possible based on the control parameters stored in the storage unit 26 and the determination result. For example, if the changed control parameters match the control parameters stored in the storage unit 26 when it was determined that flapping and no-cushion movement had occurred, the change determination unit 27 determines that further changes are not possible. When the change determination unit 27 determines that further changes to the control parameters are not possible, the notification unit 28 notifies the outside. This may be output to the communication terminal 50 via the communication unit 29.

[0060] This series of steps may be performed when the automatic door system 10 is not in normal operation, such as during installation or maintenance, or some of the steps may be selected and performed when the automatic door system 10 is in normal operation. For example, if the determination unit 24 determines that flapping has occurred while the activation sensor 15 is detecting a person and opening the first and second doors 11 and 12, the determination unit 24 changes only one of the control parameters when the first and second doors 11 and 12 are fully closed and waits until the activation sensor 15 detects a person again. When the activation sensor 15 detects a person again and opens the first and second doors 11 and 12, the determination unit 24 determines whether flapping or no cushion has occurred, and if the determination unit 24 determines that either has occurred, the determination unit 24 changes one of the control parameters again. By repeating this process, flapping and no cushion can be suppressed.

[0061] As a result, the control unit 21 determines whether flapping or no cushioning will occur during opening and closing operations and changes the control parameters, not only during installation or maintenance, but also when conditions change due to aging, part replacement, temperature, humidity, wind pressure, etc. This allows the automatic door system 10 itself to suppress the occurrence of flapping and no cushioning. This allows the automatic door system 10 to always perform stable opening and closing operations.

[0062] Next, the effects of the first embodiment will be described. (1-1) It is determined whether flapping of the first door 11 and the second door 12 has occurred, and when the determination unit 24 determines that flapping has occurred, the change unit 25 changes the control parameters of the control unit 21 so that flapping of the first door 11 and the second door 12 does not occur. As a result, the automatic door device 10 itself can suppress the occurrence of flapping of the first door 11 and the second door 12. As a result, the first door 11 and the second door 12 can be opened and closed stably.

[0063] (1-2) It is determined whether or not a no-cushion state has occurred for the first door 11 and the second door 12, and when the determination unit 24 determines that a no-cushion state has occurred, the change unit 25 changes the control parameters of the control unit 21 so that a no-cushion state does not occur for the first door 11 and the second door 12. This makes it possible to prevent a no-cushion state from occurring for the first door 11 and the second door 12. As a result, the automatic door system 10 itself performs stable opening and closing operations for the first door 11 and the second door 12.

[0064] (1-3) At least one of the control parameters of the control unit 21, namely, the deceleration during deceleration control, the start position of deceleration control, and the drive speed, is changed to prevent flapping of the first door 11 and the second door 12. As a result, the automatic door system 10 itself can suppress flapping of the first door 11 and the second door 12.

[0065] (1-4) At least one of the control parameters of the control unit 21, namely the deceleration during deceleration control, the start position of deceleration control, and the drive speed, is changed to prevent no-cushioning of the first door 11 and the second door 12. As a result, the automatic door system 10 itself can prevent no-cushioning of the first door 11 and the second door 12.

[0066] (1-5) The control unit 21 changes the control parameters for controlling the first door engine 30 and the second door engine 40 based on the control parameters and the judgment results stored in the memory unit 26. This allows the automatic door device 10 itself to open and close the first door 11 and the second door 12 more stably.

[0067] (1-6) When the change determination unit 27 determines that the change is not possible, the notification unit 28 notifies the user that the suppression of flapping and no-cushion movement by the control has reached its limit due to deterioration of the equipment, etc. This can prompt the user to replace the equipment in the automatic door system 10.

[0068] (Second embodiment) A second embodiment of the automatic door system will be described below with reference to Figures 6 and 7. This embodiment differs from the first embodiment in that it suppresses door vibrations that occur when the door is being controlled to open or close. The following description will focus on the differences from the first embodiment.

[0069] As shown in FIG. 6 , the automatic door system 110 includes a door controller 60 that controls the automatic door system 110. The door controller 60 may be configured as one or more processors that execute various processes according to a computer program (software). The processes executed by the door controller 60, i.e., the processor, include a control method for the automatic door system 110. The control method for the automatic door system 110 includes a degree information acquisition step and a change step, which will be described later. Note that the door controller 60 may also be configured as a circuit including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), or a combination thereof, that execute at least some of the various processes. The processor includes a CPU and memory, such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute the processes. The memory, i.e., a computer-readable medium, includes any available medium accessible by a general-purpose or special-purpose computer. The program stored on the computer-readable medium includes a control program for the automatic door system 110. The control program for the automatic door system 110 causes a computer to execute the degree information acquisition step and the change step.

[0070] The automatic door device 110 includes a first door engine 30 that drives the first door 11 and a second door engine 40 that drives the second door 12. The first door engine 30 includes a first motor 31 and a first transmission mechanism 32. The first motor 31 is driven and controlled by a door controller 60. The first transmission mechanism 32 transmits the driving force of the first motor 31 to the first door 11. The first motor 31 is provided with a first encoder 31A that detects rotation. The first encoder 31A outputs the detection result, including the presence or absence of rotation and the direction of rotation, to the door controller 60. The second door engine 40 includes a second motor 41 and a second transmission mechanism 42. The second motor 41 is driven and controlled by the door controller 60. The second transmission mechanism 42 transmits the driving force of the second motor 41 to the second door 12. The second motor 41 is provided with a second encoder 41A that detects rotation. The second encoder 41A outputs the detection result, including the presence or absence of rotation and the direction of rotation, to the door controller 60. The first door engine 30 and the second door engine 40 correspond to a drive unit.

[0071] The automatic door system 110 includes an activation sensor 15, an alarm unit 28, and a communication unit 29. The door controller 60 is electrically connected to the activation sensor 15, the alarm unit 28, and the communication unit 29. The activation sensor 15 is a sensor that detects a person or object within a predetermined range of the automatic door system 10, and outputs a signal to the door controller 60 when it detects a person or object. When the activation sensor 15 detects a person or object, the door controller 60 opens the first door 11 and the second door 12. The alarm unit 28 is an LED that issues an alert with light or a speaker that issues an alert with sound. The communication unit 29 communicates with the communication terminal 50 via short-range wireless communication such as Bluetooth (registered trademark), and inputs information from the communication terminal 50 to the door controller 60 and outputs information from the door controller 60 to the communication terminal 50.

[0072] (communication terminal 50) The communication terminal 50 is a smartphone, tablet terminal, or the like, and is operated by an operator by launching a dedicated app when configuring the automatic door system 110. The communication terminal 50 acquires information such as the operating status from the door controller 60 via the communication unit 29. The operator can check the operating status of the automatic door system 110 using the communication terminal 50. The operator inputs into the communication terminal 50 the presence or absence and degree of shaking that has occurred in the first door 11 and the second door 12 while the control unit 61 is controlling the opening and closing of the first door 11 and the second door 12. The communication terminal 50 transmits the presence or absence and degree of shaking to the door controller 60 via the communication unit 29.

[0073] (Door Controller 60) The door controller 60 includes a control unit 61, a degree information acquisition unit 62, a determination unit 63, a change unit 64, and a storage unit 65. The control unit 61 controls the first door engine 30 and the second door engine 40. Specifically, the control unit 61 drives and controls the first motor 31 and the second motor 41 to open and close the first door 11 and the second door 12. The control unit 61 controls deceleration and then stops the first door 11 and the second door 12. The control unit 61 performs the drive control shown in FIG. 4 as in the first embodiment. Note that if the first motor 31 and the second motor 41 are motors with brakes, the deceleration is increased by increasing the braking force of the brakes.

[0074] The degree information acquisition unit 62 acquires degree information indicating the degree of shaking occurring in the first door 11 and the second door 12 from the outside when the control unit 61 controls the opening and closing of the first door 11 and the second door 12. The degree information acquisition unit 62 acquires the degree information indicating the degree of shaking from the communication terminal 50 via the communication unit 29. It is assumed that the shaking is not output as rotation from the first encoder 31A and the second encoder 41A. The determination unit 63 determines whether or not a change in control parameters is necessary based on the degree information. The determination unit 63 determines that a change in control parameters is necessary if shaking is present. The change unit 64 changes the control parameters of the control unit 61 for controlling the first door engine 30 and the second door engine 40 based on the degree information acquired by the degree information acquisition unit 62 so as not to cause shaking. The memory unit 65 stores the control parameters used by the control unit 21 to control the first door engine 30 and the second door engine 40.

[0075] Then, the control unit 61 controls the first door engine 30 and the second door engine 40 in accordance with the changes made by the change unit 64. That is, when the determination unit 63 determines that shaking has occurred, the change unit 64 performs at least one of the following: The change unit 64 changes the control parameters in the order of (E), (F), and (G).

[0076] (E) The deceleration rate during deceleration control is changed to a value lower than the control parameter. (F) Start deceleration control earlier than the control parameter. (G) Change the door drive speed below the control parameter.

[0077] The amount of change in (E), (F), and (G) is increased as the degree of shaking of the first door 11 and the second door 12 increases, and decreased as the degree of shaking of the first door 11 and the second door 12 decreases, based on the acquired degree information.

[0078] Furthermore, the degree information acquiring unit 62 may acquire operation phase information of the first door 11 and the second door 12 when shaking occurs. Then, the changing unit 64 changes the control parameters in accordance with the operation phase information acquired by the degree information acquiring unit 62. Note that, as shown in FIG. 4, the operation phases refer to the following phases in the opening / closing control of the first door 11 and the second door 12: an acceleration region (time 0 to first time T1) in which the stopped first door 11 and the second door 12 are accelerated to a specified speed, a constant speed region (first time T1 to second time T2) in which the specified speed is maintained, a deceleration region (second time T2 to third time T3) in which the speed is decelerated from the specified speed to a cushion speed, a cushion region (third time T3 to fourth time T4) in which the cushion speed is maintained, and a stop region (fourth time T4 to fifth time T5) in which the first door 11 and the second door 12 are decelerated from the cushion speed until they stop. Since control parameters are set for each operation phase, this allows the appropriate control parameters to be changed depending on the operation phase in which the shaking occurs, thereby further suppressing the shaking of the first door 11 and the second door 12.

[0079] (Drive control) Next, with reference to FIG. 7, the drive control of the automatic door system 110 configured as above will be described.

[0080] 7, the automatic door system 110 performs an opening and closing operation (step S31). That is, the control unit 61 controls the first door engine 30 and the second door engine 40 using preset control parameters.

[0081] The worker observes whether or not the first door 11 and the second door 12 are shaking during the opening operation, and if shaking is occurring, the degree of shaking. Then, the worker inputs the degree of shaking into the communication terminal 50. The communication terminal 50 transmits the degree of shaking to the door controller 60 via the communication unit 29.

[0082] The automatic door system 110 acquires degree information (step S32). That is, the degree information acquisition unit 62 acquires, from the outside, degree information indicating the degree of shaking that occurred in the first door 11 and the second door 12 when the control unit 61 is controlling the opening and closing of the first door 11 and the second door 12. The degree information acquisition unit 62 acquires the degree information indicating the degree of shaking from the communication terminal 50 via the communication unit 29. Note that step S32 corresponds to the degree information acquisition step.

[0083] Next, the automatic door system 110 determines whether or not the control parameters need to be changed (step S33). That is, the determination unit 63 determines whether or not the control parameters need to be changed based on the level information. If the determination unit 63 determines that the control parameters do not need to be changed based on the level information (step S33: NO), the process ends.

[0084] On the other hand, when the determination unit 63 determines that the control parameters need to be changed based on the degree information (step S33: YES), the change unit 64 changes the deceleration of the control unit 21 to a value lower than the default parameter (step S34). That is, the change unit 64 reduces the gradient of the speed (deceleration) with respect to time in the deceleration control from the second time T2 in Fig. 4 based on the degree of shaking of the first door 11 and the second door 12. Note that step S34 corresponds to the change step.

[0085] Next, the automatic door device 110 performs the opening and closing operation (step S35). That is, the control unit 61 sets the control parameters changed in step S34 as the control parameters of the control unit 61, and controls the first door engine 30 and the second door engine 40.

[0086] The automatic door system 110 acquires degree information (step S36). That is, the degree information acquisition unit 62 acquires, from the outside, degree information indicating the degree of shaking that occurred in the first door 11 and the second door 12 when the control unit 61 is controlling the opening and closing of the first door 11 and the second door 12. The degree information acquisition unit 62 acquires the degree information indicating the degree of shaking from the communication terminal 50 via the communication unit 29. Note that step S36 corresponds to the degree information acquisition step.

[0087] Next, the automatic door system 110 determines whether or not the control parameters need to be changed (step S37). That is, the determination unit 63 determines whether or not the control parameters need to be changed based on the level information. If the determination unit 63 determines that the control parameters do not need to be changed based on the level information (step S37: NO), the process ends.

[0088] On the other hand, if the determination unit 63 determines that the control parameters need to be changed based on the degree information (step S37: YES), the determination unit 63 advances the start of the deceleration control of the control unit 61 relative to the default parameters (step S38). That is, the change unit 64 advances the start of the deceleration control shown in FIG. 4 based on the degree of shaking of the first door 11 and the second door 12. In this case, the gradient of the speed with respect to time during the deceleration control (deceleration) is not changed, and the deceleration is made gentler just before stopping. Note that step S38 corresponds to the change step.

[0089] Next, the determination unit 63 determines whether the deceleration start position is equal to or greater than a specified value (step S39). That is, when the deceleration start position is equal to or greater than the specified value, it is necessary to reduce the moving speed, so the determination unit 63 determines whether this is necessary. Then, when the determination unit 63 determines that the deceleration start position is less than the specified value (step S39: NO), the change unit 64 sets the control parameters changed in step S38 as the control parameters of the control unit 61, and the process proceeds to step S40.

[0090] On the other hand, if the determination unit 63 determines that the deceleration start position is equal to or greater than the specified value (step S39: YES), the change unit 64 changes the movement speed of the control unit 61 to be lower than the specified parameter (step S40). That is, the change unit 64 reduces the movement speed of the first door 11 and the second door 12 shown in FIG. 4 based on the degree of swing of the first door 11 and the second door 12. In this case, the gradient of the speed with respect to time during deceleration control (deceleration) is made gentle so that it stops at the fifth time T5. Note that step S40 corresponds to the change step.

[0091] The opening and closing operation in each of the above steps is a single operation from the fully closed position to the fully open position or from the fully open position to the fully closed position, and the control parameters are changed for each operation to determine whether or not shaking occurs in the first door 11 and the second door 12.

[0092] As a result, even if vibrations occur that are not output as rotations from the first encoder 31A and the second encoder 41A, the automatic door system 10 acquires information on the degree of vibration and changes the control parameters accordingly. This allows the automatic door system 10 to suppress the occurrence of vibrations itself. This allows the automatic door system 10 to always perform stable opening and closing operations.

[0093] Next, the effects of the second embodiment will be described. The following effects are achieved. (2-1) The change unit 64 changes the control parameters of the control unit 61 based on the degree of swinging of the first door 11 and the second door 12. This allows the automatic door system 10 itself to suppress swinging of the first door 11 and the second door 12. This allows the first door 11 and the second door 12 to open and close stably.

[0094] (2-2) At least one of the control parameters of the control unit 61, namely, the deceleration during deceleration control, the start position of deceleration control, and the drive speed, is changed so as to prevent the first door 11 and the second door 12 from shaking. As a result, the automatic door system 10 itself can suppress the first door 11 and the second door 12 from shaking.

[0095] (Other embodiments) The above-described embodiments can be modified as follows: The above-described embodiments and the following modifications can be combined with each other within the scope of technical compatibility.

[0096] In the first embodiment, rotation information relating to the movement of the first door 11 and the second door 12 is obtained from the first encoder 31A and the second encoder 41A. In addition to this, rotation information of the first door 11 and the second door 12 may be obtained from the voltage and current of the first motor 31 and the second motor 41. The voltage of the first motor 31 and the second motor 41 increases as the braking force increases. This improves the accuracy of determining whether flapping or no-cushion has occurred.

[0097] In the first embodiment, rotation information regarding the movement of the first door 11 and the second door 12 may be obtained by a sensor such as an image sensor that photographs the first door 11 and the second door 12.

[0098] In the first embodiment, the change determination unit 27 is provided, which determines whether or not further changes to the control parameters are possible based on the control parameters and the determination results stored in the storage unit 26. However, the change determination unit 27 may be omitted.

[0099] In the first embodiment, the change unit 25 changes the control parameters based on the control parameters used by the control unit 21 to control the opening and closing of the doors and the determination result of the determination unit 24 when the control parameters are used and the control parameters are stored in the storage unit 26. However, the control unit 21 may calculate control parameters based on the determination result and control the first door engine 30 and the second door engine 40.

[0100] In the first embodiment, when it is determined that a no-cushion condition has occurred, the control parameters are changed one by one in the order of (D), (B), and (C), but two or more control parameters including (A) among (D), (B), and (C) may be changed in one opening / closing operation. Also, other control parameters may be changed so that a no-cushion condition does not occur.

[0101] In the first embodiment, when it is determined that fluttering has occurred, the control parameters are changed one by one in the order of (A), (B), and (C), but two or more control parameters including (A) among (A), (B), and (C) may be changed in one opening / closing operation. Also, other control parameters may be changed so that fluttering does not occur.

[0102] In the first embodiment, the control parameters (A), (B), (C), and (D) are changed. However, the PIDs of the feedback controls of the first motor 31 and the second motor 41 may be changed.

[0103] In steps S12, S15, and S25 of the first embodiment for determining whether fluttering has occurred and steps S16, S21, and S24 for determining whether no cushioning has occurred, the determination of whether fluttering has occurred and the determination of whether no cushioning has occurred may be made by averaging multiple opening and closing operations rather than a single opening and closing operation.

[0104] In the above embodiments, the doors of the automatic door systems 10 and 110 are swing doors, but they may also be folding doors. Even with folding doors, it is necessary to prevent door flapping, no-cushioning, and swaying, so the control parameters can be changed as in the above embodiments.

[0105] In the first embodiment, the occurrence of door flapping and the occurrence of no cushion are determined, but it is also possible to determine only the occurrence of door flapping. In the second embodiment, the door controller 60 acquires the information on the degree of door sway input by the worker to the communication terminal 50. However, a detection device that detects the degree of door sway may be provided, and the door controller 60 may acquire the information on the degree of door sway from the detection device. The detection device may be an image sensor that detects from a photographed image of the door, or a vibration sensor that detects from the vibration of the door.

[0106] In the second embodiment, the determination unit 63 determines whether or not the control parameters need to be changed. However, the determination unit 63 may be omitted, and the change unit 64 may change the control parameters of the control unit 61 depending on the degree of door swing.

[0107] In each of the above embodiments, the automatic door system 10 is provided with two doors, the first door 11 and the second door 12, but it may also be provided with one door. In the above-described embodiments, the first door engine 30 and the second door engine 40 are installed in the transom 13. However, the first door engine 30 and the second door engine 40 may be installed embedded in the floor 2 instead of in the transom 13.

[0108] In the above embodiments, the door controller 20 is capable of wireless communication with the communication terminal 50. However, the door controller 20 may be capable of wired communication with the communication terminal 50. Furthermore, the configuration of the communication terminal 50 may be omitted.

[0109] In each of the above embodiments, if an object is made up of multiple objects, the multiple objects may be integrated, and conversely, if an object is made up of a single object, it may be divided into multiple objects. Regardless of whether the objects are integrated or not, it is sufficient that the object of the invention can be achieved.

[0110] In each of the above embodiments, where multiple functions are provided in a distributed manner, some or all of the multiple functions may be provided in a consolidated manner, and conversely, where multiple functions are provided in a consolidated manner, some or all of the multiple functions may be provided in a distributed manner. Regardless of whether the functions are consolidated or distributed, it is sufficient that the configuration is such that the object of the invention can be achieved. [Explanation of symbols]

[0111] PL: Left rotation axis PR...Right rotation axis 1...Aperture 2...Floor 10...Automatic door device 11...1st door 11A…Door 11B…Tojiri 12...Second door 12A…Door 12B…Tojiri 13...Mumei 14...Doorstop 15...Start sensor 20...Door controller 21...Control unit 22...Rotation information acquisition unit 23...Speed ​​calculation section 24... Judgment department 25...Changes 26...Storage section 27...Change Judgment Department 28...Information Department 29…Communications Department 30...First door engine 31...First motor 31A...1st encoder 32...First transmission mechanism 40...Second door engine 41...Second motor 41A...Second encoder 42...Second transmission mechanism 50...Communication terminal 60...Door controller 61...Control unit 62…degree information acquisition part 63...judgment department 64...Change section 65...Storage section 110...Automatic door device

Claims

1. A hinged or folding door provided in the opening; a drive unit that drives the door; a control unit that controls the drive unit; a rotation information acquisition unit that acquires rotation information related to the rotation of the drive unit; a determination unit that determines whether flapping of the door in a direction opposite to the driving direction of the door has occurred after the drive unit has been decelerated based on the rotation information; a change unit that changes a control parameter for controlling the drive unit of the control unit so that the fluttering does not occur when the determination unit determines that the fluttering has occurred, When the determination unit determines that the flapping has occurred, the change unit performs at least one of changing the deceleration when performing deceleration control of the door to a value lower than the control parameter, starting the deceleration control of the door earlier than the control parameter, and changing the drive speed of the door to a value lower than the control parameter. Automatic door device.

2. a speed calculation unit that calculates a moving speed of the door from the rotation information acquired by the rotation information acquisition unit; the determination unit determines that a no-cushion state has occurred in which the door collides with a stopper and bounces off at the fully open position or the fully closed position when the movement speed of the door calculated by the speed calculation unit is equal to or greater than a threshold value near the fully open position or the fully closed position of the door, The change unit changes the control parameter so that the no-cushion does not occur when the determination unit determines that the no-cushion has occurred. The automatic door system according to claim 1.

3. When the determination unit determines that the no-cushion state has occurred, the change unit performs at least one of changing the deceleration rate used to control the deceleration of the door to a value higher than the control parameter, starting the deceleration control of the door earlier than the control parameter, and changing the drive speed of the door to a value lower than the control parameter.

3. The automatic door system according to claim 2.

4. a storage unit that stores control parameters when the control unit controls the drive unit and a determination result of the determination unit when the control parameters are used; The change unit changes the control parameters based on the control parameters stored in the storage unit and the determination result. The automatic door system according to any one of claims 1 to 3.

5. a change determination unit that determines whether or not the control parameters can be further changed based on the control parameters stored in the storage unit and the determination result; a notification unit that notifies when the change determination unit determines that the control parameter cannot be further changed.

5. The automatic door system according to claim 4.

6. a rotation information acquisition step of acquiring rotation information regarding the rotation of a drive unit that drives a hinged door or a folding door provided in the opening; a determining step of determining whether or not flapping of the door in a direction opposite to the driving direction of the door has occurred after the drive unit has been controlled to decelerate, based on the rotation information; a changing step of changing a control parameter for controlling the drive unit so that fluttering does not occur when it is determined in the determining step that fluttering has occurred, The changing step includes at least one of changing the deceleration when controlling the deceleration of the door to a value lower than the control parameter, starting the deceleration control of the door earlier than the control parameter, and changing the drive speed of the door to a value lower than the control parameter. A method for controlling an automatic door device.

7. a rotation information acquisition step of acquiring rotation information regarding the rotation of a drive unit that drives a hinged door or a folding door provided in the opening; a determining step of determining whether or not flapping of the door in a direction opposite to the driving direction of the door has occurred after the drive unit has been controlled to decelerate, based on the rotation information; and a changing step of changing the control parameter so that the flapping does not occur by performing at least one of changing the deceleration when controlling the deceleration of the door to a value lower than the control parameter for controlling the drive unit, starting the deceleration control of the door earlier than the control parameter, and changing the drive speed of the door to a value lower than the control parameter when determining that the flapping has occurred in the determining step. Control program for automatic door devices.

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