Door opening / closing control system and door opening / closing control method

Abstract

To provide a door opening / closure control system that enables a user, who is manually operating a door, to recognize that a remote control command has been issued for the door.SOLUTION: A door opening / closure control system 10 comprises a control part 21, which performs control different from assist control and remote control, or stops power applied from an electric driving part 22 to a door 80 once a radio communication part 44 acquires remote control information during the assist control for assisting in manually opening / closing the door 80.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a door opening / closing control system and a door opening / closing control method. [Background technology]

[0002] Conventionally, various technologies related to opening and closing doors have been proposed. Patent Document 1 discloses a drive device for an electric sliding door. This drive device can automatically open and close the sliding door by driving a motor through the operation of a portable operation switch. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-242533 A Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention provides a door opening / closing control system that can make a user manually operating a door aware that an instruction to remotely control the door has been given. [Means for solving the problem]

[0005] A door opening / closing control system according to one embodiment of the present invention includes a first acquisition unit that acquires first information regarding an operation of a first operating unit that is operated to manually open and close the door, a second acquisition unit that acquires second information regarding an operation of a second operating unit that is operated to remotely open and close the door, an electric unit that provides power to the door for opening and closing the door, and a control unit that performs a first control to assist the manual opening and closing of the door, which is drive control of the electric unit based on the acquired first information, and a second control that is drive control of the electric unit based on the acquired second information, and when the second information is acquired by the second acquisition unit during the first control, the control unit performs a third control that is different from both the first control and the second control, or stops the power provided to the door from the electric unit.

[0006] A door opening / closing control method according to one aspect of the present invention is a door opening / closing control method executed by a computer, and includes a first acquisition step of acquiring first information regarding an operation to a first operating unit operated to manually open and close the door, a second acquisition step of acquiring second information regarding an operation to a second operating unit operated to remotely open and close the door, and a control step of performing a third control different from both the first control and the second control based on the acquired second information, or stopping power applied to the door, when the second information is acquired during a first control for assisting in manual opening and closing of the door based on the acquired first information.

[0007] A program according to one aspect of the present invention is a program for causing a computer to execute the door opening and closing control method. Effect of the Invention

[0008] A door opening / closing control system according to an aspect of the present invention can make a user who is manually operating a door aware that an instruction to remotely control the door has been given. [Brief description of the drawings]

[0009] [Figure 1]FIG. 1 is a diagram showing a configuration of a door opening / closing control system according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of the positional relationship between the door handle and the operating force sensor. [Diagram 3] FIG. 3 is a flowchart of the assist control. [Figure 4] FIG. 4 is a diagram showing an example of a relational expression for determining the moving speed of the door in the assist control. [Diagram 5] FIG. 5 is a flowchart of the remote control. [Figure 6] FIG. 6 is a diagram showing the relationship between the door position and the door moving speed in remote control. [Figure 7] FIG. 7 is a diagram showing an example of a situation in which remote control is instructed during assist control. [Figure 8] FIG. 8 is a flowchart of an operation example 1 when a remote control is instructed during assist control. [Figure 9] FIG. 9 is a flowchart of an operation example 2 when a remote control is instructed during assist control. [Figure 10] FIG. 10 is a flowchart of an operation example 3 when a remote control is instructed during assist control. [Figure 11] FIG. 11 is a control block diagram for explaining a first calculation example of the control value in the assist control. [Figure 12] FIG. 12 is a diagram showing an example of a function for limiting the target door speed. [Figure 13] FIG. 13 is a diagram showing an example of waveforms of the torque current and the excitation current, and types of loads. [Figure 14] FIG. 14 is a diagram showing a waveform of a torque current when an operating force is applied to a part other than the door handle. [Figure 15] FIG. 15 is a control block diagram for explaining a second calculation example of the control value in the assist control. [Figure 16] FIG. 16 is a diagram showing the configuration of a drive unit (a drive unit according to a modified example) applied to a swing door. [Figure 17] FIG. 17 is a diagram showing a first operating portion provided on a door frame. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the embodiments will be described in detail with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component arrangement and connection forms, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present invention. In addition, among the components in the following embodiments, components that are not described in the independent claims will be described as optional components.

[0011] In addition, each drawing is a schematic diagram and is not necessarily a precise illustration. In each drawing, the same reference numerals are used for substantially the same configurations, and duplicated explanations may be omitted or simplified.

[0012] (Embodiment) [composition] First, the configuration of a door opening / closing control system according to an embodiment will be described. Fig. 1 is a diagram showing the configuration of a door opening / closing control system according to an embodiment. Fig. 1 also shows a schematic diagram of the rough layout of each component.

[0013] As shown in Fig. 1, a door opening / closing control system 10 according to the embodiment is a system that performs control related to a door 80. The door 80 is a so-called sliding door installed in a building such as a house. The door 80 is, for example, a front door. Note that the building in which the door 80 is installed and the installation position of the door 80 are not particularly limited.

[0014] Specifically, the door opening / closing control system 10 includes a drive unit 20, a door handle unit 30, an electric lock unit 40, and a remote controller 50. The drive unit 20 is installed inside a door frame, and the door handle unit 30 and the electric lock unit 40 are installed on a door 80. The door handle unit 30 is installed on one main surface (e.g., the indoor side) and the other main surface (e.g., the outdoor side) of the door 80. In other words, two door handle units 30 are installed on one door 80, but only one is shown in FIG. 1.

[0015] First, a description will be given of the drive unit 20. The drive unit 20 includes a control unit 21 and an electric motor unit 22.

[0016] The control unit 21 performs control (information processing) related to the opening and closing of the door 80. The control unit 21 is, for example, an integrated circuit (IC: Integrated Circuit) dedicated to driving the motor 23, and includes a processor, a memory, a PWM (Pulse Width Modulation) circuit, a three-phase inverter circuit, etc. The functions of the control unit 21 are realized, for example, by the processor executing a computer program stored in the memory.

[0017] The electric motor unit 22 provides the door 80 with power for opening and closing the door 80. The electric motor unit 22 includes a motor 23 and a drive mechanism 24. The motor 23 rotates a drive pulley included in the drive mechanism 24 based on a control signal output by the control unit 21.

[0018] The drive mechanism 24 is composed of, for example, a reducer, a drive pulley, a driven pulley, a belt wound around the drive pulley and the driven pulley, and a hanger connecting the belt to the door 80. When the drive pulley rotates in response to the rotation of the motor 23, power is provided to the door 80 via the belt and the hanger, and the door 80 opens and closes.

[0019] Next, a description will be given of the door handle unit 30. The door handle unit 30 includes a door handle 31, an operating force sensor 32, and an authentication unit 33.

[0020] The door handle 31 is a main body of the door handle, and is a part that a user grips to manually open and close the door 80. The door handle 31 is an example of a first operating portion. The door handle 31 is, for example, an elongated structure extending in the vertical direction.

[0021] The operating force sensor 32 detects (acquires) an operating force (load) applied to the door handle 31 in the opening / closing direction of the door 80 (left and right direction in the case of a sliding door) when the user manually opens or closes the door 80, and outputs operating force information indicating the detected operating force to the control unit 21. The operating force sensor 32 is an example of a first acquisition unit, and the operating force information is an example of first information regarding an operation on the first operating unit. The operating force sensor 32 is, for example, a piezoelectric sensor, but may be a strain gauge sensor. FIG. 2 is a diagram showing an example of an installation example of the operating force sensor 32, in other words, a diagram showing an example of the positional relationship between the door handle 31 and the operating force sensor 32.

[0022] 2, the operating force sensor 32 is provided, for example, on both the left and right sides of the door handle 31, between the door handle 31 and a holder 34 of the door handle 31. This allows the operating force sensor 32 to distinguish and detect the operating force when the user attempts to open the door 80 and the operating force when the user attempts to close the door 80.

[0023] The authentication unit 33 reads authentication information from an authentication medium such as a card key or a mobile terminal, and outputs the read authentication information to the electric lock control unit 41. The authentication unit 33 is realized, for example, by a wireless communication circuit that performs wireless communication (specifically, radio wave communication or optical communication) to obtain authentication information from the authentication medium. The authentication unit 33 may be a user interface that accepts authentication information (such as an unlocking code in this case) from a numeric keypad or the like. The authentication unit 33 may also be a biometric sensor that reads the biometric authentication information of a user from the user. Specifically, the biometric sensor is a fingerprint sensor or an iris sensor.

[0024] Next, a description will be given of the electric lock unit 40. The electric lock unit 40 includes an electric lock control unit 41, an electric lock 42, a detection unit 43, and a wireless communication unit 44.

[0025] The power lock control unit 41 judges whether the authentication information read by the authentication unit 33 is correct, and if it is judged to be correct, locks or unlocks the power lock 42 (door 80). When locking the power lock 42, it is necessary that the detection unit 43 detects that the door 80 is closed. In addition, the power lock control unit 41 outputs a notification signal to the control unit 21 indicating the locking state (whether it is locked or unlocked) of the power lock 42 (door 80) and the open / closed state of the door 80.

[0026] The electric lock control unit 41 is realized by a microcomputer including a processor and a memory, etc. The functions of the electric lock control unit 41 are realized, for example, by the processor executing a computer program stored in the memory.

[0027] Specifically, the electric lock 42 has a deadbolt, a motor, and a transmission mechanism that transmits the driving force of the electric motor to the deadbolt. The motor is driven based on a drive signal output by the electric lock control unit 41, and the driving force of the motor is transmitted to the deadbolt via the transmission mechanism, causing the deadbolt to move to a locked or unlocked position.

[0028] The detection unit 43 is a sensor that detects whether the door 80 is closed or not (whether the door 80 is open or not). Specifically, the detection unit 43 is a sensor that detects whether the door 80 is closed or not based on the appearance and disappearance of a protrusion, but may be a magnetic door sensor or a wireless communication door sensor.

[0029] The wireless communication unit 44 receives remote control information from the remote controller 50. The wireless communication unit 44 is, for example, a communication circuit (communication module) that performs radio wave communication with the remote controller 50, but may also be a communication circuit (light receiving module) that performs infrared communication with the remote controller 50. Note that in FIG. 1, the wireless communication unit 44 is illustrated as being included in the electric lock control unit 41 (microcomputer). The wireless communication unit 44 may be included in the electric lock control unit 41, or may be separate from the electric lock control unit 41.

[0030] Next, the remote controller 50 will be described. The remote controller 50 is a remote controller operated by a user to remotely open and close the door 80. The remote controller 50 is an example of a second operation unit. The remote controller 50 includes a wireless communication unit 51, an open button 52, and a close button 53.

[0031] The wireless communication unit 51 transmits remote control information based on an operation on the open button 52 or the close button 53. The wireless communication unit 51 is, for example, a communication circuit (communication module) that transmits the remote control information by radio wave communication, but may also be a communication circuit (communication module) that transmits the remote control information by infrared communication.

[0032] The open button 52 is a button that is operated when the user wishes to open the door 80, and the close button 53 is a button that is operated when the user wishes to close the door 80. The remote controller 50 may be provided with a stop button that is operated when the user wishes to immediately stop the opening or closing of the door.

[0033] [Assist control] The door opening / closing control system 10 can perform assist control to assist the manual opening and closing of the door 80. Fig. 3 is a flowchart of the assist control. The assist control is an example of the first control.

[0034] When a user operates the door handle 31 to open or close the door 80, the operating force sensor 32 detects the operating force applied to the door handle 31. In other words, the operating force sensor 32 obtains operating force information indicating the operating force applied to the door handle 31 in the opening / closing direction of the door 80 (S11). The operating force information is information regarding the operation on the door handle 31.

[0035] The control unit 21 determines the moving speed of the door 80 based on the operating force information acquired by the operating force sensor 32 (S12). Fig. 4 is a diagram showing an example of a relational expression for determining the moving speed of the door 80 in the assist control. As shown by a solid line in Fig. 4, the moving speed of the door 80 in the assist control is changed according to the operating force (load) indicated by the operating force information. As will be described later, the moving speed of the door 80 is limited according to the position of the door 80, but the description of the limit on the moving speed will be omitted here for the sake of simplicity.

[0036] Next, the control unit 21 outputs a control signal to the motor unit 22 to move the door 80 at the determined moving speed (S13). At this time, the moving direction of the door 80 is aligned with the direction of the operating force applied to the door handle 31. That is, when the user tries to open the door 80, the door 80 moves in the opening direction, and when the user tries to close the door 80, the door 80 moves in the closing direction. Note that in this assist control, while the user is applying an operating force to the door handle 31, the control unit 21 continuously monitors the operating force information to change the moving speed of the door 80 as appropriate. That is, the processes of steps S11 to S13 are repeated multiple times while the user is applying an operating force to the door handle 31, and the assist control is stopped when the user releases his / her hand from the door handle 31.

[0037] In this way, the control unit 21 can perform assist control for assisting the manual opening and closing of the door 80, which is drive control for the motorized unit 22 based on the acquired operating force information.

[0038] When the door 80 is locked by the power lock 42, the assist control is not performed even if an operating force is applied to the door handle 31. The control unit 21 can determine whether or not to perform the assist control based on a notification signal indicating the locked state of the door 80 obtained from the power lock control unit 41. In other words, the control unit 21 can determine the timing to control the motorized unit 22 based on the locked or unlocked state of the power lock 42.

[0039] [Remote Control] The door opening / closing control system 10 can remotely control the door 80 based on a user's operation on the remote controller 50. Fig. 5 is a flowchart of the remote control. The remote control is an example of the second control.

[0040] When the user operates the open button 52 or the close button 53 of the remote controller 50, the wireless communication unit 51 transmits remote control information, and the wireless communication unit 44 receives the remote control information. In other words, the wireless communication unit 51 acquires the remote control information (S21). The remote control information is information related to an operation on the remote controller 50, and more specifically, is information instructing the opening or closing of the door 80.

[0041] The control unit 21 moves the door 80 based on the remote control information acquired by the wireless communication unit 51 (S22). The control unit 21 moves the door 80 by outputting a control signal for moving the door 80 to the motorized unit 22. When the open button 52 of the remote controller 50 is operated, the door 80 moves in the open direction, and when the close button 53 of the remote controller 50 is operated, the door 80 moves in the close direction. In the remote control, when the open button 52 is operated once, the door 80 moves to a fully open state, and when the close button 53 is operated once, the door 80 moves to a fully closed state.

[0042] In the remote control, the moving speed of the door 80 varies depending on the position of the door 80. Fig. 6 is a diagram showing the relationship between the position of the door 80 and the moving speed of the door 80 in the remote control. The position of the door 80 is managed by the control unit 21 based on the number of rotations (amount of rotation) of the motor 23. The number of rotations of the motor is measured by, for example, a Hall element, but it can also be measured sensorlessly based on the electromagnetic force generated between a permanent magnet and a winding in the motor 23.

[0043] In this manner, the control unit 21 can perform remote control, which is drive control over the motorized unit 22, based on the acquired remote control information.

[0044] When the door 80 is locked by the power lock 42, remote control is not performed even if the wireless communication unit 44 receives remote control information. The control unit 21 can determine whether or not to perform remote control based on a notification signal indicating the lock state of the door 80 obtained from the power lock control unit 41. In other words, the control unit 21 can determine the timing to control the motorized unit 22 based on the locked or unlocked state of the power lock 42.

[0045] [Example 1 of operation when remote control is commanded during assist control] Incidentally, there may be a situation where the wireless communication unit 44 acquires remote control information during assist control. Fig. 7 is a diagram showing an example of such a situation, in which the open button 52 is operated by a second user holding the remote controller 50 while a first user is manually trying to close the door 80 (while assist control is being performed in the closing direction of the door 80).

[0046] When the wireless communication unit 44 acquires remote control information during assist control, there is room for consideration as to whether to prioritize assist control or remote control. Below, an operation example 1 when remote control is instructed during assist control will be described. Fig. 8 is a flowchart of such an operation example 1.

[0047] The control unit 21 performs the above-mentioned assist control (S31), and determines whether or not the wireless communication unit 44 has acquired remote control information during the assist control (S32). If the control unit 21 determines that the wireless communication unit 44 has not acquired remote control information (No in S32), it continues the assist control (S33). On the other hand, if the control unit 21 determines that the wireless communication unit 44 has acquired remote control information (Yes in S32), it stops the assist control (S34). In other words, the control unit 21 stops the power applied from the motor unit 22 to the door 80 when the wireless communication unit 44 acquires remote control information during the assist control.

[0048] In step S34, the control unit 21 may immediately stop the power applied from the electric unit 22 to the door 80 when the wireless communication unit 44 acquires the remote control information during the assist control, or may gradually reduce the power applied from the electric unit 22 to the door 80 and then stop the power. Furthermore, when the wireless communication unit 44 acquires the remote control information during the assist control, the control unit 21 may stop the power applied from the electric unit 22 to the door 80 for a certain period of time and then resume the assist control. The certain period of time here is, for example, about several seconds.

[0049] In this way, in the door opening / closing control system 10, when a remote control command is issued during the assist control, the assist control is at least temporarily stopped without invalidating the command for remote control. This allows the door opening / closing control system 10 to make the user manually operating the door 80 (the first user in FIG. 7) aware that a command for remote control has been issued.

[0050] For example, in a case where the first user is not aware that opening or closing the door 80 is dangerous, but only the second user is aware of it, the second user can stop the opening or closing of the door 80 by operating the open button 52 or the close button 53. In addition, when the open button 52 or the close button 53 is operated by mistake or due to a child's mischief, the first user can recognize this by the fact that the assist control is stopped.

[0051] As mentioned above, the remote controller 50 does not have a dedicated button for stopping the movement of the door 80, and the stopping of the assist control in operation example 1 means that the assist control is stopped even though an operation intended to open or close the door 80 is being performed on the remote controller 50.

[0052] In addition, in the operation example 1, the assist control is stopped regardless of whether the remote control information acquired by the wireless communication unit 44 is remote control information instructing to open the door 80 or remote control information instructing to close the door 80. In other words, the control unit 21 stops the assist control without considering the consistency between the moving direction of the door 80 in the assist control and the moving direction of the door instructed by the remote control information. However, the control unit 21 may continue the assist control when the moving direction of the door 80 in the assist control is the same as the moving direction of the door instructed by the remote control information, and may stop the assist control when the moving direction of the door 80 in the assist control is different from the moving direction of the door instructed by the remote control information.

[0053] [Example 2 of operation when remote control is commanded during assist control] Next, a second operation example when a remote control is instructed during assist control will be described with reference to FIG.

[0054] The control unit 21 performs the above-mentioned assist control (S41), and determines whether or not the wireless communication unit 44 has acquired remote control information during the assist control (S42). When the control unit 21 determines that the wireless communication unit 44 has not acquired remote control information (No in S42), it continues the assist control (S43). On the other hand, when the control unit 21 determines that the wireless communication unit 44 has acquired remote control information (Yes in S42), it performs assist control with a smaller assist force than normal, or assist control with a slower moving speed of the door 80 than normal (S44). That is, when the wireless communication unit 44 acquires remote control information during the assist control, the control unit 21 performs control different from both normal assist control and normal remote control, and this control is assist control with a smaller driving speed or driving torque of the electric unit 22 (motor 23) than in the normal assist control (hereinafter, also referred to as other assist control). The moving speed of the door 80 in other assist control with a smaller (slower) driving speed of the electric unit 22 is, for example, as shown by the dashed line in FIG. 4. As described above, the solid line in FIG. 4 indicates the moving speed of the door 80 under normal assist control.

[0055] In this way, in the door opening / closing control system 10, when a remote control is instructed during an assist control, the door opening / closing control system 10 performs another assist control without invalidating the remote control instruction. This allows the door opening / closing control system 10 to make the user manually operating the door 80 (the first user in FIG. 7) aware that a remote control instruction has been issued.

[0056] In addition, in the operation example 2, the other assist control is performed regardless of whether the remote control information acquired by the wireless communication unit 44 is remote control information instructing to open the door 80 or remote control information instructing to close the door 80. In other words, the control unit 21 performs the other assist control without considering the consistency between the moving direction of the door 80 in the assist control and the moving direction of the door instructed by the remote control information. However, the control unit 21 may continue the normal assist control when the moving direction of the door 80 in the assist control is the same as the moving direction of the door instructed by the remote control information, and may perform the other assist control when the moving direction of the door 80 in the assist control is different from the moving direction of the door instructed by the remote control information.

[0057] [Example 3 of operation when remote control is commanded during assist control] Next, a third operation example when a remote control is instructed during assist control will be described with reference to FIG.

[0058] The control unit 21 performs the above-mentioned assist control (S51), and judges whether or not the wireless communication unit 44 has acquired remote control information during the assist control (S52). When the control unit 21 judges that the wireless communication unit 44 has not acquired remote control information (No in S52), the control unit 21 continues the assist control (S53). On the other hand, when the control unit 21 judges that the wireless communication unit 44 has acquired remote control information (Yes in S52), the control unit 21 performs remote control in which the moving speed of the door 80 is slower than normal (S54). That is, when the wireless communication unit 44 acquires remote control information during the assist control, the control unit 21 performs control different from both normal assist control and normal remote control, and this control is remote control in which the driving speed of the electric unit 22 (motor 23) is slower than normal remote control (hereinafter, also referred to as other remote control). The moving speed of the door 80 in the other remote control is, for example, as shown by the dashed line in FIG. 6. As described above, the solid line in FIG. 6 indicates the moving speed of the door 80 in normal remote control.

[0059] In this way, in the door opening / closing control system 10, when a remote control is instructed during assist control, the remote control instruction is not invalidated and another remote control is performed. In this way, the door opening / closing control system 10 can make the user manually operating the door 80 (the first user in FIG. 7) recognize that a remote control instruction has been given.

[0060] In addition, in the operation example 3, the other remote control is performed regardless of whether the remote control information acquired by the wireless communication unit 44 is remote control information instructing to open the door 80 or remote control information instructing to close the door 80. In other words, the control unit 21 performs the other remote control without considering the consistency between the moving direction of the door 80 in the assist control and the moving direction of the door instructed by the remote control information. However, the control unit 21 may continue the normal assist control when the moving direction of the door 80 in the assist control is the same as the moving direction of the door instructed by the remote control information, and may perform the other remote control when the moving direction of the door 80 in the assist control is different from the moving direction of the door instructed by the remote control information.

[0061] [Example 1 of calculation of control value in assist control] Next, a first calculation example of the control value in the assist control will be specifically described. Fig. 11 is a control block diagram for explaining the first calculation example of the control value in the assist control.

[0062] As shown in FIG. 11, the control unit 21 includes, as components for calculating control values ​​in assist control, a target determination unit 21a, a target limiting unit 21b, a first calculation unit 21c, a second calculation unit 21d, a speed PI control unit 21e, a current PI control unit 21f, a voltage limiting unit 21g, and a load calculation unit 21h.

[0063] The target determination unit 21a determines a target speed (V d_refSpecifically, the target determination unit 21a determines the target speed based on the relational expression in FIG. 4 (or table information equivalent to FIG. 4). In FIG. 11, the door speed is V d_val It is stated that:

[0064] The target limiting unit 21b determines the current position of the door 80 (X d_val ), and further, the target speed of the door 80 is limited based on the angular velocity (ω ref ) is converted into a vector of the target speed of the door 80. FIG. 12 is a diagram showing an example of a function for limiting the target speed of the door 80. If the target speed determined by the target determination unit 21a exceeds an upper limit determined by the current position of the door 80, the target speed is limited to the upper limit. When the door 80 is opened, the right side of the horizontal axis in FIG. 12 indicates a position corresponding to a fully open state, and when the door 80 is closed, the right side of the horizontal axis in FIG. 12 indicates a position corresponding to a fully closed state.

[0065] The target limiting unit 21b may limit the target speed based on the current moving speed of the door 80 instead of the position of the door 80.

[0066] The first calculation unit 21c calculates the current angular velocity (ω val The rotation speed of the motor 23 may be detected by a Hall element or may be detected without a sensor.

[0067] The second calculation unit 21d calculates the current position of the door 80 and the current moving speed of the door 80 based on the rotation speed of the motor 23. The current position of the door 80 and the current moving speed of the door 80 calculated by the second calculation unit 21d are used to limit the target speed by the target limiting unit 21b.

[0068] The speed PI control unit 21e and the current PI control unit 21f calculate the deviation (Δr m ) to be supplied to the motor 23 (more specifically, the three-phase inverter circuit) so as to reduce refThat is, the speed PI control unit 21e and the current PI control unit 21f calculate the control value in the assist control. In the example of FIG. 11, vector control is adopted for the control of the motor 23, and the torque current (I qm ), and excitation current (I dm ) are distinguished.

[0069] The voltage limiting unit 21g modulates the power supply voltage (Vb) in a PWM manner to obtain the calculated drive voltage (V ref ) and supplies it to the motor 23 (three-phase inverter circuit).

[0070] Although omitted in the example of FIG. 11, the excitation current may be always PI-controlled with a zero value as a target value, and the current PI control unit 21f may calculate the control value in the assist control by inputting only the torque current. This makes it possible to maximize the torque current and further improve the driving efficiency of the motor. Also, when an impact occurs, such as when the door 80 hits an obstacle, the torque driving the motor 23 through the driving mechanism 24 fluctuates. In such a case, by controlling the excitation current to be zero, the excitation current operates to maintain the zero value during normal driving, but when an impact is applied to the door 80, the excitation current returns to zero after a steep increase or decrease to a positive or negative value.

[0071] The load calculation unit 21h detects the torque current and excitation current supplied to the motor 23, and calculates the amount of load applied to the motor 23 (door) based on at least one of the detected torque current and excitation current. Fig. 13 is a diagram showing an example of the waveforms of the torque current and excitation current, and the type of load. In Fig. 13, "driving load" indicates the current waveform when the motor 23 is driven, "impact" indicates the current waveform when an impact is applied to the door 80, and "strong wind" indicates the current waveform when a strong wind blows against the door 80.

[0072] For example, the load calculation unit 21h judges whether or not an impact is applied to the motor 23 (whether the load is due to an impact or is a normal driving load) based on the rising slope (dI / dt) of the excitation current. Furthermore, when it is judged that an impact is applied to the motor 23, the load calculation unit 21h judges whether or not the impact is large (the load amount is large) based on the peak level of the excitation current. This enables the door opening / closing control system 10 to stop the assist control when a large impact is applied to the door.

[0073] In this way, the control unit 21 can calculate the load amount based on at least one of the torque current and the excitation current supplied to the electric unit 22, and can calculate the position of the door 80 and the movement speed of the door 80 based on the rotation speed of the motor 23 included in the electric unit 22. Furthermore, the control unit 21 can calculate a control value in the assist control based on the operating force information acquired by the operating force sensor 32, the calculated load amount, the calculated position of the door 80, and the calculated movement speed of the door 80.

[0074] Furthermore, the load calculation unit 21h can calculate the operating force applied to a portion of the door 80 other than the door handle 31 based on the calculated load amount. Fig. 14 is a diagram showing a waveform of a torque current when an operating force is applied to a portion other than the door handle 31. Note that the portion other than the door handle 31 is, for example, a portion that should not be operated, such as the main body of the door 80.

[0075] 14(a), for example, when the motor 23 is being driven in the opening direction of the door 80, if a user grasps a part of the door 80 other than the door handle 31 and pushes the door 80 in the closing direction, the motor 23 increases its load via the drive mechanism 24 by the operational force applied by the user in the closing direction, and the torque current increases by, for example, ΔIq. Also, as shown in FIG 14(b), when the motor 23 is being driven in the opening direction of the door 80, if a user grasps a part of the door 80 other than the door handle 31 and pushes the door 80 in the opening direction, the motor 23 is assisted via the drive mechanism 24 by the operational force applied by the user in the opening direction, and the load on the motor 23 decreases by, for example, ΔIq.

[0076] Therefore, the load calculation unit 21h calculates the torque current ΔIq and substitutes the calculated ΔIq into a predetermined function f, thereby calculating the operating force f(ΔIq) applied to the portion of the door 80 other than the door handle 31.

[0077] Then, the target determination unit 21a determines a target value based on the total operation force of the first operation force applied to the door handle 31 detected (acquired) by the operation force sensor 32 and the second operation force calculated by the load calculation unit 21h. The first operation force and the second operation force are both operation forces in the opening direction or closing direction of the door 80. This allows the door opening / closing control system 10 to perform assist control in consideration of operation forces applied to parts other than the door handle 31.

[0078] [Example 2 of calculating control value for assist control] Next, a specific description will be given of calculation example 2 of the control value in the assist control. Fig. 15 is a control block diagram for explaining calculation example 2 of the control value in the assist control.

[0079] As shown in FIG. 15, in calculation example 2, the control unit 21 includes a target determination unit 21i, a first calculation unit 21j, a second calculation unit 21k, an acceleration FF control unit 21l, a speed P control unit 21m, and a voltage limiting unit 21n as components for calculating control values ​​in assist control.

[0080] The target determination unit 21i determines a target speed (ω ref ) and the acceleration of door 80 (α ref The current position of the door 80 and the current moving speed of the door 80 are calculated by the second calculation unit 21k.

[0081] The first calculation unit 21j calculates the current rotation speed (ω val The rotation speed of the motor 23 may be detected by a Hall element or may be detected without a sensor.

[0082] The second calculation unit 21k calculates the current position of the door 80 (X d_val ), and the current door 80 movement speed (V d_val ) is calculated.

[0083] The acceleration FF control unit 21l calculates the motor torque required for the actual weight and friction of the door 80 based on the acceleration calculated by the target determination unit 21i. The acceleration FF control unit 21l also calculates the back electromotive force generated by the current rotation speed of the motor 23. The acceleration FF control unit 21l determines the drive voltage based on the calculated motor torque and back electromotive force.

[0084] The speed P control unit 21m calculates the deviation (Δr m ) based on the acceleration FF control section 21l, the error when the motor 23 is driven with the drive voltage determined by the acceleration FF control section 21l is reduced by speed proportional control.

[0085] The voltage limiting unit 21n PWM-modulates the power supply voltage (Vb) to limit the drive voltage (V ref ) and supplies it to the motor 23 (three-phase inverter circuit).

[0086] The door opening / closing control system 10 can calculate the control value (driving voltage) in the assist control by using the above-described calculation example 2.

[0087] In addition, in Fig. 15 (calculation example 2), the components corresponding to the load calculation unit 21h in Fig. 11 (calculation example 1) are omitted. For example, in calculation example 2, the target determination unit 21i may perform the same processing as the load calculation unit 21h.

[0088] [Modification of the drive unit] In the above embodiment, the door 80 is a slide door, but it may be a swing door. Figure 16 is a diagram showing the configuration of a drive unit (drive unit according to a modified example) applied to a swing door.

[0089] The drive unit 20a shown in Fig. 16 is installed on a swing door 80a. The drive unit 20a includes a control unit 21 and an electric motor 22a. The electric motor 22a includes a motor 23a and an opening / closing arm 24a that is opened and closed by the rotation of a movable element of the motor 23a. The operating force sensor 32 in Fig. 16 detects (acquires) an operating force in the rotation direction of the swing door 80a.

[0090] The door opening / closing control system 10 can perform assist control and remote control on the swing door 80a by including the drive unit 20a instead of the drive unit 20. Also, the door opening / closing control system 10 can perform the above-mentioned Operation Examples 1 to 3 on the swing door 80a.

[0091] [Modification of the first operating part] In the above embodiment, the operating force on the door handle 31 is used to determine the target speed of the assist control. In other words, the operating force on the first operating part provided on the door 80 is used to determine the target speed of the assist control. However, the operating force on the first operating part provided on the door frame may also be used to determine the target speed of the assist control. Fig. 17 is a diagram showing the first operating part provided on the door frame.

[0092] In the example of FIG. 17, a door frame 81 is provided with a touch panel 82, which is another example of the first operation unit and the first acquisition unit. The touch panel 82 is elongated in the left-right direction (the opening and closing direction of the door 80). The touch panel 82 is, for example, a capacitance type, and can detect (acquire) the sliding amount (stroke amount) of the user on the touch panel 82 as operation force information. For example, when the user performs a sliding operation on the touch panel 82 in the opening direction of the door 80, the door 80 moves in the opening direction, and the greater the sliding amount, the greater the moving speed of the door 80. Similarly, when the user performs a sliding operation on the touch panel 82 in the closing direction of the door 80, the door 80 moves in the closing direction, and the greater the sliding amount, the greater the moving speed of the door 80.

[0093] The first operation unit provided on the door frame 81 is not limited to the touch panel 82, and the door frame 81 may be provided with a joystick or a handle similar to the door handle 31 as the first operation unit.

[0094] [Effects, etc.] Hereinafter, examples of inventions that can be obtained from the disclosure of this specification will be given, and the effects and the like that can be obtained from the inventions will be described.

[0095] Invention 1 includes a first acquisition unit that acquires first information on an operation to a first operation unit operated to manually open and close a door 80, a second acquisition unit that acquires second information on an operation to a second operation unit operated to remotely open and close the door 80, an electric motor unit 22 that provides power to the door 80 for opening and closing the door 80, and a control unit 21 that performs a first control for assisting the manual opening and closing of the door 80, which is a drive control for the electric motor unit 22 based on the acquired first information, and a second control that is a drive control for the electric motor unit 22 based on the acquired second information. The control unit 21 is a door opening / closing control system 10 that, when the second information is acquired by the wireless communication unit 44 during the first control, performs a third control different from both the first control and the second control, or stops the power provided from the electric motor unit 22 to the door 80.

[0096] The first operation unit corresponds to the door handle 31 or the touch panel 82 in the above-mentioned embodiments, the first information corresponds to the operating force information in the above-mentioned embodiments, the first acquisition unit corresponds to the operating force sensor 32 or the touch panel 82 in the above-mentioned embodiments, and the first control corresponds to the normal assist control in the above-mentioned embodiments. The second operation unit corresponds to the remote controller 50 in the above-mentioned embodiments, the second information corresponds to the remote control information in the above-mentioned embodiments, and the second acquisition unit corresponds to the wireless communication unit 44 in the above-mentioned embodiments. The first control corresponds to the normal assist control in the above-mentioned embodiments, and the second control corresponds to the normal remote control in the above-mentioned embodiments.

[0097] Such a door opening / closing control system 10 can make a user manually operating the door 80 aware that an instruction to remotely control the door 80 has been given.

[0098] Invention 2 is the door opening / closing control system 10 of Invention 1, in which the control unit 21 gradually reduces the power applied to the door 80 from the electric unit 22 when remote control information is acquired by the wireless communication unit 44 during the first control, and then stops the power.

[0099] Such a door opening / closing control system 10 gradually reduces the power applied to the door 80 from the motor unit 22 and then stops the power, thereby making the user manually operating the door 80 aware that an instruction to remotely control the door 80 has been given.

[0100] Invention 3 is the door opening / closing control system 10 of Invention 1, in which, when remote control information is acquired by the wireless communication unit 44 during the first control, the control unit 21 stops the power applied to the door 80 from the electric unit 22 for a certain period of time and then resumes the first control.

[0101] Such a door opening / closing control system 10 can stop for a certain period of time and then resume the first control, thereby making the user manually operating the door 80 aware that an instruction to remotely control the door 80 has been received.

[0102] Invention 4 is the door opening / closing control system 10 of Invention 1, in which the control unit 21 performs the third control when remote control information is acquired by the wireless communication unit 44 during the first control, the third control is a drive control for the motorized unit 22 based on the acquired first information and is a control for assisting manual opening and closing of the door 80, and the drive speed or drive torque of the motorized unit 22 in the third control is smaller than that in the first control. The third control in this case corresponds to the other assist control in the above-mentioned embodiment.

[0103] Such a door opening / closing control system 10 can make a user manually operating the door 80 aware that an instruction to remotely control the door 80 has been given by performing a third control similar to the first control.

[0104] Invention 5 is the door opening / closing control system 10 of Invention 1, in which the control unit 21 performs a third control when remote control information is acquired by the wireless communication unit 44 during the first control, and the third control is a drive control for the motorized unit 22 based on the acquired remote control information, and the drive speed of the motorized unit 22 in the third control is slower than that in the second control. The third control in this case corresponds to the other remote control in the above-mentioned embodiment.

[0105] Such a door opening / closing control system 10 can make a user manually operating the door 80 aware that an instruction to remotely control the door 80 has been given by performing a third control similar to the second control.

[0106] Invention 6 is the door opening / closing control system 10 of any of Inventions 1 to 5, in which the operating force sensor 32 acquires, as first information, a first operating force in an opening direction or a closing direction applied to a door handle 31 provided on a door 80. The control unit 21 calculates a load amount based on at least one of a torque current and an excitation current supplied to the electric unit 22, calculates a position of the door 80 and a moving speed of the door 80 based on a rotation speed of a motor 23 included in the electric unit 22, and calculates a control value in the first control based on the acquired first operating force, the calculated load amount, the calculated position of the door 80, and the calculated moving speed of the door 80.

[0107] Such a door opening / closing control system 10 can perform a first control in consideration of a first operating force applied to the door 80 by a user in the opening or closing direction.

[0108] In the seventh aspect of the invention, the control unit 21 calculates, based on the calculated load amount, a second operating force in the opening or closing direction applied to a portion of the door 80 other than the door handle 31. The control unit 21 is the door opening / closing control system 10 of the sixth aspect of the invention, which calculates a control value in the first control based on an operating force obtained by summing the first operating force and the second operating force, the calculated load amount, the calculated position of the door 80, and the calculated moving speed of the door 80.

[0109] Such a door opening / closing control system 10 can perform the first control in consideration of the operating force applied to a portion other than the first operating portion.

[0110] Invention 8 is a door opening / closing control system 10 of any of Inventions 1 to 7, further comprising an electric lock 42 for locking or unlocking the door 80, and the control unit 21 determines the timing for controlling the electric unit 22 based on the locking or unlocking state of the electric lock 42.

[0111] The door opening / closing control system 10 can determine whether or not to execute the first control or the second control based on the locked or unlocked state of the electric lock 42.

[0112] Invention 9 is the door opening / closing control system 10 of any of Inventions 1 to 8, in which, for example, the first acquisition unit acquires, as the first information, an operating force in the opening or closing direction applied to a first operating unit provided on the door 80.

[0113] Such a door opening / closing control system 10 can make a user who is manually operating a first operation unit provided on the door 80 recognize that an instruction to remotely control the door 80 has been given.

[0114] Invention 10 is a door opening / closing control system 10 of any of Inventions 1 to 8, in which the first acquisition unit acquires, as first information, an operating force in the opening or closing direction applied to a first operating unit provided on a door frame 81 of a door 80.

[0115] Such a door opening / closing control system 10 can make a user who is manually operating a first operating section provided on the door frame 81 recognize that an instruction to remotely control the door 80 has been given.

[0116] An eleventh aspect of the present invention is the door opening / closing control system 10 of any one of the first to tenth aspects, in which the door 80 is a sliding door.

[0117] Such a door opening / closing control system 10 can control the opening and closing of a sliding door.

[0118] A twelfth aspect of the present invention is the door opening / closing control system 10 of any one of the first to tenth aspects, in which the door 80 is a swing door (swing door 80a).

[0119] Such a door opening / closing control system 10 can control the opening and closing of a swing door.

[0120] Invention 13 is a door opening / closing control method executed by a computer such as the door opening / closing control system 10. The door opening / closing control method includes a first acquisition step of acquiring first information related to an operation to a first operation unit operated to manually open / close the door 80, a second acquisition step of acquiring second information related to an operation to a second operation unit operated to remotely open / close the door 80, and a control step of performing a third control different from both the first control and the second control based on the acquired second information, or stopping power applied to the door 80, when the second information is acquired during a first control for assisting the manual opening / closing of the door 80 based on the acquired first information.

[0121] Such a door opening / closing control method can make the user manually operating the door 80 aware that an instruction to remotely control the door 80 has been given.

[0122] (Other embodiments) Although the embodiment has been described above, the present invention is not limited to the above embodiment.

[0123] For example, in the above embodiment, the door opening / closing control system is realized by a plurality of devices. When the door opening / closing control system is realized by a plurality of devices, the components of the door opening / closing control system may be distributed in any manner among the plurality of devices. Moreover, the door opening / closing control system may be realized by a single device. For example, the door opening / closing control system may be realized as a single device corresponding to a drive unit.

[0124] In the above embodiment, the processes executed by a specific processing unit may be executed by another processing unit. The order of multiple processes may be changed, or multiple processes may be executed in parallel.

[0125] In the above embodiment, each component may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0126] Furthermore, each component may be realized by hardware. For example, each component may be a circuit (or an integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit, or a dedicated circuit.

[0127] Furthermore, the general or specific aspects of the present invention may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, etc. Furthermore, the general or specific aspects of the present invention may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0128] For example, the present invention may be realized as a door opening / closing control method executed by a computer such as the door opening / closing control system of the above-mentioned embodiment. The present invention may also be realized as a program for causing a computer to execute the door opening / closing control method. The present invention may also be realized as a computer-readable non-transitory recording medium on which such a program is recorded.

[0129] In addition, the present invention also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art may think of, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope that does not deviate from the spirit of the present invention. [Explanation of symbols]

[0130] 10 Door opening and closing control system 21 Control section 22, 22a Electric part 23, 23a Motor 24 Drive mechanism 24a Opening and closing arm (driving mechanism) 31 Door handle (first operating part) 32 Operation force sensor (first acquisition unit) 42 Electric Lock 44 Wireless Communication Department (Second Acquisition Department) 50 Remote controller (second operation unit) 80 Door (sliding door) 80a Swing Door 81 Door Frame 82 Touch panel (first operation unit, first acquisition unit)

Claims

1. a first acquisition unit that acquires first information regarding an operation on a first operation unit that is operated to manually open or close the door; a second acquisition unit that acquires second information regarding an operation of a second operation unit that is operated to remotely open or close the door; an electric motor unit that applies power to the door for opening and closing the door; a control unit that performs a first control for assisting manual opening and closing of the door, the first control being a drive control for the electric unit based on the acquired first information, and a second control being a drive control for the electric unit based on the acquired second information, When the second information is acquired by the second acquisition unit during the first control, the control unit performs a third control different from both the first control and the second control, or stops power applied to the door from the electric motor unit, The first acquisition unit acquires, as the first information, a first operating force in an opening direction or a closing direction applied to the first operating unit provided on the door, The control unit is Calculating a load based on at least one of a torque current and an excitation current supplied to the motor unit; Calculating the position of the door and the moving speed of the door based on the number of rotations of a motor included in the electric motor unit; Calculating a control value in the first control based on the acquired first operating force, the calculated load amount, the calculated position of the door, and the calculated moving speed of the door. Door opening and closing control system.

2. A first acquisition unit that acquires first information regarding an operation of a first operation unit that is operated to manually open and close a door; a second acquisition unit that acquires second information regarding an operation of a second operation unit that is operated to remotely open or close the door; an electric motor unit that applies power to the door for opening and closing the door; a control unit that performs a first control for assisting manual opening and closing of the door, the first control being a drive control for the electric unit based on the acquired first information, and a second control being a drive control for the electric unit based on the acquired second information, When the second information is acquired by the second acquisition unit during the first control, the control unit gradually reduces the power applied to the door from the electric unit and then stops the power. Door opening and closing control system.

3. A first acquisition unit that acquires first information regarding an operation of a first operation unit that is operated to manually open and close a door; a second acquisition unit that acquires second information regarding an operation of a second operation unit that is operated to remotely open or close the door; an electric motor unit that applies power to the door for opening and closing the door; a control unit that performs a first control for assisting manual opening and closing of the door, the first control being a drive control for the electric unit based on the acquired first information, and a second control being a drive control for the electric unit based on the acquired second information, When the second information is acquired by the second acquisition unit during the first control, the control unit stops power applied from the electric unit to the door for a certain period of time and then resumes the first control. Door opening and closing control system.

4. A first acquisition unit that acquires first information regarding an operation of a first operation unit that is operated to manually open and close a door; a second acquisition unit that acquires second information regarding an operation of a second operation unit that is operated to remotely open or close the door; an electric motor unit that applies power to the door for opening and closing the door; a control unit that performs a first control for assisting manual opening and closing of the door, the first control being a drive control for the electric unit based on the acquired first information, and a second control being a drive control for the electric unit based on the acquired second information, When the second information is acquired by the second acquisition unit during the first control, the control unit performs a third control different from both the first control and the second control, the third control is a drive control for the motorized unit based on the acquired first information, and is a control for assisting manual opening and closing of the door, In the third control, the drive speed or drive torque of the electric motor unit is smaller than that in the first control. Door opening and closing control system.

5. A first acquisition unit that acquires first information regarding an operation of a first operation unit that is operated to manually open and close a door; a second acquisition unit that acquires second information regarding an operation of a second operation unit that is operated to remotely open or close the door; an electric motor unit that applies power to the door for opening and closing the door; a control unit that performs a first control for assisting manual opening and closing of the door, the first control being a drive control for the electric unit based on the acquired first information, and a second control being a drive control for the electric unit based on the acquired second information, When the second information is acquired by the second acquisition unit during the first control, the control unit performs a third control different from both the first control and the second control, the third control is a drive control for the motorized unit based on the acquired second information, In the third control, the driving speed of the electric motor unit is smaller than that in the second control. Door opening and closing control system.

6. The control unit calculates a second operating force in an opening direction or a closing direction applied to a portion of the door other than the first operating portion based on the calculated load amount, The control value is calculated based on a total operating force of the first operating force and the second operating force, the calculated load amount, the calculated position of the door, and the calculated moving speed of the door. The door opening / closing control system according to claim 1 .

7. Further, an electric lock is provided for locking or unlocking the door, The control unit determines a timing for controlling the electric unit based on a locked or unlocked state of the electric lock. The door opening / closing control system according to claim 1 .

8. A first acquisition unit that acquires first information regarding an operation of a first operation unit that is operated to manually open and close a door; a second acquisition unit that acquires second information regarding an operation of a second operation unit that is operated to remotely open or close the door; an electric motor unit that applies power to the door for opening and closing the door; a control unit that performs a first control for assisting manual opening and closing of the door, the first control being a drive control for the electric unit based on the acquired first information, and a second control being a drive control for the electric unit based on the acquired second information, When the second information is acquired by the second acquisition unit during the first control, the control unit performs a third control different from both the first control and the second control, or stops power applied to the door from the electric motor unit, The first acquisition unit acquires, as the first information, an operation force in an opening direction or a closing direction applied to the first operation unit provided on the door. Door opening and closing control system.

9. A first acquisition unit that acquires first information regarding an operation of a first operation unit that is operated to manually open and close a door; a second acquisition unit that acquires second information regarding an operation of a second operation unit that is operated to remotely open or close the door; an electric motor unit that applies power to the door for opening and closing the door; a control unit that performs a first control for assisting manual opening and closing of the door, the first control being a drive control for the electric unit based on the acquired first information, and a second control being a drive control for the electric unit based on the acquired second information, When the second information is acquired by the second acquisition unit during the first control, the control unit performs a third control different from both the first control and the second control, or stops power applied to the door from the electric motor unit, The first acquisition unit acquires, as the first information, an operation force in an opening direction or a closing direction applied to the first operation unit provided on a door frame of the door. Door opening and closing control system.

10. The door is a sliding door. The door opening / closing control system according to any one of claims 1 to 9.

11. The door is a swing door. The door opening / closing control system according to any one of claims 1 to 9.

12. A first acquisition unit that acquires first information regarding an operation of a first operation unit that is operated to manually open and close a door; a second acquisition unit that acquires second information regarding an operation of a second operation unit that is operated to remotely open or close the door; an electric motor unit that applies power to the door for opening and closing the door; a control unit that performs a first control for assisting manual opening and closing of the door, the first control being a drive control for the electric unit based on the acquired first information, and a second control being a drive control for the electric unit based on the acquired second information, When the second information is acquired by the second acquisition unit during the first control, the control unit performs a third control different from both the first control and the second control, or stops power applied to the door from the electric motor unit, The door is a swing door. Door opening and closing control system.

13. A door opening / closing control method executed by a computer, comprising: a first acquisition step of acquiring first information regarding an operation on a first operation unit operated to manually open or close the door; a second acquisition step of acquiring second information regarding an operation of a second operation unit operated to remotely open or close the door; and a control step of performing a third control different from both the first control and the second control based on the acquired second information, or stopping power applied to the door, when the second information is acquired during a first control for assisting manual opening and closing of the door based on the acquired first information, In the first obtaining step, a first operating force in an opening direction or a closing direction applied to the first operating part provided on the door is obtained as the first information, In the control step, calculating a load amount based on at least one of a torque current and an excitation current supplied to an electric motor that applies power to the door for opening and closing the door; Calculating the position of the door and the moving speed of the door based on the number of rotations of a motor included in the electric motor unit; Calculating a control value in the first control based on the acquired first operating force, the calculated load amount, the calculated position of the door, and the calculated moving speed of the door. Door opening and closing control method.

14. A program for causing the computer to execute the door opening / closing control method according to claim 13.

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