Automatic doors, automatic door control methods, automatic door control programs

Abstract

To provide an automatic door capable of efficiently using power during emergency.SOLUTION: An automatic door 100 for assisting an opening operation of a door part 10 at the time of detecting an external force for moving the closed door part 10 in an opening direction comprises: a door engine 40 for controlling the door part 10 to open / close; a battery remaining amount acquisition unit 22 that acquires a battery remaining amount parameter indicating the remaining amount of a battery 70 for supplying power to the automatic door 100 during emergency inhibiting use of a normal power supply 300; and an opening assistance determination unit 23 that determines whether to assist the opening operation according to the battery remaining amount parameter acquired by the battery remaining amount acquisition unit 22 while the automatic door 100 is operating by means of the power from the battery 70. The door engine 40 controls the door part 10 to open / close on the basis of the determination result of the opening assistance determination unit 23.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an automatic door. [Background technology]

[0002] 2. Description of the Related Art Known automatic doors that open and close automatically using electricity include those equipped with a battery that supplies emergency power in the event of a power outage (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 1-43686 Summary of the Invention [Problem to be solved by the invention]

[0004] Since the battery capacity is limited, excessive opening and closing of automatic doors during a power outage may cause the battery to run out.

[0005] The present invention has been made in view of the above circumstances, and has an object to provide an automatic door that can use power efficiently. [Means for solving the problem]

[0006] In order to solve the above problems, an automatic door according to one aspect of the present invention is an automatic door that assists the opening operation of the door when an external force that moves the closed door in the opening direction is detected, and includes a control unit that controls the opening and closing of the door, a battery remaining amount parameter acquisition unit that acquires a battery remaining amount parameter indicating the remaining amount of a battery that supplies power to the automatic door in an emergency when a normal power source is unavailable, and an opening assist determination unit that determines whether to assist the opening operation according to the battery remaining amount parameter acquired by the battery remaining amount parameter acquisition unit when the automatic door is operating on power from the battery. The control unit controls the opening and closing of the door based on the determination result of the opening assist determination unit. According to this aspect, since the possibility of executing the opening assist is determined according to the battery remaining amount parameter, power can be used efficiently in an emergency.

[0007] Another aspect of the present invention is an automatic door. This automatic door includes an opening operation detection unit that detects an opening operation of the door caused by an external force that moves the closed door in the opening direction, an opening drive mode determination unit that determines the opening drive mode of the door according to the detection result of the opening operation detection unit, and a control unit that performs the opening drive of the door during the opening operation based on the determination result of the opening drive mode determination unit. According to this aspect, the opening drive mode of the door is determined according to the detection result of the opening operation detection unit, so that power can be used efficiently.

[0008] Any combination of the above components, and any transformation of the present invention into a method, device, system, recording medium, computer program, etc., are also effective as aspects of the present invention. Effect of the Invention

[0009] According to the present invention, power can be used efficiently in an automatic door. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a front view showing a schematic diagram of an automatic door. [Diagram 2] FIG. 2 is a diagram showing a schematic diagram of various components capable of communicating with each other inside and outside an automatic door. [Diagram 3]The figure shows the functional block responsible for controlling automatic doors in an emergency. [Figure 4] This shows the basic operation of an automatic door in an emergency. [Diagram 5] 1 shows a first embodiment of opening assist. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] First, an automatic door 100 to which an embodiment of the present invention is applied will be outlined with reference to Figs. 1 and 2. Fig. 1 is a front view showing an automatic door 100 according to an embodiment of the present invention. The automatic door 100 mainly comprises a door section 10 that is driven to open and close, a controller 20 that controls the entire automatic door 100, a sensor 30 (a collective term for an activation sensor 31 and an auxiliary sensor 32) that detects a person passing by, a door engine 40 that generates power, and a power transmission section 50 that transmits power to the door section 10. In the following description, the left-right direction in Fig. 1 is defined as the horizontal direction, and the up-down direction in Fig. 1 is defined as the vertical direction, but the automatic door 100 can be installed in any position, and the installation direction is not limited to the following example.

[0012] The door unit 10 includes a first movable door 11L and a second movable door 11R that are each provided to be movable in the horizontal direction, a first fixed door 12L and a second fixed door 12R that are provided at positions overlapping the first movable door 11L and the second movable door 11R when the first movable door 11L and the second movable door 11R are in an open state, and a guide mechanism 13 that guides the horizontal movement of the first movable door 11L and the second movable door 11R. The first movable door 11L, the second movable door 11R, the first fixed door 12L, and the second fixed door 12R are configured in a vertically elongated rectangular shape whose vertical dimension is larger than its horizontal dimension. When the door unit 10 is driven to open, the first movable door 11L shown on the left side in FIG. 1 is driven to the left, and the second movable door 11R shown on the right side in FIG. 1 is driven to the right. In addition, when the door unit 10 is driven to close, the first movable door 11L is driven to the right and the second movable door 11R is driven to the left, which is the opposite of the opening operation. The number and shape of the doors constituting the door unit 10 are not limited to the above and can be appropriately designed according to the needs of the installation location. Similarly, the movable direction of the door unit 10 is not limited to the horizontal direction and may be inclined from the horizontal direction.

[0013] The guide mechanism 13 includes a running rail 131, a door roller 132, a guide rail 133, and a vibration prevention part 134. The running rail 131 is a columnar rail member extending horizontally above the movable doors 11L and 11R over the entire movable range. Two door rollers 132 are provided on the upper part of each of the movable doors 11L and 11R, and each of the movable doors 11L and 11R is suspended on the running rail 131. When each of the movable doors 11L and 11R is driven to open and close in the horizontal direction, the door rollers 132 roll on the running rail 131, enabling smooth opening and closing operations. The guide rail 133 is a groove-shaped rail member extending horizontally below the movable doors 11L and 11R over the entire movable range. The vibration prevention part 134 protrudes from the lower part of the movable doors 11L and 11R and fits into the groove-shaped guide rail 133. When each of the movable doors 11L, 11R is driven to open and close horizontally, the anti-vibration portion 134 moves along the guide rail 133, thereby suppressing vibration of each of the movable doors 11L, 11R in the forward direction (perpendicular to the paper surface of FIG. 1).

[0014] Various parameters related to the opening and closing of the door section 10 can be set by the controller 20. For example, the opening and closing speed, the opening and closing strength, the opening width, etc. can be set. The opening and closing speed is the horizontal speed of the first movable door 11L and the second movable door 11R, and the directions of the speeds of both doors are opposite to each other. It is preferable that the magnitude (speed) of the speeds of both doors is equal, but they may be different. In addition, the opening and closing speed may be set to a different value between normal opening and closing and other times. For example, in the case of so-called reversal in which the door section 10 is switched to open driving to urgently avoid a pedestrian being pinched by the closing movable doors 11L, 11R during normal closing driving, the speed of the movable doors 11L, 11R during the open driving may be set to a value different from the speed during normal opening driving. In addition, the opening speed and closing speed when the door section 10 is driven by temporary power supplied from a battery in an emergency when a normal power source is not available, such as during a power outage, may be set to a value different from that during normal driving.

[0015] The opening and closing strength is the magnitude of the force when the movable doors 11L and 11R are opened and closed, and is controlled by the torque value generated by the motor 42 described later. As with the opening and closing speed described above, it is preferable that the opening and closing strength of the movable doors 11L and 11R is basically the same. Also, different opening and closing strengths may be set for normal opening and closing and other times. The opening width is typically the horizontal distance between the first movable door 11L and the second movable door 11R when the door section 10 is fully open. As shown in FIG. 1, if the moving distance between the fully closed position and the fully open position of the first movable door 11L is W1 and the moving distance between the fully closed position and the fully open position of the second movable door 11R is W2, the opening width is expressed as W1+W2. Here, the moving distances W1 and W2 can be set individually within the range of the horizontal dimension of the automatic door 100. In addition, in an emergency when the normal power source is unavailable, such as during a power outage, the opening width of the door section 10 may be made smaller than normal when the door section 10 is operated using temporary power supplied from a battery, thereby reducing power consumption caused by opening and closing the door section 10 in an emergency.

[0016] In FIG. 1, an activation sensor 31 as an optical sensor and an auxiliary sensor 32 are provided as examples of the sensor 30. The activation sensor 31 is a photoelectric sensor provided on the surface of the blind 60 above the door section 10. The activation sensor 31 includes a light-projecting unit that projects light such as infrared light toward the floor surface and a light-receiving unit that receives reflected light from the floor surface. When an object such as a person approaches the automatic door 100 and blocks the light, the amount of light received by the light-receiving unit changes, so that the object can be detected. When the detection information of the activation sensor 31 is input to the controller 20, the door section 10 is opened by driving the door engine 40. The activation sensor 31 is provided on the indoor side (for example, the front side of the paper in FIG. 1) and the outdoor side (for example, the back side of the paper in FIG. 1), and can detect a person approaching from either side. When it is necessary to distinguish between the two below, they will be referred to as the indoor side activation sensor 31 and the outdoor side activation sensor 31, respectively.

[0017] The activation sensor 31 may be configured to detect a passerby by reflecting radio waves such as microwaves or ultrasonic waves. As shown in FIG. 1 as 31A, the door unit 10 may be actuated by a passerby pressing a touch plate provided on at least one of the movable doors 11L and 11R. In addition, in tourist facilities, amusement parks, and the like, it is also assumed that the door unit 10 is actuated by an operation of a facility attendant in addition to or instead of the detection and operation of a passerby. In this case, the facility attendant can actuate the door unit 10 remotely using an operation panel provided at a position away from the door unit 10 or an operation terminal capable of communicating with the automatic door 100.

[0018] The auxiliary sensor 32 is a photoelectric sensor provided on the first fixed door 12L and the second fixed door 12R of the door unit 10. The auxiliary sensor 32 includes a light-emitting unit provided on one of the first fixed door 12L and the second fixed door 12R, and a light-receiving unit provided on the other. The light-emitting unit and the light-receiving unit are provided at the same height from the floor surface, and the light-receiving unit receives light such as infrared light emitted horizontally from the light-emitting unit. When the door unit 10 is open and a pedestrian passes through the opening and blocks the light, the amount of light received by the light-receiving unit changes, so that the pedestrian can be detected. The main purpose of the auxiliary sensor 32 is to protect against closure, and when the auxiliary sensor 32 detects a pedestrian during the closing operation of the movable doors 11L and 11R, the controller 20 performs inversion control to stop the closing drive and switch to the opening drive. This prevents the pedestrian from being caught between the closing movable doors 11L and 11R. In addition, in such closing protection control, by using the detection information of the activation sensor 31, which is also a photoelectric sensor like the auxiliary sensor 32, in addition, the detection accuracy of pedestrians can be improved and safety can be further improved.

[0019] The auxiliary sensor 32 may be configured to detect passersby by reflecting radio waves such as microwaves or ultrasonic waves. The auxiliary sensor 32 may also be provided in a location different from the fixed doors 12L, 12R. For example, it may be provided on the blind 60 like the activation sensor 31, or it may be provided on the ceiling near the automatic door 100. Providing multiple such auxiliary sensors 32 increases costs but dramatically improves safety.

[0020] The door engine 40 includes a motor drive unit 41, a motor 42, and a drive pulley 43. The motor drive unit 41 is configured as an intelligent power module (IPM) and generates a voltage or current for driving the motor 42 under the control of the controller 20. The motor 42 as a power source for generating rotational power can be configured as various known motors, but in this embodiment, as an example, a brushless motor equipped with an encoder using a Hall element is used. The position of the rotor of the motor 42 detected by the encoder is input to the motor drive unit 41, and a drive voltage or drive current corresponding to the position is applied to the motor 42, thereby generating a desired rotational power. The drive pulley 43, which is rotationally driven by the motor 42, is connected to the rotor of the motor 42 via a gear mechanism or the like (not shown) and rotates in conjunction with the rotor.

[0021] The power transmission unit 50 transmits the power generated by the door engine 40 to the door unit 10, and drives the movable doors 11L and 11R to open and close. The power transmission unit 50 includes a power transmission belt 51, a driven pulley 52, and a connecting member 53. The power transmission belt 51 is an annular timing belt with many teeth formed on its inner circumferential surface, and is wound around the driving pulley 43 on the right side of FIG. 1 and around the driven pulley 52 on the left side of FIG. 1. In this state, the horizontal dimension of the power transmission belt 51 is equal to the horizontal distance between the driving pulley 43 and the driven pulley 52, and is approximately the same as the horizontal dimension of the movable range of the movable doors 11L and 11R. When the driving pulley 43 is rotated by the motor 42, the driven pulley 52 rotates in conjunction with the driving pulley 43 via the power transmission belt 51.

[0022] The connecting member 53 connects the movable doors 11L and 11R to the power transmission belt 51, respectively, to drive them to open and close. Here, one movable door is connected to the upper side of the power transmission belt 51, and the other movable door is connected to the lower side of the power transmission belt 51. In the example of Fig. 1, when the power transmission belt 51 rotates counterclockwise, the first movable door 11L moves to the left and the second movable door 11R moves to the right, which is an opening operation, and when the power transmission belt 51 rotates clockwise, the first movable door 11L moves to the right and the second movable door 11R moves to the left, which is a closing operation.

[0023] In the automatic door 100 configured as described above, when the activation sensor 31 detects a person passing by, the door engine 40 generates counterclockwise rotational power under the control of the controller 20 to drive the door section 10 to open. If a state in which a person passing by is not detected continues for a predetermined time after the opening drive, the door engine 40 generates clockwise rotational power under the control of the controller 20 to drive the door section 10 to close. If the auxiliary sensor 32 or the activation sensor 31 detects a person passing by during the closing drive, the controller 20 performs inversion control to switch from the closing drive to the opening drive.

[0024] FIG. 2 shows a schematic diagram of various components that can communicate with each other inside and outside the automatic door 100. The automatic door 100 has a bus 2 to which each component is connected and through which data communication between the components is carried out. The bus 2 is configured in accordance with any communication standard, for example, CAN (Controller Area Network). CAN is designed to allow the components to communicate with each other without going through a host computer, and is widely used to transmit control information for various systems, not just automatic doors. Each component connected to the bus 2 can transmit information to other components via the bus 2, and can selectively receive information required by itself from the information transmitted to the bus 2 by other components.

[0025] FIG. 2 shows the components connected to the bus 2 as examples, including the controller 20, the activation sensor 31, the touch plate 31A, the auxiliary sensor 32, the operation panel 33, the authentication device 34, the electric lock controller 35, the external interface 36, and the display device 37, and all of these components constitute the automatic door 100. Note that this figure is an example of components that can be connected to the bus 2, and also includes components that are not shown in FIG. 1. In addition, the components to be provided in the actual automatic door 100 can be selected according to the purpose, and it is not necessary to provide all of the components shown in the figure. For example, in an automatic door 100 that operates the door section 10 only by detecting and operating a pedestrian, it is not necessary to provide the operation panel 33 for the attendant to operate the door section 10. Conversely, in an automatic door 100 at a tourist facility or an amusement park, which operates the door section 10 only by the operation of the facility attendant, it is not necessary to provide the activation sensor 31 or the touch plate 31A for detecting and operating a pedestrian. However, the controller 20 that controls the entire automatic door 100 is an essential component in many cases.

[0026] Among the components shown in the figure, the controller 20, the activation sensor 31, the touch plate 31A, and the auxiliary sensor 32 have been described above, so their description will be omitted. The operation panel 33 is a control panel operated by a facility attendant at a tourist facility, an amusement park, or the like, to drive the door unit 10. For example, in an attraction in which a user moves between different rooms at a predetermined timing, the attendant operates the operation panel 33 in accordance with the movement timing to control the opening and closing of the door unit 10 of each room, thereby enabling the user to move smoothly. The operation panel 33 may be fixedly installed in the facility, or may be portable by the attendant. In addition, the function of the operation panel 33 may be implemented in a communication terminal such as a tablet or smartphone that can communicate with the controller 20 via an external interface 36 described later.

[0027] The authentication device 34 authenticates passersby who should be allowed to pass through places where a high level of security is required, such as the entrance to an apartment building or an office. The authentication method may be password authentication by inputting a password on a keypad provided near the door unit 10, or biometric authentication using the passerby's biometric information such as a fingerprint. If the authentication by the authentication device 34 is successful, the controller 20 drives the door unit 10 to open, and the passerby can pass through the automatic door 100. If the authentication by the authentication device 34 fails, even if the activation sensor 31 detects the passerby, the controller 20 does not drive the door unit 10 to open, thereby preventing unauthorized passage of an unauthenticated passerby.

[0028] The electric lock controller 35 controls an electric lock 35A that locks the automatic door 100. The electric lock 35A includes, as a lock driving means for driving the lock between a locked position and an unlocked position, a solenoid that generates a driving force according to an energized state, for example.

[0029] The external interface 36 inputs and outputs signals to and from various external devices 36A outside the automatic door 100 by wired or wireless connection. Examples of the external devices 36A include a work terminal such as an adjuster used by a worker who visits the site to install or maintain the automatic door 100, and a remote server or computer connected via a public information and communication network such as the Internet. By inputting data into the external device 36A, various settings such as control of the components of the automatic door 100 and parameter adjustment can be performed. The external device 36A can also read information from the components of the automatic door 100 and memories associated with them to perform status diagnosis and maintenance inspection. As described above, the bus 2 in the automatic door 100 is configured in accordance with the CAN standard, but when communication between the external device 36A and the external interface 36 is performed using a different standard, such as Bluetooth (registered trademark) or Wi-Fi (registered trademark), the external interface 36 functions as a protocol converter that converts a signal based on one standard into a signal based on the other standard.

[0030] The display device 37 is a display unit that displays the operating status of the automatic door 100 based on information received from other component devices. If the display device 37 is equipped with an input function such as a touch panel, various settings such as control of each component device of the automatic door 100 and parameter adjustment can be performed by touching the display screen. The display device 37 may be installed near the door unit 10, or in a location away from the door unit 10, for example, in a back yard where the automatic door 100 is managed within the same building as the automatic door 100.

[0031] The components of the automatic door 100 listed above, i.e., the controller 20, the activation sensor 31, the touch plate 31A, the auxiliary sensor 32, the operation panel 33, the authentication device 34, the electric lock controller 35, the external interface 36, and the display device 37, can communicate with each other via the bus 2 that complies with the CAN standard. That is, each component has a built-in CAN transceiver and a CAN controller for CAN communication. In addition to these, the external interface 36 has a protocol conversion unit that converts the protocol between the communication standard used by the external device 36A and the CAN standard. As a result, the external device 36A connected to the external interface 36 can communicate with the other components of the automatic door 100 via the bus 2.

[0032] The automatic door 100 has been outlined above with reference to Figs. 1 and 2. Next, the control of the automatic door 100 in an emergency will be described. Fig. 3 shows a functional block for controlling the automatic door 100 in an emergency. In this embodiment, "emergency" refers to a time when the normal power source 300, such as a commercial power source outside the automatic door 100, cannot be used to open and close the door section 10 due to a power outage or an emergency signal. In an emergency when the normal power source 300 cannot be used, the door section 10 is opened and closed by temporary power supplied from a battery 70 installed inside or outside the automatic door 100. Since the capacity of the battery 70 is limited, the power of the battery 70 is used with the highest priority given to keeping the door section 10 in a closed state for safety. The battery 70 is a rechargeable secondary battery, and is charged by the power of the normal power source 300 in preparation for an emergency during normal times when the normal power source 300 can be used.

[0033] As described later, in this embodiment, the power of the battery 70 is used to assist the manual opening operation of the door section 10 depending on the situation. In this way, assisting the opening operation of the door section 10 using the power of the battery 70 during the manual opening operation of the door section 10 will be referred to as "opening assist" below. Note that the following are examples of the opening assist that is executed when an external force that moves the door section 10 in the closed state in the opening direction is detected. - Zero driving force in the closing direction - Drive the door 10 to open instead of a person Reduce the external force required to manually open the door 10

[0034] As shown in FIG. 3, the controller 20 includes an emergency detection unit 21, a battery remaining capacity parameter acquisition unit 22, an opening assist determination unit 23, an opening drive mode determination unit 24, an opening operation detection unit 25, and a load parameter acquisition unit .

[0035] The emergency detection unit 21 includes a disconnection detection unit 211 and an emergency signal acquisition unit 212, and detects a switch from normal to emergency, and switches the power source of the automatic door 100 from the normal power source 300 to the battery 70. The disconnection detection unit 211 detects an emergency by detecting disconnection of the automatic door 100 from the normal power source 300. Disconnection from the normal power source 300 typically occurs during a power outage. If the disconnection detection unit 211 detects that the power supplied to the automatic door 100 from the normal power source 300 is unstable for some reason, it may consider that the automatic door 100 has been disconnected from the normal power source 300 and switch to the battery 70, not only during a power outage. The emergency signal acquisition unit 212 acquires an emergency signal indicating an emergency. The emergency signal may be an external signal input from an external device 36A outside the automatic door 100, or an internal signal generated by the controller 20 itself when it is determined by self-diagnosis of the controller 20 that the automatic door 100 is in a state where it cannot normally receive power from the normal power source 300.

[0036] The battery remaining amount parameter acquisition unit 22 includes a battery remaining amount detection unit 221, an emergency time detection unit 222, a door movement amount detection unit 223, a battery voltage detection unit 224, and a full-closing count detection unit 225, and acquires various battery remaining amount parameters indicating the remaining amount of the battery 70. The battery remaining amount detection unit 221 detects the remaining amount of the battery 70, specifically, for example, the charging rate or SOC (State Of Charge), as the battery remaining amount parameter. The emergency time detection unit 222 detects the elapsed time since the battery 70 started to supply power as the battery remaining amount parameter. Note that, instead of the elapsed time, the elapsed time since the emergency detection unit 21 detected the emergency may be detected. The door movement amount detection unit 223 detects the amount of movement of the door unit 10 since the battery 70 started to supply power as the battery remaining amount parameter. The battery voltage detection unit 224 detects the voltage of the battery 70 as the battery remaining amount parameter. The full-closing number detection unit 225 detects, as a battery remaining amount parameter, the number of times the door unit 10 has been driven to be fully closed since the supply of power from the battery 70 has started. These battery remaining amount parameters will be described later together with a specific example of the opening assist.

[0037] The opening assist determination unit 23 determines whether to assist the manual opening operation of the door unit 10 (opening assist) using the power of the battery 70 according to various battery remaining amount parameters acquired by the battery remaining amount parameter acquisition unit 22. When the opening assist determination unit 23 determines to perform opening assist, the opening drive mode determination unit 24 determines the opening drive mode such as the opening drive amount and opening drive force by the door engine 40 as a control unit according to various battery remaining amount parameters acquired by the battery remaining amount parameter acquisition unit 22. Note that when an abnormality such as a hardware failure inside the automatic door 100 is detected by the self-diagnosis of the controller 20, the opening assist determination unit 23 determines not to perform opening assist regardless of the battery remaining amount parameters. Alternatively, the opening assist determination unit 23 determines not to perform opening assist when the remaining amount of the battery 70 indicated by the battery remaining amount parameters acquired by the battery remaining amount parameter acquisition unit 22 is equal to or less than a threshold value.

[0038] The opening operation detection unit 25 includes an opening operation amount detection unit 251 and an opening operation speed detection unit 252, and detects the opening operation of the door unit 10 caused by an external force that moves the door unit 10 in the closed state in the opening direction. The opening operation amount detection unit 251 detects the manual opening operation amount of the door unit 10, and the opening operation speed detection unit 252 detects the manual opening operation speed of the door unit 10. The opening operation amount and opening operation speed of the door unit 10 may be directly detected by a sensor that measures the displacement and speed of the door unit 10, or may be indirectly detected by a sensor that measures the displacement and speed of the motor drive unit 41, the motor 42, and the drive pulley 43 that drive the door unit 10, the power transmission belt 51, the driven pulley 52, and the like that are interlocked with the door unit 10.

[0039] The load parameter acquisition unit 26 acquires load parameters indicating the load of the door unit 10 driven to open by the door engine 40. Examples of the load parameters include the weight of the door unit 10, the friction coefficient between the travel rail 131 and the roller 132 and between the guide rail 133 and the anti-sway unit 134, which slide against each other when the door unit 10 moves, and the current of the motor 42. It is preferable that the weight of the door unit 10 and the friction coefficient of the sliding parts are recorded in advance in a memory (not shown) in the automatic door 100 accessible by the controller 20 based on the specifications of the automatic door 100 and the results of measurements at the time of installation. Here, since the friction coefficient of the sliding parts of the door unit 10 changes due to deterioration of the automatic door 100 over time, it is preferable to correct the value recorded in advance in the memory based on the installation period of the automatic door 100 to use it as the load parameter.

[0040] Although details will be described later, the information obtained by the opening operation detection unit 25 and the load parameter acquisition unit 26 is used in the opening assist determination unit 23 to determine the opening assist and in the opening drive mode determination unit 24 to determine the opening drive mode.

[0041] When the opening assist determination unit 23 determines that the door engine 40 should perform the opening assist, the door engine 40 performs the opening drive (opening assist) of the door section 10 in the opening drive mode determined by the opening drive mode determination unit 24 using the power of the battery 70 at the time of the manual opening operation of the door section 10 detected by the opening operation detection unit 25. The opening drive mode is mainly exemplified by the opening drive amount and the opening drive force, but in this embodiment, the opening drive force is set to be equal to the drive force at the time of the closing drive. Therefore, the opening drive mode in the following description mainly represents the opening drive amount. On the other hand, when the opening assist determination unit 23 determines that the door engine 40 should not perform the opening assist, the door engine 40 does not drive the door section 10 to open at the time of the manual opening operation of the door section 10. In this case, since there is no opening assist, the opening operation of the door section 10 is performed completely manually. Moreover, regardless of the presence or absence of the opening assist at the time of the manual opening operation of the door section 10, when a predetermined time (for example, 1 second) has elapsed after the manual opening operation of the door section 10, the door engine 40 uses the power of the battery 70 to drive the door section 10 to close. In this way, in an emergency when the normal power source 300 is unavailable, the door section 10 is maintained in a closed state by the temporary power supplied from the battery 70, except for certain time periods during which the door section 10 is manually opened.

[0042] FIG. 4 shows the basic operation of the automatic door 100 in an emergency. In this figure, only the second movable door 11R and the second fixed door 12R are shown among the doors of the door unit 10 in FIG. 1, and are simply referred to as the movable door 11 and the fixed door 12 below. In FIG. 4(A), the emergency detection unit 21 detects a switch from normal to emergency, and switches the power source of the automatic door 100 from the normal power source 300 to the battery 70. In response to this, the door engine 40 uses the power of the battery 70 to drive the movable door 11 to close. For safety reasons, it is preferable to make the closing speed of the movable door 11 at this time slower than in normal times. In FIG. 4(B), the movable door 11 moves to the fully closed position and stops.

[0043] In Fig. 4(C) where the movable door 11 is in the fully closed position, the door engine 40 uses the power of the battery 70 to drive the movable door 11 in the closing direction (to the left in Fig. 4) at a predetermined cycle, such as once per second, thereby reliably maintaining the closed state of the door section 10. Here, while the movable door 11 is not being pressed in the closing direction, it is in a door-free state in which no force is being applied to the movable door 11 in either the closing or opening direction (to the right in Fig. 4). The movable door 11 in the door-free state can be manually moved in the opening direction (manual opening operation).

[0044] In Fig. 4(D), the movable door 11 is manually opened. The manual opening operation of the movable door 11 is detected by the opening operation detection unit 25, and the door-free state is always maintained while the movable door 11 is moving in the opening direction. Therefore, during the manual opening operation of the movable door 11, the movable door 11 can be opened smoothly without receiving resistance from the closing drive of the door engine 40. Also, as described later, during or immediately after the manual opening operation of the movable door 11, an opening assist is performed depending on the situation, using the power of the battery 70 to open the movable door 11.

[0045] In FIG. 4(E), the movable door 11 stops in a door-free state at a position where the manual opening operation or the opening assistance is completed. When a predetermined time (e.g., 1 second) has elapsed in the state of FIG. 4(E), the door engine 40 uses the power of the battery 70 to drive the movable door 11 to close (FIG. 4(A)) and move it to the fully closed position (FIG. 4(B)). If the movable door 11 is stopped manually or the like during the closing operation in FIG. 4(A), it returns to the state of FIG. 4(E) and stops again until a predetermined time (e.g., 1 second) has elapsed. Also, if a manual opening operation of the movable door 11 is performed again from the state of FIG. 4(E), it returns to the state of FIG. 4(D) and the movable door 11 in the door-free state can be manually opened.

[0046] Next, the opening assist performed according to the situation in the state of Fig. 4(D) will be described in detail. Fig. 5 shows a first mode of the opening assist. In this mode, the opening assist determination unit 23 determines whether or not to perform the opening assist using the power of the battery 70 according to "conditions" related to various battery remaining amount parameters acquired by the battery remaining amount parameter acquisition unit 22, and the opening drive mode determination unit 24 determines the "stroke", which is the amount of opening assist by the door engine 40. Specific examples shown in the figures will be described in order below.

[0047] In the illustrated first specific example, opening assistance is performed according to the elapsed time from the start of emergency closing detected by the emergency elapsed time detection unit 222 (the elapsed time from the start of power supply by the battery 70 or the elapsed time from the detection of an emergency by the emergency detection unit 21). If the elapsed time from the start of emergency closing is within a first threshold value (e.g., 30 minutes), it is considered that the battery 70 has a sufficient remaining charge, so the opening assistance determination unit 23 determines to perform opening assistance using the power of the battery 70, and the opening drive mode determination unit 24 determines the opening assistance amount for driving the movable door 11 to open to the full open width. As a result, when the movable door 11 is manually opened in FIG. 4(D), the door engine 40 performs opening assistance for driving the movable door 11 to open to the full open width using the power of the battery 70.

[0048] When the time elapsed from the start of emergency closing is greater than the first threshold (30 minutes) and within the second threshold (e.g., 60 minutes), it is considered that the battery 70 has a margin of remaining charge, so the opening assist judgment unit 23 judges to execute opening assist using the power of the battery 70. However, in order to leave sufficient power necessary for maintaining the closed state of the movable door 11, which should be given top priority in an emergency (FIGS. 4(A) to (C)), the opening drive mode decision unit 24 restricts the opening assist amount to a certain width (e.g., 300 mm) less than the full-open width, such as a half-open width. As a result, when the movable door 11 is manually opened in FIG. 4(D), the door engine 40 uses the power of the battery 70 to perform opening assist by driving the movable door 11 to open to the certain width.

[0049] As shown in Fig. 4(E), the movable door 11 stops in a door-free state at the position where the opening assist is completed, but the person who performed the manual opening operation can pass through the opening of a certain width that is formed at that time. If the certain width of the opening is insufficient for a person to pass through, the movable door 11 can be manually opened again from the state of Fig. 4(E) (Fig. 4(D)). At this time, the opening assist by the door engine 40 is not performed, but since the movable door 11 has already been opened to a certain width by the opening assist that has already been performed, the amount of manual opening operation can be minimized.

[0050] When the time elapsed since the start of the emergency closing is greater than the second threshold (60 minutes), it is considered that the battery 70 does not have a sufficient remaining charge, and in order to preserve the power necessary to maintain the closed state of the movable door 11, which is given top priority in an emergency, the opening assist determination unit 23 determines not to perform the opening assist using the power of the battery 70. As a result, even if the movable door 11 is manually opened in Fig. 4(D) , the door engine 40 does not perform the opening assist using the power of the battery 70. However, as described above, the door free state is maintained during the manual opening operation of the movable door 11, so the movable door 11 can be opened smoothly without resistance from the closing drive of the door engine 40.

[0051] The illustrated second to fourth specific examples are similar to the above first specific example, except that the remaining battery charge parameters or "conditions" referenced are different.

[0052] In the illustrated second specific example, the opening assist is performed according to the movement amount of the movable door 11 from the start of emergency closing detected by the door movement amount detection unit 223. Here, the "movement amount of the movable door 11 from the start of emergency closing" is preferably the driving amount of the movable door 11 using the power of the battery 70. Specifically, it is the sum of the closing driving amount of the movable door 11 from FIG. 4(A) or FIG. 4(E) to FIG. 4(B) and the opening driving amount of the movable door 11 when the opening assist is performed in FIG. 4(D). When the driving amount of the movable door 11 from the start of emergency closing is within a first threshold value (for example, 100 m), it is considered that the remaining charge of the battery 70 is sufficient, so the opening assist determination unit 23 determines to perform the opening assist using the power of the battery 70, and the opening drive mode determination unit 24 determines the opening assist amount for driving the movable door 11 to open to the full open width.

[0053] When the driving amount of the movable door 11 from the start of emergency closing is greater than the first threshold (100 m) and within the second threshold (e.g., 150 m), it is considered that the battery 70 has a sufficient remaining charge, so the opening assist judgment unit 23 judges to execute the opening assist using the power of the battery 70. However, the opening drive mode decision unit 24 restricts the opening assist amount to a certain width less than the full-open width, such as the half-open width. When the driving amount of the movable door 11 from the start of emergency closing is greater than the second threshold (150 m), it is considered that the battery 70 has a sufficient remaining charge, so the opening assist judgment unit 23 judges not to execute the opening assist using the power of the battery 70.

[0054] In the illustrated third specific example, opening assistance is performed according to the time elapsed since the battery check acquired by the battery remaining amount parameter acquisition unit 22. Here, the battery check is a process for checking the charging state of the battery 70 and the presence or absence of an abnormality, which is periodically executed during normal times when the normal power source 300 is available. Since the battery 70 is discharged for the battery check, the remaining amount of the battery 70 temporarily decreases after the battery check. During normal times, the battery 70 is recharged by the normal power source 300, so the remaining amount of the battery 70 recovers after a certain period of time (for example, one day); however, if the mode is switched to an emergency mode while the battery 70 is being recharged, it is necessary to drive the door unit 10 during the emergency mode when the remaining amount of the battery 70 is insufficient.

[0055] When the time elapsed since the battery check is equal to or greater than a first threshold (e.g., one day), the battery 70 is considered to have a sufficient remaining charge, so the opening assist determination unit 23 determines to perform opening assist using the power of the battery 70, and the opening drive mode determination unit 24 determines the opening assist amount for driving the movable door 11 to open to the full open width. When the time elapsed since the battery check is smaller than the first threshold (one day) and equal to or greater than a second threshold (e.g., 12 hours), the battery 70 is considered to have a sufficient remaining charge, so the opening assist determination unit 23 determines to perform opening assist using the power of the battery 70. However, the opening drive mode determination unit 24 limits the opening assist amount to a certain width less than the full open width, such as a half open width. When the time elapsed since the battery check is smaller than a second threshold (12 hours), the battery 70 is considered to have a sufficient remaining charge, so the opening assist determination unit 23 determines not to perform opening assist using the power of the battery 70.

[0056] In the illustrated fourth specific example, the opening assist is performed according to the voltage of the battery 70 detected by the battery voltage detection unit 224. Here, the voltage of the battery 70 may be acquired from the result of the most recent battery check performed in normal times, or may be simply measured in an emergency by a voltage sensor or the like attached to the battery 70. When the voltage of the battery 70 is equal to or higher than a first threshold value (for example, the voltage at "full charge"), it is considered that the battery 70 has a sufficient remaining charge, so that the opening assist determination unit 23 determines to perform the opening assist using the power of the battery 70, and the opening drive mode determination unit 24 determines the opening assist amount for driving the movable door 11 to open to the full open width.

[0057] When the voltage of the battery 70 is less than the first threshold (the voltage when "fully charged") and equal to or greater than the second threshold (e.g., the voltage when "normal"), it is considered that the battery 70 has a sufficient remaining charge, so the opening assist judgment unit 23 judges to perform opening assist using the power of the battery 70. However, the opening drive mode determination unit 24 restricts the amount of opening assist to a certain range less than the fully open width, such as the half-open width. When the voltage of the battery 70 is "insufficient" and less than the second threshold (the voltage when "normal"), it is considered that the battery 70 does not have a sufficient remaining charge, so the opening assist judgment unit 23 judges not to perform opening assist using the power of the battery 70.

[0058] In addition to or instead of the illustrated first to fourth specific examples, opening assist may be performed according to the following battery remaining amount parameters acquired by the battery remaining amount parameter acquisition unit 22. For example, the opening assist determination unit 23 may determine the opening assist and the opening drive mode determination unit 24 may determine the opening drive mode according to the remaining amount of the battery 70 detected by the battery remaining amount detection unit 221, the number of full-closing drives of the door unit 10 (full-closing drives from FIG. 4(A) or FIG. 4(E) to FIG. 4(B)) since the emergency detection unit 21 detected an emergency detected by the full-closing number detection unit 225, the number of manual opening operations or opening assists (FIG. 4(D)) of the door unit 10, etc.

[0059] In the opening assist of the first mode described above, the opening assist judgment unit 23 and the opening drive mode decision unit 24 may refer to the load parameters acquired by the load parameter acquisition unit 26. By referring to the load parameters indicating the power consumption during the opening assist of the door unit 10 in addition to the battery remaining amount parameters indicating the remaining amount of the battery 70, it is possible to make an optimal judgment on the opening assist and a decision on the opening drive mode for preserving the power required to maintain the closed state of the door unit 10, which should be given the highest priority in an emergency.

[0060] The first mode of the opening assist has been described above. In this mode, when the opening operation detection unit 25 detects the manual opening operation of the movable door 11 in FIG. 4(D), the opening assist determination unit 23 immediately determines the opening assist according to the battery remaining amount parameter and the opening drive mode determination unit 24 immediately determines the opening drive mode, so that the door engine 40 can start the opening assist immediately after the start of the manual opening operation of the movable door 11. In the second mode of the opening assist described below, the opening drive mode determination unit 24 determines the opening drive mode of the movable door 11 when the door engine 40 performs the opening assist in addition to the manual opening operation, particularly the opening drive amount, according to the result of the opening operation detection unit 25 detecting the manual opening operation of the movable door 11 for a certain period of time. Therefore, the second mode is disadvantageous compared to the first mode in that the timing of starting the opening assist is delayed, but is advantageous in that the optimal opening drive amount (opening assist amount) according to the detection result of the manual opening operation can be determined. Below, specific examples of the opening assist of the second mode will be described in order.

[0061] In the first specific example, an additional opening assist amount of the movable door 11 is determined according to the manual opening operation amount of the movable door 11 detected by the opening operation amount detection unit 251. Here, the "manual opening operation amount of the movable door 11" is a displacement B from the fully closed position (left end in FIG. 4) where the manual opening operation of the movable door 11 ends in FIG. 4(E). The opening drive mode determination unit 24 determines an additional opening drive amount of the movable door 11 from the stopped state (displacement B) in FIG. 4(E) according to the opening operation amount B detected by the opening operation amount detection unit 251.

[0062] For example, the opening drive mode determination unit 24 determines the additional opening drive amount of the movable door 11 based on a comparison between an opening width parameter indicating a predetermined opening width A of the movable door 11 and an opening movement amount B detected by the opening movement amount detection unit 251. Here, the "predetermined opening width A" is the minimum opening width through which a person can pass, and a unique value is set in advance for each automatic door 100. This opening width A multiplied by an arbitrary positive coefficient α equal to or less than 1 is used as the opening width parameter α×A. In the following, α=0.5 is used as an example, and the opening width parameter α×A is expressed as A / 2 (=0.5×A).

[0063] When the opening operation amount B detected by the opening operation amount detection unit 251 is less than the opening width parameter A / 2, the opening drive mode determination unit 24 determines the opening drive amount required to open the movable door 11 to the opening width A as an additional opening drive amount. As a result, the movable door 11, which is manually opened to the opening operation amount B (less than A / 2) and stopped in FIG. 4(E), is opened to the opening width A that allows a person to pass through by the opening assist performed by the door engine 40. If the opening width A is insufficient for a person to pass through, the manual opening operation of the movable door 11 (FIG. 4(D)) may be performed again. At this time, the opening assist is performed to the full open width as described below.

[0064] When the opening operation amount B detected by the opening operation amount detection unit 251 is equal to or greater than the opening width parameter A / 2, the opening drive mode determination unit 24 determines the opening drive amount for driving the movable door 11 to open to the full opening width as an additional opening drive amount. As a result, the movable door 11, which is manually opened to the opening operation amount B (A / 2 or more) and stopped in FIG. 4(E), is opened to the full opening width that allows multiple people to pass through by the opening assist performed by the door engine 40 using the power of the battery 70.

[0065] In the above first specific example, the opening operation amount B is compared with the opening width parameter α×A to determine the additional opening assist amount, but the opening operation amount B may be compared with a predetermined opening operation amount threshold to determine the additional opening assist amount. For example, if the opening operation amount B is less than the opening operation amount threshold (e.g., 200 mm), opening assist may be performed up to the opening width A, and if the opening operation amount B is equal to or greater than the opening operation amount threshold, opening assist may be performed up to the full opening width. Also, opening assist may be performed up to a uniform fixed width equal to or less than the full opening width regardless of the opening operation amount B. For example, in the case of a door part 10 whose full opening width exceeds 2000 mm, opening assist may be performed up to 1200 mm equal to or less than the full opening width regardless of the opening operation amount B.

[0066] In the second specific example, an additional opening assist amount for the movable door 11 is determined according to the manual opening operation speed of the movable door 11 detected by the opening operation speed detection unit 252. For example, if the opening operation speed is equal to or higher than a predetermined first opening operation speed threshold (e.g., 200 mm / s), opening assist may be performed up to the opening width A, and if the opening operation speed is equal to or higher than a predetermined second opening operation speed threshold (e.g., 300 mm / s), opening assist may be performed up to the full open width.

[0067] In the opening assist of the second mode described above, the opening drive mode determination unit 24 may determine the additional opening drive amount of the door unit 10 according to various battery remaining amount parameters acquired by the battery remaining amount parameter acquisition unit 22 and load parameters acquired by the load parameter acquisition unit 26. Since the battery remaining amount parameters indicate the remaining amount of the battery 70 and the load parameters indicate the power consumption during the opening assist of the door unit 10, it is possible to determine the optimal opening assist amount for retaining the power required to maintain the closed state of the door unit 10, which should be given the highest priority in an emergency.

[0068] The present invention has been described above based on the embodiments. The embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of each component and each treatment process, and that such modifications are also within the scope of the present invention.

[0069] The functional configuration of each device described in the embodiment can be realized by hardware resources, software resources, or by the cooperation of hardware resources and software resources. A processor, ROM, RAM, and other LSIs can be used as hardware resources. An operating system, an application, and other programs can be used as software resources.

[0070] Among the embodiments disclosed in this specification, those in which multiple functions are provided in a distributed manner may have some or all of the multiple functions integrated together, and conversely, those in which multiple functions are provided in a distributed manner may have some or all of the multiple functions integrated together. Regardless of whether the functions are integrated or distributed, it is sufficient that the configuration is such that the object of the invention can be achieved. [Explanation of symbols]

[0071] 10 Door section, 11 Movable door, 20 Controller, 21 Emergency detection section, 22 Battery remaining amount parameter acquisition section, 23 Opening assist judgment section, 24 Opening drive mode determination section, 25 Opening operation detection section, 26 Load parameter acquisition section, 40 Door engine, 42 Motor, 70 Battery, 100 Automatic door, 211 Disconnection detection section, 212 Emergency signal acquisition section, 221 Battery remaining amount detection section, 222 Emergency elapsed time detection section, 223 Door movement amount detection section, 224 Battery voltage detection section, 225 Full closure count detection section, 251 Opening operation amount detection section, 252 Opening operation speed detection section, 300 Normal power supply.

Claims

1. An automatic door that assists the opening operation of a door when an external force that moves the door in an opening direction while the door is closed is detected, A control unit that controls opening and closing of the door; a battery remaining amount parameter acquisition unit that acquires a battery remaining amount parameter indicating a remaining amount of a battery that supplies power to the automatic door in an emergency when a normal power source is unavailable; and an opening assist determination unit that determines whether to assist the opening operation according to the battery remaining amount parameter acquired by the battery remaining amount parameter acquisition unit when the automatic door is operated by the power from the battery, The control unit controls opening and closing of the door based on a determination result of the opening assist determination unit. Automatic door.

2. 2. The automatic door according to claim 1, wherein the opening assist determination unit determines not to assist the opening operation when the remaining battery level indicated by the battery remaining level parameter acquired by the battery remaining level parameter acquisition unit is equal to or lower than a threshold value.

3. The battery remaining amount parameter acquisition unit further includes an open drive mode determination unit that determines an open drive mode of the door when assisting the opening operation according to the remaining amount of the battery indicated by the battery remaining amount parameter acquired by the battery remaining amount parameter acquisition unit, The control unit controls opening and closing of the door based on a determination result of the opening drive mode determination unit when the opening assist determination unit determines to assist the opening operation.

3. The automatic door according to claim 1 or 2.

4. A load parameter acquisition unit that acquires a load parameter indicating a load of the door opening drive by the control unit, the opening drive mode determination unit determines an opening drive mode to be performed by the control unit in response to the battery remaining amount parameter and the load parameter when the opening assist determination unit determines that the opening operation is to be assisted. The automatic door according to claim 3.

5. 5. The automatic door according to claim 1, wherein the control unit drives the door to close using power from the battery after the door has been opened by an external force.

6. 6. The automatic door according to claim 1, wherein the battery remaining capacity parameter is a remaining capacity of the battery.

7. 7. The automatic door according to claim 1, wherein the battery remaining capacity parameter is a time elapsed since the battery started to supply power.

8. 8. The automatic door according to claim 1, wherein the battery remaining capacity parameter is a movement amount of the door after the emergency occurs.

9. 9. The automatic door according to claim 1, wherein the battery remaining capacity parameter is a voltage of the battery.

10. 10. The automatic door according to claim 1, wherein the battery remaining capacity parameter is the number of times the door has been driven to fully close since the emergency occurred.

11. A method for controlling an automatic door that assists the opening of a door when an external force that moves a closed door in an opening direction is detected, comprising: a battery remaining amount parameter acquisition step of acquiring a battery remaining amount parameter indicating a remaining amount of a battery that supplies power to the automatic door in an emergency when a normal power source is unavailable; an opening assist determination step for determining whether to assist the opening operation according to the battery remaining capacity parameter acquired when the automatic door is operated by the power from the battery; a step of controlling opening and closing of the door based on a result of the determination step of the opening assist determination step; An automatic door control method comprising:

12. A control program for an automatic door that assists the opening of a door when an external force that moves a closed door in an opening direction is detected, comprising: a battery remaining amount parameter acquisition step of acquiring a battery remaining amount parameter indicating a remaining amount of a battery that supplies power to the automatic door in an emergency when a normal power source is unavailable; an opening assist determination step for determining whether to assist the opening operation according to the battery remaining capacity parameter acquired when the automatic door is operated by the power from the battery; a step of controlling opening and closing of the door based on a result of the determination step of the opening assist determination step; An automatic door control program that causes a computer to execute the following.

13. an opening operation detection unit that detects an opening operation of the door caused by an external force that moves the door in a closed state in an opening direction; an opening drive mode determination unit that determines an opening drive mode of the door in accordance with a detection result of the opening operation detection unit; A control unit that performs an opening drive of the door during the opening operation based on a result of the determination by the opening drive mode determination unit; Equipped with The opening operation detection unit detects an amount of opening operation of the door caused by an external force that moves the door in the closed state in an opening direction, The opening drive mode determination unit determines an opening drive mode of the door according to the opening operation amount, The opening drive mode determination unit determines an opening drive mode of the door in accordance with a comparison between a predetermined opening width parameter of the door and the opening operation amount.

14. The automatic door according to claim 13, wherein, when the amount of opening operation is less than the opening width parameter, the opening drive mode determination unit determines an amount of opening operation for driving the door to open up to the opening width parameter as the opening drive mode of the door.

15. 15. The automatic door according to claim 13, wherein the opening drive mode determination unit determines, as the opening drive mode of the door, an opening drive amount for driving the door to open to a full open width when the opening operation amount is equal to or greater than the opening width parameter.

16. The opening operation detection unit detects a speed of an opening operation of the door caused by an external force moving the closed door in an opening direction, The opening drive mode determination unit determines an opening drive mode of the door according to the opening operation speed.

16. The automatic door according to any one of claims 13 to 15.

17. An opening operation detection unit that detects an opening operation of a door caused by an external force that moves a closed door in an opening direction; an opening drive mode determination unit that determines an opening drive mode of the door in accordance with a detection result of the opening operation detection unit; A control unit that performs an opening drive of the door during the opening operation based on a result of the determination by the opening drive mode determination unit; Equipped with The opening drive mode determination unit determines an opening drive amount for driving the door to open to a predetermined width equal to or smaller than a full-open width of the door as an opening drive mode of the door.

18. An opening operation detection unit that detects an opening operation of a door caused by an external force that moves a closed door in an opening direction; an opening drive mode determination unit that determines an opening drive mode of the door in accordance with a detection result of the opening operation detection unit; A control unit that performs an opening drive of the door during the opening operation based on a result of the determination by the opening drive mode determination unit; Equipped with The automatic door system further includes a battery remaining amount parameter acquisition unit for acquiring a battery remaining amount parameter indicating a remaining amount of a battery for supplying temporary power to the automatic door in an emergency when a normal power source is unavailable, The automatic door, wherein the opening drive mode determination unit determines an opening drive mode of the door in accordance with the battery remaining capacity parameter.

19. an opening operation detection step of detecting an opening operation of the door caused by an external force that moves the door in a closed state in an opening direction; an opening drive mode determination step of determining an opening drive mode of the door according to a detection result of the opening operation detection step; a door driving step of driving the door to open during the opening operation based on a result of the determination in the opening drive mode determination step; Equipped with The opening operation detection step detects an amount of opening operation of the door caused by an external force that moves the door in the closed state in an opening direction, The opening drive mode determination step determines an opening drive mode of the door according to the opening movement amount, The opening drive mode determination step determines an opening drive mode of the door in accordance with a comparison between a predetermined opening width parameter of the door and the opening operation amount.

20. an opening operation detection step of detecting an opening operation of the door caused by an external force that moves the door in a closed state in an opening direction; an opening drive mode determination step of determining an opening drive mode of the door according to a detection result of the opening operation detection step; a door driving step of driving the door to open during the opening operation based on a result of the determination in the opening drive mode determination step; on the computer, The opening operation detection step detects an amount of opening operation of the door caused by an external force that moves the door in the closed state in an opening direction, The opening drive mode determination step determines an opening drive mode of the door according to the opening movement amount, The opening drive mode determination step is a control program for an automatic door that determines an opening drive mode of the door in accordance with a comparison between a predetermined opening width parameter of the door and the opening operation amount.

Images