Automatic doors, how to set the voltage for automatic doors, automatic door voltage setting program

Abstract

To reduce electric power consumption of an automatic door when the automatic door is controlled to retain a closed state.SOLUTION: An automatic door 100 comprises: elastic members 111L and 111R that absorb an impact when a door unit 10 is put in a fully closed state; a door engine 40 that drives the door unit 10 to open and close; a controller 20 that controls a voltage to be applied to the door engine 40 and performs closing retaining control for pressing the door unit 10 in a closing direction after the door unit is put in the fully closed state; a voltage detection unit 22 that detects a voltage when the door unit 10 is moved in an opening direction by reaction of the elastic members 111L and 111R when the controller 20 decreases the voltage to be applied to the door engine 40 in the closing retaining control; and a closed state retaining voltage setting unit 23 that sets a voltage higher than the voltage detected by the voltage detection unit 22 as a closed state retaining voltage to be applied to the door engine 40 for retaining the door unit 10 in the closed state.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] As an automatic door that automatically opens and closes using electricity, there is known a door that performs a closed maintenance control in which the door is pushed in the closing direction after being brought to a fully closed state (Patent Document 1). The power consumption of the automatic door is reduced by gradually reducing the torque of the motor that drives the door in the closing direction during the closed maintenance control and setting it to zero after a predetermined time. If the door opens due to wind or the like during the closed maintenance control, the door is returned to the fully closed state and the closed maintenance control is repeated from the beginning. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-247374 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, the maximum torque of the motor at the start of the close maintenance control is fixed, and there is a possibility that the motor will consume unnecessary or excessive power until the torque becomes zero after a predetermined time. Also, if the door is opened by wind or the like during the close maintenance control, the close maintenance control at maximum torque is repeated from the beginning, which increases the power consumption of the motor.

[0005] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic door that can reduce power consumption during control to keep the door closed. [Means for solving the problem]

[0006] In order to solve the above problems, an automatic door according to one embodiment of the present invention includes an elastic member that absorbs the impact when the door is fully closed, a door drive unit that drives the door to open and close, a control unit that controls the voltage applied to the door drive unit and performs closed maintenance control to press the door in the closed direction after it is fully closed, and a voltage detection unit that detects the voltage when the door moves in the open direction due to the reaction force of the elastic member while the control unit is lowering the voltage applied to the door drive unit in the closed maintenance control. The control unit sets a closed state maintenance voltage to be applied to the door drive unit to maintain the door in the closed state that is greater than the voltage detected by the voltage detection unit.

[0007] In this embodiment, the closed state maintaining voltage for maintaining the door in the closed state is set to a voltage greater than the voltage when the door is moved in the open direction when in a fully closed state, thereby making it possible to reduce power consumption during closed state maintaining control while maintaining the door in the closed state.

[0008] Another aspect of the present invention is a voltage setting method for an automatic door, which includes an elastic member that absorbs an impact when the door is brought into a fully closed state, a door drive unit that drives the door to open and close, and a control unit that controls a voltage applied to the door drive unit, and includes the steps of: performing a closed state maintenance control step in which the control unit presses the door in a closed direction after bringing the door into a fully closed state, a voltage detection step in which the voltage detected when the door moves in the open direction due to the reaction force of the elastic member while the voltage applied to the door drive unit is lowered in the closed state maintenance control step, and setting a voltage higher than the voltage detected in the voltage detection step as a closed state maintenance voltage that is applied to the door drive unit to maintain the door in a closed state.

[0009] 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

[0010] According to the present invention, it is possible to reduce power consumption during control to keep an automatic door closed. [Brief description of the drawings]

[0011] [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] 2 shows a schematic diagram of an automatic door configuration related to the control of keeping the door section closed. [Figure 4] 5A to 5C are schematic diagrams illustrating an example of voltage application to a door engine during control to keep a door section closed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 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 as a control section 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 as a door drive section that generates power to drive the door section 10 to open and close, and a power transmission section 50 that transmits the 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 posture, and the installation direction is not limited to the following example.

[0013] 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.

[0014] 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).

[0015] 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.

[0016] 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.

[0017] In FIG. 1, an optical sensor, an activation sensor 31, 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 31I and the outdoor side activation sensor 31O, respectively.

[0018] 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.

[0019] The auxiliary sensor 32, which serves as a passage sensor for detecting an object passing through the door unit 10, is a photoelectric sensor provided on the first fixed door 12L and the second fixed door 12R of the door unit 10. The auxiliary sensor 32 includes a light-projecting unit provided on one of the first fixed door 12L and the second fixed door 12R, and a light-receiving unit provided on the other. The light-projecting unit and the light-receiving unit are provided at the same height from the floor surface, and the light-receiving unit receives light such as infrared light projected horizontally from the light-projecting 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.

[0020] 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.

[0021] The above-mentioned activation sensor 31 and auxiliary sensor 32 are provided with an amplifier at the output stage, and the detection information of each sensor is amplified to a predetermined level that can be handled by the downstream controller 20. Therefore, when the detection strength of the sensor is low, the amplification factor is high, and when the detection strength of the sensor is high, the amplification factor is low. In this way, the amplification factor of each sensor is data indicating the detection strength of each sensor.

[0022] 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 with an intelligent power module (IPM) and generates a voltage or current for driving the motor 42 under the control of a controller 20 that controls the opening and closing operation of the door unit 10. 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] Next, a description will be given of the closed maintenance control of the door section 10 executed by the controller 20 and the door engine 40. Fig. 3 shows a schematic configuration of the automatic door 100 related to the closed maintenance control of the door section 10. Fig. 3(A) is a front view of the periphery of the door section 10 extracted from Fig. 1, and Fig. 3(B) is a top view or plan view of the two movable doors 11L, 11R of the door section 10.

[0035] As shown in Fig. 3(B), the door end or closed end of each movable door 11L, 11R is provided with rubber elastic members 111L, 111R (hereinafter, may be collectively referred to as elastic members 111) that absorb the impact when the door section 10 is in the fully closed state by elastic deformation. The elastic members 111L, 111R are not limited to the door ends of each movable door 11L, 11R, but may be provided on the door rollers 132L, 132R that roll on the traveling rail 131 together with each movable door 11L, 11R, the connecting members 53L, 53R that move along the power transmission belt 51 together with each movable door 11L, 11R, or on the left and right stoppers (not shown) that come into contact with and stop them at the fully closed position of the door section 10. Moreover, the elastic member 111 may be provided only on either the movable door 11L (or the roller 132L, the connecting member 53L, the left stopper) or the movable door 11R (or the roller 132R, the connecting member 53R, the right stopper).

[0036] The controller 20 as a control section controls the voltage applied to the door engine 40 as a door drive section, and performs closed maintenance control to press the door section 10 in the closing direction after bringing it into a fully closed state. The controller 20 includes a door movement detection unit 21, a voltage detection unit 22, and a closed state maintenance voltage setting unit 23 as components for controlling the door unit 10 to keep it closed.

[0037] The door movement detection unit 21 detects the movement of the door section 10, i.e., the movement of the movable door 11L and / or the movable door 11R. In particular, during the control to keep the door section 10 closed, the door movement detection unit 21 detects the movement or transition of the door section 10 from the fully closed position (strictly speaking, the completely fully closed position described later) in the opening direction due to the elastic force of the elastic member 111. Specifically, the door movement detection unit 21 detects the movement of the door section 10 based on the change in the position of the rotor of the motor 42 detected by a Hall element in the door engine 40. Note that, when a sensor that directly measures the position or movement of the door section 10 is provided, the door movement detection unit 21 may detect the movement of the door section 10 based on the measurement data of the sensor.

[0038] The voltage detection unit 22 detects the voltage when the door section 10 moves in the open direction due to the reaction force of the elastic member 111 while the controller 20 is lowering the voltage applied to the door engine 40 during the close maintenance control. Specifically, the voltage detection unit 22 detects the voltage applied to the door engine 40 when the door movement detection unit 21 detects the movement of the door section 10 from the fully closed state to the open direction during the close maintenance control. The closed state maintenance voltage setting unit 23 sets a voltage larger than the voltage detected by the voltage detection unit 22 as the closed state maintenance voltage to be applied to the door engine 40 to maintain the door section 10 in the closed state.

[0039] Fig. 4 shows a schematic example of voltage application to the door engine 40 during control to maintain the door section 10 closed. The vertical axis represents the voltage V applied to the door engine 40, and the horizontal axis represents time T. Fig. 4(A) represents the change over time of the applied voltage V when the closed state maintaining voltage setting unit 23 sets the pressing voltage (Ve) as the closed state maintaining voltage, and Fig. 4(B) represents the change over time of the applied voltage V when the pressing voltage (Ve) has already been set.

[0040] In FIG. 4(A), when the door unit 10 is driven to close from the fully open state, a normal close drive voltage Va is applied to the door engine 40. At time Ta, when the hall element or the like in the door engine 40 detects that each of the movable doors 11L, 11R of the door unit 10 has reached a predetermined position before the fully closed position, the applied voltage V decreases linearly from the normal close drive voltage Va. After the applied voltage V drops to the minimum close drive voltage Vb at time Tb, the door unit 10 is driven to close at a low speed in this state until time Tc. At time Tc, the hall element or the like in the door engine 40 detects that each of the movable doors 11L, 11R of the door unit 10 has reached the fully closed position. At this time, as shown in FIG. 3(B), the elastic members 111L, 111R provided at the door ends of each of the movable doors 11L, 11R come into contact with each other, and the door unit 10 is in a fully closed state.

[0041] From time Tc to time Td, the applied voltage V increases from the minimum closing drive voltage Vb to the pushing-off voltage Vc, and the door section 10 is pushed further in the closing direction from the fully closed state, performing a pushing-off operation. During this time, the elastic members 111L and 111R are elastically deformed as if being crushed, so the door section 10 moves further in the closing direction from the fully closed position by a distance corresponding to this elastic deformation amount. This movement or speed of the door section 10 in the closing direction is detected by the door movement detection unit 21, and becomes substantially zero at time Td. At this time, the elastic members 111L and 111R can no longer elastically deform, and the door section 10 can no longer move in the closing direction. Hereinafter, the position of the door section 10 at time Td is referred to as the completely fully closed position, and is distinguished as necessary from the fully closed position, which is the position of the door section 10 at time Tc.

[0042] From time Te to time Tf, the controller 20 gradually or stepwise lowers the applied voltage V to the door engine 40 while the door movement detection unit 21 detects the movement of the door section 10 and the voltage detection unit 22 detects the applied voltage V to the door engine 40. In the illustrated example, when the applied voltage V is lowered to the lower limit voltage Vd, the elastic force of each of the elastic members 111L and 111R in the opening direction exceeds the closing drive force due to the lower limit voltage Vd, and as a result, the door movement detection unit 21 detects that the door section 10 has moved in the opening direction from the completely closed position. Therefore, the closed state maintenance voltage setting unit 23 sets a pressing voltage Ve that is greater than the lower limit voltage Vd detected by the voltage detection unit 22 when the door movement detection unit 21 detects the movement of the door section 10 in the opening direction as a closed state maintenance voltage for returning and maintaining the completely closed state of the door section 10. After the time Tf, the pressing voltage Ve is applied to the door engine 40 until the door unit 10 is driven to open by a passerby or the like.

[0043] The pressing voltage Ve is the minimum voltage V required to generate a closing drive force exceeding the elastic force of each of the elastic members 111L, 111R in the opening direction and to maintain the door section 10 in a completely closed state. Therefore, compared to Patent Document 1 in which an excessive voltage was applied to the motor for the closed maintenance control, the power consumption during the closed maintenance control of the door engine 40 and, in turn, the automatic door 100 can be reduced. Furthermore, the reduction in power consumption during the closed maintenance control can suppress heat generation from the door engine 40 and / or the controller 20, thereby preventing deterioration and failure of parts that are easily affected by heat, such as aluminum electrolytic capacitors and photocouplers for signal transmission, mounted around these parts, and thereby extending their lifespan.

[0044] The pressing voltage Ve is obtained by multiplying the lower limit voltage Vd detected by the voltage detection unit 22 by an arbitrary constant α greater than 1 (Ve=α×Vd). The constant α can be set appropriately according to, for example, the running resistance of the door section 10 and the repulsive force of the elastic member 111. The difference ΔV (=Ve-Vd=(α-1)Vd) between the pressing voltage Ve and the lower limit voltage Vd may be any positive value, but when the applied voltage V is gradually reduced from time Te to time Tf, it is preferable to make it larger than Δv (>0), which is the difference between the voltage just before the lower limit voltage Vd and the lower limit voltage Vd. In this case, the pressing voltage Ve (=Vd+ΔV) is larger than Vd+Δv that could maintain the door section 10 in a completely closed state, so that the door section 10 can be reliably maintained in a completely closed state.

[0045] On the other hand, in order not to make the pressing voltage Ve larger than necessary, it is preferable to set δv<ΔV<2δv. Also, it is preferable that the pressing voltage Ve is at most equal to or less than the pressing voltage Vc before the applied voltage V to the door engine 40 is lowered from time Te. If the door section 10 does not move from the completely closed position to the open direction and the voltage detection unit 22 does not enter the detection state even if the controller 20 lowers the applied voltage V to 0 from time Te, the controller 20 does not apply the pressing voltage Ve to the door engine 40 to maintain the door section 10 in the closed state, or the pressing voltage Ve is set to 0 by the closed state maintenance voltage setting unit 23. In this case, the completely closed state of the door section 10 can be maintained without applying the pressing voltage Ve, so that the power consumption of the automatic door 100 in the closed state can be significantly reduced.

[0046] The setting of the pressing voltage Ve described with reference to FIG. 4(A) does not need to be performed every time the door section 10 is in a fully closed state. As shown in FIG. 4(B), if the closed state maintaining voltage setting unit 23 has already set the pressing voltage Ve when the door section 10 is driven to close before the previous time, the set pressing voltage Ve is applied to the door engine 40 immediately after the door section 10 completes the pushing operation and enters a completely closed state between time Td and Te. In this way, the time until the door section 10 transitions to a steady state (completely closed state) after time Te can be shortened, and the power required for the search process of the pressing voltage Ve after time Tc in FIG. 4(A) can be reduced. As a modified example, after the door section 10 is in a fully closed state at time Tc, the voltage may be directly transitioned from the minimum closing drive voltage Vb to the set pressing voltage Ve without passing through the pushing voltage Vc.

[0047] The process for setting the pressing voltage Ve in FIG. 4A can be executed at any timing, but it is preferable to execute it before the automatic door 100 starts operating, i.e., before the door section 10 is actually driven to open or close, such as when the automatic door 100 is installed or when the power is turned on. Even when the automatic door 100 is in operation, the door section 10 may be driven to open or close at a timing when no pedestrians are passing through the automatic door 100, and the process for setting the pressing voltage Ve may be executed. In addition, it is preferable to periodically execute the process for setting the pressing voltage Ve in FIG. 4A at a predetermined timing, such as a fixed time period in a day or when the number of openings and closings reaches a predetermined number or more, and / or at an arbitrary frequency, such as a fixed number of times a day. According to the process for setting the pressing voltage Ve in this embodiment, the optimum pressing voltage Ve can be set according to the individual differences of the automatic door 100 and the installation environment of each automatic door 100, and the power consumption during the control to keep each automatic door 100 closed can be minimized.

[0048] 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.

[0049] 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.

[0050] 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]

[0051] 10 Door section, 11L First movable door, 11R Second movable door, 20 Controller, 21 Door movement detection section, 22 Voltage detection section, 23 Closed state maintenance voltage setting section, 30 Sensor, 40 Door engine, 100 Automatic door, 111 Elastic member.

Claims

1. An elastic member that absorbs the impact when the door is fully closed; A door drive unit that drives the door to open and close; A control unit controls a voltage applied to the door drive unit and performs a closed maintenance control to press the door in a closing direction after the door is fully closed; and a voltage detection unit that detects a voltage when the door moves in the opening direction due to a reaction force of the elastic member while the control unit is lowering the voltage applied to the door drive unit in the closed maintenance control, The control unit sets a voltage greater than the voltage detected by the voltage detection unit as a closed state maintaining voltage to be applied to the door drive unit in order to maintain the door in a closed state. Automatic door.

2. 2. The automatic door according to claim 1, wherein the control unit sets a voltage obtained by multiplying the voltage detected by the voltage detection unit by a constant greater than 1 as the closed state maintaining voltage.

3. 3. The automatic door according to claim 1, wherein the control unit sets the closed state maintaining voltage to a voltage equal to or lower than a voltage before the voltage applied to the door drive unit is reduced during the closed state maintaining control.

4. 4. An automatic door as claimed in claim 1, wherein if the door does not move in the open direction and the voltage detection unit does not enter a detection state even when the control unit reduces the voltage applied to the door drive unit during the closed state maintenance control to 0, the control unit does not apply a voltage to the door drive unit to maintain the door in the closed state.

5. 5. The automatic door according to claim 1, wherein the control unit sets the closed state maintaining voltage when the automatic door is installed.

6. 6. The automatic door according to claim 1, wherein the control unit sets the closed state maintaining voltage when the automatic door is powered on.

7. 7. The automatic door according to claim 1, wherein the control unit sets the closed state maintaining voltage periodically at a predetermined timing.

8. A voltage setting method for an automatic door comprising: an elastic member that absorbs the impact when the door is fully closed; a door drive unit that drives the door to open and close; and a control unit that controls the voltage applied to the door drive unit, A step in which the control unit performs a closed maintenance control to press the door in a closing direction after the door is fully closed; a voltage detection step of detecting a voltage when the door moves in an opening direction due to a reaction force of the elastic member while a voltage applied to the door drive unit is lowered in the step of performing the closed maintenance control; setting a voltage higher than the voltage detected in the voltage detection step as a closed state maintaining voltage applied to the door drive unit in order to maintain the door in a closed state; A voltage setting method for an automatic door comprising:

9. A voltage setting program for an automatic door comprising an elastic member that absorbs the impact when the door is fully closed, a door drive unit that drives the door to open and close, and a control unit that controls the voltage applied to the door drive unit, A step in which the control unit performs a closed maintenance control to press the door in a closing direction after the door is fully closed; a voltage detection step of detecting a voltage when the door moves in an opening direction due to a reaction force of the elastic member while a voltage applied to the door drive unit is lowered in the step of performing the closed maintenance control; setting a voltage higher than the voltage detected in the voltage detection step as a closed state maintaining voltage applied to the door drive unit in order to maintain the door in a closed state; A voltage setting program for automatic doors that causes a computer to execute the following.

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