Automatic door system, automatic door system control method, automatic door system status inspection device, automatic door system control program

Abstract

To provide an automatic door device capable of avoiding an erroneous recognition of a standard position.SOLUTION: An automatic door device 100 comprises: a control part 30 for controlling a drive part 10 that opens / closes a door 12; a position detection part 20 for detecting that the door 12 is in a specified position; an overload detection part 30h for detecting whether or not the drive part 10 is in an overloaded state; and a setting part 30q for obtaining positional information of the door 12 when the control part 30 opens / closes the door 12 so that the overload detection part 30h is in an overload detected state and the position detection part 20 is in a detected state, and setting the same as a standard position Ps for controlling the door 12. The control part 30 controls the door 12 based on the standard position Ps set by the setting part 30q.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Automatic doors that have doors that open and close automatically are known. For example, Patent Document 1 describes a control device for a driven object such as an automatic door. This control device includes a drive unit, a calculation processing unit, a storage device, and a pulse generator. The calculation processing unit associates the absolute position of the driven object obtained from the resistance value of a variable resistor with a calculation value corresponding to the absolute position obtained from the number of pulses, and stores them in the storage device. The calculation processing unit controls the output of the drive unit based on these stored results. In other words, the operation of the driven object is first learned, and the absolute position of the driven object is determined from the obtained information and stored. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 06-137027 Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventors have come to the following realization regarding power-on learning of an automatic door system. An automatic door system using an incremental encoder performs power-on learning in which the door is operated when the power is turned on, and the position corresponding to the detection result of a sensor or the like that detects the door in a specified state is stored as a control parameter.

[0005] However, if an inappropriate position is mistakenly recognized as the reference position, this may cause problems with the normal operation of the automatic door system. From the above, the inventors have recognized that there is room for improvement in automatic door systems in terms of avoiding erroneous recognition of the reference position.

[0006] The present invention has been made in consideration of the above problems, and one of its objects is to provide an automatic door system that is capable of avoiding erroneous recognition of the reference position. [Means for solving the problem]

[0007] In order to solve the above problems, an automatic door system according to one aspect of the present invention includes a control unit that controls a drive unit that drives the door to open and close, a position detection unit that detects when the door is in a specific position, an overload detection unit that detects whether the drive unit is in an overloaded state, and a setting unit that acquires door position information when the control unit drives the door to open or close and the overload detection unit reaches an overload detection state and the position detection unit reaches a detection state, and sets this as a reference position for door control. The control unit controls the door based on the reference position set by the setting unit.

[0008] Another aspect of the present invention is also an automatic door system. This system includes a control unit that controls a drive unit that drives the door to open and close, a position detection unit that detects whether the door is at a specific position, an overload detection unit that detects whether the drive unit is in an overloaded state, and a setting unit that obtains door position information when the overload detection unit enters an overload detection state after the control unit drives the door to open or close and the position detection unit enters a detection state, and sets the door position information as a reference position for door control. The control unit controls the door based on the reference position set by the setting unit.

[0009] Yet another aspect of the present invention is an apparatus for inspecting the status of an automatic door system, comprising: an acquisition unit that acquires information from an overload detection unit that detects whether a drive unit that drives the automatic door to open and close is in an overload state and a position detection unit that detects that the door is in a specific position, and an inspection unit that inspects the status of the position detection unit based on the detection information from the overload detection unit and the detection information from the position detection unit acquired by the acquisition unit.

[0010] Yet another aspect of the present invention is a method for controlling an automatic door system, which includes the steps of controlling a drive unit that drives the door to open or close to drive the door to open or close, acquiring door position information when an overload detection state for detecting whether the drive unit is in an overload state and a position detection unit that detects that the door is in a specific position is in a detection state, setting the door position information as a reference position for controlling the door, and controlling the door based on the reference position.

[0011] Yet another aspect of the present invention is a computer program, which causes a computer to execute the steps of controlling a drive unit that drives the door to open or close to drive the door, acquiring position information of the door when an overload detection state for detecting whether the drive unit is in an overload state and a position detection unit that detects that the door is in a specific position is in a detection state, setting the door position information as a reference position for controlling the door, and controlling the door based on the reference position.

[0012] In addition, any combination of the above, or mutual substitution of the components or expressions of the present invention among methods, devices, programs, temporary or non-temporary storage media recording programs, systems, etc., are also valid aspects of the present invention. Effect of the Invention

[0013] According to the present invention, it is possible to provide an automatic door system that is capable of avoiding erroneous recognition of the reference position. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a front view showing a schematic configuration of an automatic door system according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the automatic door system of FIG. 1. [Diagram 3] FIG. 2 is a diagram showing an example of a change in door speed during normal operation of the automatic door system of FIG. 1. [Figure 4] 2 is a flowchart showing an example of the operation of the automatic door system of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and duplicated descriptions are omitted as appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some of the members that are not important for explaining the embodiments are omitted in each drawing.

[0016] In addition, although terms including ordinal numbers such as first, second, etc. are used to describe various components, these terms are used only for the purpose of distinguishing one component from another component, and the components are not limited by these terms.

[0017] [First embodiment] The configuration of an automatic door system 100 according to a first embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a front view showing the automatic door system 100 according to the first embodiment. Fig. 2 is a block diagram showing the automatic door system 100.

[0018] 2 can be realized in hardware terms by electronic elements and mechanical parts such as a computer CPU, and in software terms by a computer program, but here the functional blocks are depicted as being realized by the cooperation of these. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways by combining hardware and software.

[0019] As shown in Figs. 1 and 2, the automatic door device 100 includes a drive unit 10, a position detection unit 20, an activation sensor 22q, and a control unit 30. The automatic door device 100 opens and closes a door 12 for opening and closing an opening 84 in a wall 82. In the example of Fig. 1, the door 12 is a sliding door that is driven to open and close in a horizontal movable direction. The drive unit 10 includes a drive mechanism 14 and a door engine 16, and moves the door 12. The door engine 16 is controlled by the control unit 30 and functions as a power source that opens and closes the door 12 via the drive mechanism 14. The control unit 30 controls the drive unit 10 to perform a learning operation when the power is turned on and a normal operation for operating the door 12 normally.

[0020] The activation sensor 22q is attached to the door frame 80 or the like, and detects the presence or absence of a passing object such as a person. In this embodiment, the activation sensor 22q detects the presence of an object in the vicinity of the doorway where the door 12 moves to open and close, and provides the detection result to the control unit 30. The activation sensor 22q can, for example, project infrared rays and detect the presence of an object according to the reflected light. The activation sensor 22q may be provided on both the inside and outside of the opening 84. When the activation sensor 22q detects a passing object in the activation area set in the vicinity of the doorway, the automatic door device 100 controls the door engine 16 to open and close the door 12.

[0021] The door engine 16 includes a motor (not shown) that drives the drive mechanism 14, a drive circuit (not shown) that drives the motor, an encoder 16e, and a current sensor 16c. The encoder 16e is an incremental type encoder that transmits a rotation signal having a number of pulses proportional to the rotation angle of the motor to the control unit 30. The current sensor 16c detects the drive current of the motor and transmits it to the control unit 30.

[0022] The door 12 is a rectangular door with a door end 12p and a door end 12s, and is a fitting that blocks an opening 84. The door 12 may be made of glass, for example. The opening 84 is provided in a wall 82, and has an opening width narrower than the width of the door 12. The opening 84 is provided with a vertical frame 86p against which the door end 12p abuts when the door 12 is fully closed. The wall 82 is provided with a door stopper 86s against which a door hanger 12h that moves integrally with the door end 12s abuts when the door 12 is fully opened. In other words, the door 12 moves left and right in the figure between a position where the door end 12p abuts against the vertical frame 86p to a position where the door end 12s side of the door hanger 12h abuts against the door stopper 86s. As an example, the door stopper 86s may be provided at a predetermined position of the guide rail 14b. It is not essential to provide the door stopper 86s, and the door stopper 86s may not be provided. In this case, the position detection unit 20 described later detects only the fully closed position. In other words, the position detection unit 20 may be provided at least in either the fully closed position or the fully open position of the door 12.

[0023] The position detection unit 20 detects that the door 12 is in a specific position. Information acquired from the position detection unit 20 (hereinafter referred to as "acquired information") is transmitted to the control unit 30 via a transmission line (not shown). There is no limitation on the number and specific positions of the position detection units 20, but in this embodiment, the specific positions are the fully closed position or the fully open position. The fully closed position is a position where the door end 12p contacts the vertical frame 86p when the door 12 is fully closed. The fully open position is a position where the door hanger 12h contacts the door stopper 86s when the door 12 is fully open. The position detection unit 20 may be a physical switch, a sensor, or the like as long as it can detect that the door 12 is in a specific position. The position detection unit 20 may include multiple sensors arranged at different positions in the moving direction of the door 12. In this embodiment, the position detection unit 20 includes a fully closed sensor 20p provided on the door end 12p side and a fully open sensor 20s provided on the door tail 12s side. The transmission path may be a data bus or a network.

[0024] The fully closed sensor 20p functions as a limit switch that detects that the door 12 is in the fully closed position. For example, the fully closed sensor 20p is provided on the vertical frame 86p, and turns on when the door end 12p is in contact with the fully closed sensor 20p, and turns off when there is no contact. The fully open sensor 20s functions as a limit switch that detects that the door 12 is in the fully open position. For example, the fully open sensor 20s turns on when the door hanger 12h is in contact with the door stopper 86s, and turns off when there is no contact.

[0025] As an example, the position detection unit 20 can be configured to include a reed switch that turns on (closed) when a magnet (not shown) provided at the door end 12p or the door tail 12s approaches, and turns off (open) when the magnet moves away.

[0026] The control unit 30 controls the drive unit 10 to perform a normal operation for operating the door 12 normally. The control unit 30 also controls the drive unit 10 to perform a learning operation when the power is turned on. In particular, when the control unit 30 causes the drive unit 10 to perform a learning operation when the power is turned on, if the position detection unit 20 is in a detection state when the overload detection unit 30h detects an overload and the detection result of the position detection unit 20 differs between the time when the overload was detected and either before or after the detection, the control unit 30 ends the learning operation and performs a normal operation.

[0027] In addition, when the control unit 30 causes the drive unit 10 to perform a learning operation when the power is turned on, if the position detection unit 20 is in a detection state when the overload detection unit 30h detects an overload, and if there is no change in the detection result of the position detection unit 20 between the time when the overload was detected and either before or after the time.

[0028] A specific description will be given. In the learning operation, the door 12 is moved at a speed slower than the movement speed of the door 12 in normal operation to learn the origin position for control, and the origin position is set in the control parameters. In this example, the control is performed using a reference position Ps, which will be described later, as the origin position. The control unit 30 performs a state inspection to determine whether the position detection unit 20 is normal or not during the learning operation. In this sense, the learning operation can also be said to be an operation for inspecting the state of the position detection unit 20. After learning the origin position, the control unit 30 controls the drive unit to end the learning operation and perform normal operation. The control unit 30 controls the opening and closing operation of the door 12 based on the set control parameters. The control unit 30 also functions as a state inspection device 40 that includes an inspection unit 30p that inspects the position detection unit 20 for abnormalities. The inspection unit 30p also includes an abnormality detection unit 30s that detects abnormalities in the position detection unit 20. The inspection unit 30p and the abnormality detection unit 30s will be described later.

[0029] (normal operation) First, the opening and closing operation of the door 12 in normal operation will be described. Normal operation is an operation in which the door 12 is operated normally to provide the user with the automatic opening and closing operation that an automatic door is designed to perform. In normal operation, as an example, when the open activation signal turns on in response to the detection result of the activation sensor 22q, the door performs an opening operation and stops at the fully open position. This stopped state continues for a predetermined period set in the open timer. After the period ends, the door performs a closing operation and stops at the fully closed position. Once it has stopped at the fully closed position, it waits in that state until a new open activation signal turns on. The automatic door device 100 repeatedly performs this opening and closing operation in normal operation.

[0030] FIG. 3 is a diagram showing an example of the speed transition of the door 12 during normal operation. In this diagram, the horizontal axis shows the position of the door 12, and the vertical axis shows the speed of the door 12. In the closing operation, the door 12 is controlled according to the position of the door 12, which is specified based on the number of pulses of the encoder 16e from the origin position, from the fully open position to the fully closed position. In this example, the door 12 accelerates from a stopped state to a high-speed first speed, moves at a constant speed at the first speed, decelerates from a predetermined deceleration start position Dp to a low-speed second speed, slowly approaches the fully closed position at the second speed, and stops when the door end 12p abuts against the vertical frame 86p. This constant speed movement is not limited to a strict constant speed movement, and may be approximately constant speed including some fluctuation. In this way, the door 12 has a deceleration start position Dp set to avoid high-speed collision. The second speed may be called a low-speed approach speed. In addition, in the opening operation, the fully open position and the fully closed position are reversed, and the door 12 stops when the door hanger 12h abuts against the door stopper 86s. The average speed of the door 12 moving from the fully open position to the fully closed position is called the average moving speed of the door 12 in normal operation. The average moving speed is calculated by dividing the moving distance of the door 12 in this operation by the moving time.

[0031] (Learning behavior) An overview of the learning operation will be described. The learning operation is an operation for performing power-on learning. Power-on learning (hereinafter, sometimes simply referred to as "learning") is a function that automatically performs an opening or closing operation at a low speed when the power is turned on (on) to start up, detects the origin position, and automatically sets the origin position as a control parameter. In this embodiment, the learning operation includes a low-speed movement operation that is performed when the power is turned on, and a stroke measurement operation that is performed in a predetermined case, which will be described later. The low-speed movement operation is an operation for moving the door 12 at a speed slower than the movement speed of the door 12 in normal operation (hereinafter, simply referred to as "movement speed").

[0032] In the low-speed movement operation, when the power is turned on, the control unit 30 moves the door 12 at a low speed to the fully closed side stop position or the fully open side stop position (these positions are collectively referred to as the "door stop position") and recognizes the door stop position. In this specification, the term "door stop" refers to the door 12 coming into contact with an obstacle such as the door stopper 86s, the vertical frame 86p, or a foreign object and stopping its movement. If the door stop position is determined to be appropriate, the control unit 30 sets the door stop position as the origin position in the control parameters, ends the learning operation, and performs normal operation. If the door stop position cannot be determined to be appropriate, the control unit 30 goes through a predetermined process described later and ends the learning operation and performs normal operation.

[0033] In the stroke measuring operation, the control unit 30 moves the door 12 in the opposite direction at a low speed for a predetermined distance, and detects the door stop position on the opposite side during that time. If the movement distance of the door 12 from the door stop position to the opposite door stop position (hereinafter referred to as the "door stop span Sd") is equal to or greater than the reference distance, the control unit 30 sets the door stop position as the origin position as a control parameter, ends the learning operation, and performs normal operation. If the door stop span Sd is shorter than the reference distance, the control unit 30 stores the door stop span Sd in the memory unit 30m as a tentative stroke, ends the learning operation, and performs normal operation. The predetermined distance in the stroke measuring operation is the door stop span Ss of the door 12 when there is no foreign object.

[0034] If the movement speed of the door 12 in the low-speed movement operation is too fast, it will collide with the door stop position, and if it is too slow, the waiting time will be long and usability will be poor. From this viewpoint, the movement speed of the door 12 in the learning operation may be equal to or lower than the average movement speed, preferably equal to or lower than 50% of the maximum speed of the first speed, and more preferably equal to or lower than the second speed. In this case, the impact when the door 12 comes into contact with the vertical frame can be reduced. Also, from the viewpoint of reducing the learning waiting time, the movement speed of the door 12 in the learning operation may be equal to or higher than 50% of the second speed.

[0035] (Control unit) Next, a description will be given of the configuration of the control unit 30. The control unit 30 includes a sensor signal acquisition unit 30b, a current acquisition unit 30c, a rotation signal acquisition unit 30d, a first acquisition unit 30e, a second acquisition unit 30f, an engine control unit 30g, an overload detection unit 30h, a learning unit 30j, a determination unit 30k, a storage unit 30m, an output unit 30n, an inspection unit 30p, a setting unit 30q, and an abnormality detection unit 30s.

[0036] The sensor signal acquiring unit 30b acquires the detection result from the activation sensor 22q. As described above, the control unit 30 controls the opening and closing operation of the door 12 based on the acquisition result of the sensor signal acquiring unit 30b. The engine control unit 30g controls the door engine 16.

[0037] The current acquisition unit 30c acquires the detection result of the motor drive current from the current sensor 16c of the door engine 16. The magnitude of the motor drive current is roughly proportional to the load torque of the motor. The control unit 30 can calculate the load torque of the motor by multiplying the acquired magnitude of the drive current by a predetermined constant. For example, when the door 12 is fully closed and the door end 12p is in contact with the vertical frame 86p, or when the door 12 is fully open and the door hanger 12h is in contact with the door stopper 86s, the load torque increases significantly.

[0038] The rotation signal acquisition unit 30d acquires a rotation signal having a number of pulses according to the rotation angle of the motor from the encoder 16e of the door engine 16. This number of pulses is proportional to the moving distance of the door 12. Moreover, the period of the pulses from the encoder 16e is inversely proportional to the moving speed of the door 12. The control unit 30 counts the number of pulses of the acquired rotation signal, and can calculate the moving distance of the door 12 by multiplying the count result by a predetermined constant. The control unit 30 can calculate the moving speed of the door 12 based on the period of the pulses from the encoder 16e. The control unit 30 can detect the door stop according to the speed calculated from the number of pulses of the output pulses of the encoder 16e and the voltage applied to the motor. Specifically, the control unit 30 detects the door stop when the overload detection unit 30h described later detects an overload.

[0039] The first acquisition unit 30e and the second acquisition unit 30f acquire information on whether the door 12 is in a specific position from the position detection unit 20. In this embodiment, the first acquisition unit 30e acquires information on whether the door end 12p is in contact with the vertical frame 86p from the full-close sensor 20p. The second acquisition unit 30f acquires information on whether the door hanger 12h is in contact with the door stopper 86s from the full-open sensor 20s. The control unit 30 can determine whether the door 12 is in the full-close position or the full-open position from the acquired results.

[0040] The overload detection unit 30h detects whether the drive unit 10 is in an overload state. The overload detection unit 30h of this embodiment judges whether the door 12 is in the fully closed side stop position or the fully open side stop position based on the magnitude of the drive current of the motor and the pulse change of the rotation signal. The fully closed side stop position is a position where the door 12 stops when the door 12 is moved in the closing direction. The fully open side stop position is a position where the door 12 stops when the door 12 is moved in the opening direction. In this embodiment, when the drive current exceeds a predetermined value and the pulse of the rotation signal does not change for a predetermined period, the overload detection unit 30h judges that the door 12 is in contact with the vertical frames 86p, 86s and is stopped, and that the door 12 is in the fully closed side stop position or the fully open side stop position (door stop position).

[0041] The learning unit 30j learns the origin position for control based on the determination result of the overload detection unit 30h. The control unit 30 can calculate the absolute position of the door 12 in the width of the opening 84 based on the relative movement distance of the door 12 from the origin position specified by learning. Any position within the movement range of the door 12 can be used as the origin position. In this embodiment, the fully closed position or the fully open position is used as the origin position.

[0042] (Settings section) First, an outline of the operation of the setting unit 30q will be described. The setting unit 30q sets the position information of the door 12 acquired when a predetermined state is reached as a reference position Ps for control, and the control unit 30 controls the door 12 based on the reference position Ps set by the setting unit 30q. In one aspect, the setting unit 30q acquires the position information of the door 12 when the control unit 30 drives the door 12 to open or close, the overload detection unit 30h enters an overload detection state, and the position detection unit 20 enters a detection state, and sets the position information as the reference position Ps for control of the door 12.

[0043] In another aspect, the setting unit 30q acquires position information of the door 12 when the overload detection unit 30h enters an overload detection state after the control unit 30 drives the door 12 to open or close and the position detection unit 20 enters a detection state, and sets the position information as a reference position Ps for controlling the door 12. Furthermore, when the setting unit 30q determines that the detection result of the position detection unit 20 is different between the time when the position detection unit 20 entered the detection state and the time before that, it acquires the position information of the door 12 at the aforementioned time.

[0044] Furthermore, when the position detection unit 20 is not in a detection state when the overload detection unit 30h detects an overload, or when there is no change in the detection result of the position detection unit 20 between the time when the position detection unit 20 is in a detection state and either before or after that, the setting unit 30q sets the reference position Ps based on the position information of the door 12 when the overload detection unit 30h detects an overload while driving the door 12 to open and the position information of the door 12 when the overload detection unit 30h detects an overload while driving the door 12 to close. This will be specifically described below.

[0045] The fully closed position or the fully open position is the doorstop position detected by the overload detection unit 30h, and the setting unit 30q in this example sets the doorstop position determined by the overload detection unit 30h as the reference position Ps, and if this position is appropriate, uses the set reference position Ps as an appropriate origin position for control. This setting result is stored in the memory unit 30m.

[0046] When a foreign object 14f gets caught in the travel path of the guide rail 14b of the door 12, the foreign object 14f may hinder the movement of the door 12, and the position of the foreign object 14f may be erroneously recognized as the door stop position, and the reference position Ps may be erroneously set. For this reason, the control unit 30 of this embodiment has a determination unit 30k that determines whether the set reference position Ps is appropriate or not. In particular, the determination unit 30k determines whether the reference position Ps set by the setting unit 30q is appropriate or not based on the acquired information of the full-close sensor 20p and the full-open sensor 20s acquired by the first and second acquisition units 30e and 30f.

[0047] When the reference position Ps is the fully closed side stop position, the judgment unit 30k judges the reference position Ps to be appropriate when the fully closed sensor 20p is on, and judges the reference position Ps to be inappropriate when the fully closed sensor 20p is off. When the reference position Ps is the fully open side stop position, the judgment unit 30k judges the reference position Ps to be appropriate when the fully open sensor 20s is on, and judges the reference position Ps to be inappropriate when the fully open sensor 20s is off.

[0048] If the reference position Ps is determined to be appropriate, the control unit 30 stores the position as the correct origin position, ends the learning operation from the low-speed movement operation, and performs normal operation. If the reference position Ps is determined to be inappropriate, the control unit 30 transitions from the low-speed movement operation to the stroke measurement operation. These determination results are stored in the memory unit 30m.

[0049] For example, if the position detection unit 20 malfunctions and is always on or always off, an inappropriate reference position Ps is erroneously set as a control parameter. If the door 12 opens or closes based on the erroneously set control parameter, the deceleration start position Dp may shift, and the door 12 may collide with the vertical frame before being sufficiently decelerated. For this reason, the control unit 30 has an inspection unit 30p that inspects the position detection unit 20 for abnormalities during learning.

[0050] In the present embodiment, the inspection unit 30p determines that the position detection unit 20 is normal if the acquired information of the position detection unit 20 changes from on to off or off to on during a low-speed movement operation, and determines that the position detection unit 20 is abnormal if the acquired information of the position detection unit 20 does not change. In the closing operation, the inspection unit 30p determines that the full-close sensor 20p is normal if the full-close sensor 20p changes from off to on while the door 12 is moving to the full-close position, and determines that it is abnormal if there is no change.

[0051] In the opening operation, the inspection unit 30p judges the full-open sensor 20s to be normal if the sensor changes from off to on while the door 12 is moving to the full-open position, and judges it to be abnormal if the sensor does not change. These judgment results are stored in the memory unit 30m. If the position detection unit 20 is judged to be abnormal, the control unit 30 proceeds to the stroke measurement operation.

[0052] In the above-mentioned inspection unit 30p, the function of detecting an abnormality in the position detection unit 20 based on information from the overload detection unit 30h and the position detection unit 20 constitutes an abnormality detection unit 30s. Therefore, when the above-mentioned operation is explained from the aspect of the abnormality detection unit 30s, it can be specified as follows.

[0053] The abnormality detection unit 30s determines that the position detection unit 20 is abnormal based on the detection state of the position detection unit 20 when the overload detection unit 30h enters the overload detection state. The abnormality detection unit 30s also determines that the position detection unit 20 is abnormal based on the overload detection state of the overload detection unit 30h when the position detection unit 20 enters the detection state. The abnormality detection unit 30s also determines that the position detection unit 20 is abnormal when there is no change in the detection result of the position detection unit 20 between the time when the overload detection unit 30h enters the overload detection state and either before or after that.

[0054] In addition, from another aspect, the inspection unit 30p also functions as an acquisition unit 30p that acquires information of the overload detection unit 30h and the position detection unit 20. The inspection unit 30p inspects the state of the position detection unit 20 based on the detection information of the overload detection unit 30h and the detection information of the position detection unit 20 acquired as an acquisition unit.

[0055] The memory unit 30m stores control parameters such as reference positions Ps, such as the fully open position and the fully closed position, the opening stroke of the door 12 from fully closed to fully open, and the speed control pattern of the door 12.

[0056] When the position detection unit 20 is determined to be abnormal, it is desirable to notify the operator of the determination result. For this reason, this embodiment includes an output unit 30n that outputs predetermined information to the outside when the abnormality detection unit 30s detects an abnormality. In this example, the output unit 30n outputs the predetermined information to the outside when the acquired information of the position detection unit 20 does not change during learning. Specifically, when the determination unit 30k determines that the position detection unit 20 is abnormal, the output unit 30n outputs the determination result to the outside. As an example, the output unit 30n may display the determination result on a display device (not shown) provided near the automatic door device 100, or may transmit the determination result to an information terminal or server provided in a remote location via a communication medium such as the Internet.

[0057] An example of the operation of the automatic door system 100 configured as above will now be described. Fig. 4 is a flow chart showing an example of the operation of the automatic door system 100. This figure shows the process S80 from the low-speed movement operation in the learning operation at power-on to ending the learning operation and performing normal operation. Here, an example will be described in which the position detection unit 20 is inspected by the closing operation of the low-speed movement operation with the fully closed position as the reference position Ps. The operation of inspecting the position detection unit 20 with the fully open position as the reference position Ps is the reverse operation of this explanation in which the open / close positions are swapped, and the position detection unit 20 can be inspected by the opening operation of the low-speed movement operation.

[0058] The process S80 is started by turning on the power to the automatic door device 100. When the process S80 is started, the control unit 30 moves the door 12 in the closing direction at a low speed (step S81). As described above, the movement speed of the door 12 in the low speed movement in the learning operation is a speed lower than the average movement speed in the normal operation, and may be the same as the second speed, for example.

[0059] When step S81 is executed and the door 12 is driven in the closing direction, the control unit 30 detects whether the door stops (step S82). In this step, as described above, the control unit 30 judges whether the door stops based on whether the overload detection unit 30h detects an overload according to the speed calculated from the number of output pulses of the encoder 16e and the voltage applied to the motor.

[0060] In step S82, if the door does not stop (N in step S82), the control unit 30 returns the process to the beginning of step S81, and repeats steps S81 to S82.

[0061] In step S82, if the door 12 is stopped (Y in step S82), the control unit 30 judges whether or not the door 12 has moved (step S83). In this step, the control unit 30 monitors the output pulse of the encoder 16e to judge whether or not the position of the door 12 has changed. For example, the control unit 30 judges that the door 12 has moved if there has been a position change, and judges that the door 12 has not moved if there has not been a position change (hereinafter the same). Separate inspections are performed for the cases where the door 12 has moved and the cases where it has not moved.

[0062] In step S83, if the door 12 has moved (Y in step S83), the control unit 30 determines whether the full-close sensor 20p has changed from off (OFF) to on (ON) (step S84).

[0063] In step S84, if the full-close sensor 20p changes from off to on (Y in step S84), the control unit 30 determines that the full-close sensor 20p is normal (step S85). If the control unit 30 determines that the full-close sensor 20p is normal, it ends the learning operation and performs normal operation (step S86). That is, the control unit 30 ends the learning operation and performs normal operation when the information acquired by the position detection unit 20 changes. In other words, the change in the information acquired by the position detection unit 20 is a trigger to transition to normal operation. In normal operation, the door 12 is opened and closed when the activation sensor 22q detects a passing object in the activation area.

[0064] In step S84, if the full-close sensor 20p does not change from off to on (N in step S84), the control unit 30 determines that the full-close sensor 20p is abnormal (step S87). In this case, the control unit 30 executes a stroke length measurement operation by a low-speed operation (step S88). In this step, the control unit 30 measures the movement stroke (doorstop span Sd) of the door 12 in the opening direction to the doorstop position (full-open side stop position) by a low-speed opening operation that moves the door 12 in the opening direction at a speed slower than the above-mentioned average movement speed.

[0065] In step S88, if the doorstop span Sd is equal to or greater than the reference distance, the setting unit 30q in the control unit 30 sets the doorstop position as the reference position Ps in the control parameters, ends the learning operation, and performs normal operation. If the doorstop span Sd is shorter than the reference distance, the control unit 30 stores the doorstop span Sd in the memory unit 30m as a tentative stroke, ends the learning operation, and performs normal operation.

[0066] In step S83, if the door 12 has not moved (N in step S83), the control unit 30 determines whether the full-close sensor 20p is ON or not (step S89).

[0067] In step S89, if the full-close sensor 20p is not on (N in step S89), the control unit 30 determines that the full-close position diagnosis is abnormal (step S90). In this case, the control unit 30 executes a stroke length measurement operation by a low-speed operation (step S94). In this step, the control unit 30 measures the stroke (doorstop span Sd) of the door 12 in the closing direction to the doorstop position (full-close side stop position) by a low-speed opening operation that moves the door 12 in the closing direction at a speed slower than the above-mentioned average moving speed.

[0068] In step S94, if the doorstop span Sd is equal to or greater than the reference distance, the setting unit 30q in the control unit 30 sets the doorstop position as the reference position Ps in the control parameters, ends the learning operation, and performs normal operation. If the doorstop span Sd is shorter than the reference distance, the control unit 30 stores the doorstop span Sd in the memory unit 30m as a tentative stroke, ends the learning operation, and performs normal operation.

[0069] In step S89, if the full-close sensor 20p is on (Y in step S89), the control unit 30 provisionally determines that the full-close position diagnosis is normal (step S91). In this case, the control unit 30 moves the door 12 in the opening direction at a low speed (step S92). Note that the movement speed of the door 12 in this step may be the same as the low speed movement in step S81, and may be the same as the second speed, for example.

[0070] In step S92, when the door 12 is moved in the opening direction at a low speed, the control unit 30 judges whether the full-close sensor 20p has changed from on (ON) to off (OFF) (step S93). If the full-close sensor 20p has changed from on to off in this step, the full-close sensor 20p is normal, and if not, it is abnormal.

[0071] In step S93, if the full closure sensor 20p has not changed from on to off (N in step S93), the full closure sensor 20p is abnormal, and the control unit 30 executes a stroke measurement operation by low speed operation (step S94). The process of step S94 is as described above.

[0072] In step S93, if the full-close sensor 20p changes from on to off (Y in step S93), the full-close sensor 20p is normal, and the control unit 30 ends the learning operation and performs normal operation (step S86). The process of step S86 is as described above.

[0073] The process S80 ends when the learning operation is ended and normal operation is resumed. The above-described process S80 is merely an example, and other steps may be added, some steps may be changed or deleted, or the order of steps may be changed.

[0074] The features of the automatic door system 100 configured as above will be described. The automatic door system 100 specified from one aspect of the present disclosure includes a control unit 30 that controls the drive unit 10 that drives the door 12 to open and close, a position detection unit 20 that detects that the door 12 is at a specific position, an overload detection unit 30h that detects whether the drive unit 10 is in an overload state, and a setting unit 30q that obtains position information of the door 12 when the control unit 30 drives the door 12 to open or close, the overload detection unit 30h enters an overload detection state, and the position detection unit 20 enters a detection state, and sets the position information of the door 12 as a reference position Ps for controlling the door 12, and the control unit 30 controls the door 12 based on the reference position Ps set by the setting unit 30q.

[0075] According to this configuration, the judgment is made not only based on the overload detection by the overload detection unit 30h but also based on the detection state of the position detection unit 20, thereby preventing the position where an overload is detected due to the foreign object 14f getting caught from being mistakenly recognized as the reference position (origin position).

[0076] An automatic door device 100 specified from another aspect of the present disclosure includes a control unit 30 that controls a drive unit 10 that drives the door 12 to open and close, a position detection unit 20 that detects when the door 12 is in a specific position, an overload detection unit 30h that detects whether the drive unit 10 is in an overload state, and a setting unit 30q that acquires position information of the door 12 when the overload detection unit 30h enters an overload detection state after the control unit 30 drives the door 12 to open or close and the position detection unit 20 enters a detection state, and sets this as a reference position Ps for controlling the door 12, and the control unit 30 controls the door 12 based on the reference position Ps set by the setting unit 30q.

[0077] According to this configuration, since the overload is determined after the position detector 20 enters the detection state, it is possible to prevent the position where the overload is detected due to the foreign object 14f being caught from being mistakenly recognized as the reference position (origin position).

[0078] In the automatic door system 100, the setting unit 30q further acquires the position information of the door 12 at the time when it determines that the detection result of the position detection unit 20 is different between the time when the position detection unit 20 entered the detection state and the time before that. In this case, it determines whether the detection result of the position detection unit 20 has changed, so that misidentification of the reference position Ps due to an abnormality in the position detection unit 20 can be prevented.

[0079] In the automatic door system 100, the control unit 30 drives the door 12 to close or open if there is no change in the position of the door 12 when the control unit 30 drives the door 12 to open or close, and the setting unit 30q acquires the position information of the door 12 at the time when it determines that the detection result of the position detection unit 20 is different between the time when the position detection unit 20 is in a detection state and thereafter. In this case, it determines whether the detection result of the position detection unit 20 changes, thereby preventing misidentification of the reference position Ps due to an abnormality in the position detection unit 20.

[0080] In the automatic door device 100, when the position detection unit 20 is not in a detection state when the overload detection unit 30h detects an overload, or when there is no change in the detection result of the position detection unit 20 between the time when the position detection unit 20 is in a detection state and either before or after the time when the position detection unit 20 is in a detection state, the setting unit 30q sets the reference position Ps based on the position information of the door 12 when the overload detection unit 30h detects an overload while driving the door 12 to open and the position information of the door 12 when the overload detection unit 30h detects an overload while driving the door 12 to close. In this case, even if the position detection unit 20 is abnormal, the reference position Ps can be set by overload detection and stroke measurement.

[0081] In the automatic door system 100, the control unit 30 controls the drive unit 10 to drive the door 12 to open and close at a slower speed than the normal opening and closing speed until the reference position Ps is set. In this case, driving at a slower speed can prevent collisions with surrounding people or objects during position learning.

[0082] In the automatic door system 100, the position detector 20 is provided at least in either the fully closed position or the fully open position of the door 12. In this case, the detection state of the position detector 20 can be utilized, so it is possible to prevent a position where an overload is detected due to the foreign object 14f being caught from being mistaken for a reference position.

[0083] In the automatic door system 100, the position detection unit 20 includes a plurality of sensors arranged at different positions in the moving direction of the door 12. In this case, even if one sensor is abnormal, the remaining sensors can still detect the position.

[0084] The automatic door system 100 includes an overload detection unit 30h and an abnormality detection unit 30s that detects an abnormality in the position detection unit 20 based on information from the position detection unit 20. In this case, the position detection unit 20 can be inspected for an abnormality at the same time as the reference position Ps is set.

[0085] In the automatic door system 100, the abnormality detection unit 30s determines that there is an abnormality in the position detection unit 20 based on the detection state of the position detection unit 20 when the overload detection unit 30h detects an overload. In this case, the abnormality in the position detection unit 20 can be inspected.

[0086] In the automatic door system 100, the abnormality detection unit 30s determines that there is an abnormality in the position detection unit 20 based on the overload detection state of the overload detection unit 30h when the position detection unit 20 enters the detection state. In this case, the abnormality in the position detection unit 20 can be inspected.

[0087] In the automatic door system 100, the abnormality detection unit 30s determines that the position detection unit 20 is abnormal if there is no change in the detection result of the position detection unit 20 between the time when the overload detection unit 30h detects an overload and either before or after that. In this case, the position detection unit 20 can be inspected for abnormalities.

[0088] The automatic door system 100 includes an output unit that outputs predetermined information to the outside when the abnormality detection unit 30s detects an abnormality. In this case, the detection of an abnormality can be notified to an operator.

[0089] Second to fourth embodiments of the present invention will be described below. In the drawings and description of the second to fourth embodiments, the same or equivalent components and members as those of the first embodiment are denoted by the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on configurations that differ from the first embodiment.

[0090] [Second embodiment] The second embodiment of the present invention is a control method for an automatic door system. This control method includes the steps of controlling the drive unit 10 that drives the door 12 to open or close, acquiring position information of the door 12 when the drive unit 10 detects whether or not it is overloaded and the position detection unit 20 detects that the door 12 is in a specific position, setting the position information of the door 12 as a reference position for controlling the door 12, and controlling the door 12 based on the reference position. This configuration makes it possible to prevent erroneous setting of control parameters due to an abnormality in the position detection unit 20.

[0091] [Third embodiment] The third embodiment of the present invention is a state inspection device 40 for an automatic door system. This state inspection device 40 includes an acquisition unit that acquires information from an overload detection unit 30h that detects whether a drive unit 10 that drives an automatic door to open and close a door 12 of the automatic door is in an overload state and a position detection unit 20 that detects that the door 12 is in a specific position, and an inspection unit 30p that inspects the state of the position detection unit 20 based on the detection information of the overload detection unit 30h and the detection information of the position detection unit 20 acquired by the acquisition unit. With this configuration, it is possible to prevent erroneous setting of control parameters due to an abnormality in the position detection unit 20.

[0092] [Fourth embodiment] The fourth embodiment of the present invention is a control program (computer program) for an automatic door device. The control program according to the present invention can be used for various automatic door devices. In this embodiment, it is exemplified by a computer program P100 that controls an automatic door device 100 including a drive unit 10, a position detection unit 20, an activation sensor 22q, and a control unit 30, and that opens and closes a door 12 for opening and closing an opening 84 in a wall 82.

[0093] The computer program P100 causes a computer to execute steps of controlling the drive unit 10 that drives the door 12 to open or close the door 12, detecting whether the drive unit 10 is in an overload state and obtaining position information of the door 12 when a position detection unit 20 that detects whether the drive unit 10 is in an overload state and detects that the door 12 is in a specific position is in a detection state, setting the position information of the door 12 as a reference position for controlling the door 12, and controlling the door 12 based on the reference position.

[0094] In the computer program P100, these functions may be installed in a storage (for example, a storage unit 30m) of the automatic door device 100 as an application program in which a plurality of modules corresponding to the function blocks of the automatic door device 100 are implemented. The computer program P100 may be read into and executed in a main memory of a processor (for example, a CPU) of a computer constituting the control unit 30 of the automatic door device 100.

[0095] According to the configuration of the fourth embodiment, the same operations and effects as those of the first embodiment are achieved.

[0096] Above, examples of the embodiments of the present invention have been described in detail. The above-mentioned embodiments merely show specific examples of implementing the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes such as changing, adding, and deleting components are possible within the scope of the invention as defined in the claims. In the above-mentioned embodiments, the contents for which such design changes are possible are described with the notation "of the embodiment" or "in the embodiment", but this does not mean that design changes are not permitted for contents without such notation.

[0097] [Variations] The following describes the modified examples. In the drawings and description of the modified examples, the same or equivalent components and members as those in the embodiment are denoted by the same reference numerals. Explanations that overlap with the embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

[0098] In the description of the first embodiment, an example was shown in which a fully closed sensor 20p and a fully open sensor 20s are provided as the position detection unit 20 in addition to the activation sensor 22q, but the present invention is not limited to this. For example, the functions of the fully closed sensor and the fully open sensor as the position detection unit 20 may be realized by the activation sensor 22q.

[0099] The detection area of ​​the activation sensor 22q is composed of a plurality of small detection areas arranged in the opening / closing direction of the door 12 and in the front-rear direction perpendicular thereto, and the plurality of small detection areas constituting the row closest to the door 12 in the front-rear direction may be configured to be able to detect the positions of the door end 12p and the door tail 12s of the door 12 in the doorway. The activation sensor 22q may project infrared rays onto the doorway or the door 12 and detect the positions of the door end 12p and the door tail 12s according to the reflected light. The control unit 30 may determine that the door 12 is in the fully closed position or the fully open position when the door end 12p and the door tail 12s are in a predetermined position based on the detection result of the activation sensor 22q. In this case, the configuration is simpler than when the fully closed sensor 20p and the fully open sensor 20s are separately provided, and is advantageous in terms of cost.

[0100] As an example, a mark may be provided on the door 12 or the doorway, and the activation sensor 22q may project infrared light onto the mark provided on the door 12 and detect the positions of the door end 12p and door trailing edge 12s according to the reflected light. This mark may be a reflector or label affixed to the door trailing edge 12s side of the door 12, or the mark may have letters or symbols printed on it. The activation sensor 22q may have an image sensor for detecting the mark provided on the door 12 or the doorway.

[0101] The control unit 30 may perform machine learning of the relationship between the position of the door 12 and the detection result of the activation sensor 22q, generate a position estimation model, and store it in the memory unit 30m. The control unit 30 may determine whether the door 12 is in the fully closed position or the fully open position based on the position estimation model stored in the memory unit 30m and the detection result of the activation sensor 22q. By using the position estimation model, the fully closed position and the fully open position can be recognized with high accuracy. In addition, the above-mentioned mark provided on the door 12 or the doorway may be used for this machine learning. In this case, the mark may be removed or left after the machine learning. By performing machine learning using the mark, the learning accuracy can be improved.

[0102] When the start sensor 22q is used as a full-close sensor or a full-open sensor, the control unit 30 may change the deceleration start position Dp so that the distance traveled at the second speed is increased after decelerating from the first speed to the second speed in the normal operation after the learning operation is completed. By increasing the distance traveled at the second speed, it is possible to prevent the door end 12s or the door end 12p of the door 12 from contacting the vertical frame 86p or the door stopper 86s in a state where the door 12 is not sufficiently decelerated due to an error between the actual full-closed or full-open position and the determined full-closed or full-open position, which occurs when the start sensor 22q detects the position of the door end 12p or the door end 12s and determines the full-closed or full-open position. In addition, the control unit 30 may change the deceleration start position Dp only for the first opening or closing operation after the transition to the normal operation or only for a predetermined number of opening and closing operations after the transition to the normal operation, and may return the deceleration start position Dp to the original setting in the subsequent closing or opening operations when the door stop span Sd measured by the operation is equal to or greater than the reference distance.

[0103] In the description of the first embodiment, an example was shown in which the fully closed sensor 20p and the fully open sensor 20s are provided independently, but the present invention is not limited to this. The position detection unit 20 may include a plurality of fully closed sensors 20p or fully open sensors 20s. For example, by providing two fully closed sensors 20p and comparing the two detection results, if they match, the fully closed sensor 20p is diagnosed as normal, and if they do not match, the fully closed sensor 20p is diagnosed as abnormal.

[0104] In the description of the first embodiment, an example was shown in which the position detection unit 20 includes the fully closed sensor 20p and the fully open sensor 20s, but the present invention is not limited to this. The position detection unit 20 may include only one of the fully closed sensor 20p and the fully open sensor 20s.

[0105] In the description of the first embodiment, an example was shown in which the door 12 can move in the closing direction when the power is turned on, but the present invention is not limited to this. The present invention can also be applied to a case in which the door 12 is in a door-stop state when the power is turned on. For example, when the door 12 is in a door-stop state at the fully closed side stop position when the power is turned on and the fully closed sensor 20p is on, the control unit 30 moves the door 12 in the opening direction by a learning operation, and when the fully closed sensor 20p changes from on to off, the control unit 30 may determine that the position detection unit 20 is normal, immediately end the learning operation, and perform a normal operation. In particular, when the fully closed sensor 20p changes from on to off, the control unit 30 may end the learning operation and perform a normal operation using the change as a trigger. In this case, the learning operation can be ended in a short time and the normal operation can be restored, so that the learning waiting time can be shortened.

[0106] In the description of the first embodiment, an example of determining the door stop position based on the drive current of the motor and the pulse of the rotation signal is shown, but the present invention is not limited to this. It may be determined whether the door 12 is at the door stop position based on either one of the drive current of the motor and the pulse of the rotation signal, or another physical quantity.

[0107] In the description of the first embodiment, an example was given in which the specific position for the position detector 20 is the fully closed position or the fully open position, but the present invention is not limited to this. This specific position may be another position between the fully closed position and the fully open position. For example, this specific position may be set corresponding to the deceleration start position Dp in normal operation, or may be the deceleration start position Dp.

[0108] In the description of the first embodiment, an example in which the door stop position is set as the origin position for control has been shown, but the present invention is not limited to this. For example, a specific position related to the position detection unit 20 may be set as the origin position for control.

[0109] Each of the above-mentioned modifications provides the same functions and effects as the first embodiment.

[0110] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the respective embodiments and modifications. [Explanation of symbols]

[0111] 10···Drive unit, 12···Door, 20···Position detection unit, 20p···Fully closed sensor, 20s···Fully open sensor, 22q···Start sensor, 30···Control unit, 30h···Overload detection unit, 30j···Learning unit, 30k···Judgment unit, 30p···Inspection unit, 30q···Setting unit, 30s···Abnormality detection unit, 40···Status inspection device, 84···Opening, 100···Automatic door device.

Claims

1. A control unit that controls a drive unit that drives the door to open and close; A position detection unit which is a switch or a sensor that detects that the door is in a specific position and is in one of an on and off state when the door is detected and in the other state when the door is not detected; an overload detection unit that detects whether the drive unit is in an overload state; a setting unit that acquires position information of the door when the control unit drives the door to open or close, the overload detection unit enters an overload detection state, and the position detection unit enters a detection state, and sets the position information of the door as a reference position for controlling the door; an abnormality detection unit that detects an abnormality in the position detection unit based on information from the overload detection unit and the position detection unit, The control unit controls the door based on the reference position set by the setting unit. Automatic door device.

2. A control unit that controls a drive unit that drives the door to open and close; A position detection unit which is a switch or a sensor that detects that the door is in a specific position and is in one of an on and off state when the door is detected and in the other state when the door is not detected; an overload detection unit that detects whether the drive unit is in an overload state; a setting unit that acquires position information of the door when the overload detection unit enters an overload detection state after the control unit drives the door to open or close and the position detection unit enters a detection state, and sets the position information of the door as a reference position for controlling the door; an abnormality detection unit that detects an abnormality in the position detection unit based on information from the overload detection unit and the position detection unit, The control unit controls the door based on the reference position set by the setting unit. Automatic door device.

3. A control unit that controls a drive unit that drives the door to open and close; a position detection unit that detects that the door is in a specific position; an overload detection unit that detects whether the drive unit is in an overload state; a setting unit that acquires position information of the door when the control unit drives the door to open or close, the overload detection unit detects an overload, and the position detection unit detects a detection state, and sets the position information as a reference position for controlling the door; The control unit is configured to control the door based on the reference position set by the setting unit, The setting unit further acquires the position information of the door at a time when it determines that the detection result of the position detection unit is different between the time when the position detection unit entered a detection state and the time before that.

4. A control unit that controls a drive unit that drives the door to open and close; a position detection unit that detects that the door is in a specific position; an overload detection unit that detects whether the drive unit is in an overload state; a setting unit that acquires position information of the door when the overload detection unit enters an overload detection state after the control unit drives the door to open or close and the position detection unit enters a detection state, and sets the position information of the door as a reference position for controlling the door; The control unit is configured to control the door based on the reference position set by the setting unit, The setting unit further acquires the position information of the door at a time when it determines that the detection result of the position detection unit is different between the time when the position detection unit entered a detection state and the time before that.

5. A control unit that controls a drive unit that drives the door to open and close; a position detection unit that detects that the door is in a specific position; an overload detection unit that detects whether the drive unit is in an overload state; a setting unit that acquires position information of the door when the control unit drives the door to open or close, the overload detection unit detects an overload, and the position detection unit detects a detection state, and sets the position information as a reference position for controlling the door; The control unit is configured to control the door based on the reference position set by the setting unit, the control unit drives the door to close or open when there is no change in the position of the door when the control unit drives the door to open or close, The setting unit acquires the position information of the door at a time when it determines that the detection result of the position detection unit is different between a time when the position detection unit is in a detection state and thereafter.

6. A control unit that controls a drive unit that drives the door to open and close; a position detection unit that detects that the door is in a specific position; an overload detection unit that detects whether the drive unit is in an overload state; a setting unit that acquires position information of the door when the overload detection unit enters an overload detection state after the control unit drives the door to open or close and the position detection unit enters a detection state, and sets the position information of the door as a reference position for controlling the door; The control unit is configured to control the door based on the reference position set by the setting unit, the control unit drives the door to close or open when there is no change in the position of the door when the control unit drives the door to open or close, The setting unit acquires the position information of the door at a time when it determines that the detection result of the position detection unit is different between a time when the position detection unit is in a detection state and thereafter.

7. When the overload detection unit detects an overload and the position detection unit is not in a detection state, or when there is no change in the detection result of the position detection unit between a time when the position detection unit is in a detection state and either before or after the time, The reference position is set based on position information of the door when the overload detection unit detects an overload while the door is being driven to open and on position information of the door when the overload detection unit detects an overload while the door is being driven to close. The automatic door system according to any one of claims 1 to 6.

8. The control unit controls the drive unit to drive the door to open and close at a speed slower than a speed at which the door is normally opened and closed until the reference position is set.

8. The automatic door system according to claim 7.

9. The position detector is provided at least one of a fully closed position and a fully open position of the door. The automatic door system according to any one of claims 1 to 8.

10. The position detection unit is a start sensor of the automatic door system. The automatic door system according to any one of claims 1 to 8.

11. The abnormality detection unit determines that the position detection unit is abnormal based on a detection state of the position detection unit when the overload detection unit detects an overload.

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

12. The abnormality detection unit determines that the position detection unit is abnormal based on an overload detection state of the overload detection unit when the position detection unit is in a detection state.

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

13. The abnormality detection unit determines that the position detection unit is abnormal when there is no change in the detection result of the position detection unit between a time when the overload detection unit detects an overload and either before or after the time.

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

14. An output unit that outputs predetermined information to the outside when the abnormality detection unit detects an abnormality.

14. The automatic door system according to claim 1, 2, 11, 12 or 13.

15. An automatic door is equipped with an overload detection unit that detects whether a drive unit that drives the automatic door to open and close is in an overload state, and an acquisition unit that acquires information from a position detection unit that detects whether the automatic door is in a specific position; an inspection unit that inspects a state of the position detection unit based on the detection information of the overload detection unit and the detection information of the position detection unit acquired by the acquisition unit; Equipped An automatic door system condition inspection device.

16. A step of controlling a drive unit that drives the door to open or close the door; a step of detecting whether the drive unit is in an overload detection state and that the door is in a specific position, and acquiring position information of the door when a position detection unit, which is a switch or a sensor that is in one of an on and off state in a detection state and in the other state in a non-detection state, enters a detection state; detecting an abnormality in the position detection unit based on information on whether the drive unit is in an overload state and information on the position detection unit; setting the door position information as a reference position for controlling the door; controlling the door based on the reference position; The automatic door system includes:

17. A step of controlling a drive unit that drives the door to open or close the door; a step of detecting whether the drive unit is in an overload detection state and that the door is in a specific position, and acquiring position information of the door when a position detection unit, which is a switch or a sensor that is in one of an on and off state in a detection state and in the other state in a non-detection state, enters a detection state; detecting an abnormality in the position detection unit based on information on whether the drive unit is in an overload state and information on the position detection unit; setting the door position information as a reference position for controlling the door; controlling the door based on the reference position; A control program for an automatic door system to cause a computer to execute the above.

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