Automatic door system and its control method

Abstract

To provide an automatic door device capable of controlling the door part less likely to collide with surrounding objects in the event of an earthquake, and a control method thereof.SOLUTION: An automatic door device 100 includes: a control unit 120 that controls the opening and closing of a door; and an earthquake determination unit 110 that determines whether a movement is an earthquake. The control unit 120 is configured so as to, when the earthquake determination unit 110 determines as an earthquake, execute control to hold the door at a predetermined place. The automatic door device 100 includes multiple stoppers arranged in the vertical direction above and below the center of the door in the vertical direction to come into contact with the door and restrict the movement of the door along the opening direction at the fully open position when the door moves in the opening direction. The automatic door device 100 includes a stopper that is configured to move to a position where it does not touch the door when a load greater than a specified load is applied thereon in the opening direction. The automatic door device 100 includes a stopper drive control unit that controls the stopper to move a position where it does not touch the door in response to the earthquake determination.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Patent Document 1 describes an automatic door device that forcibly opens a gate in the event of an earthquake to allow people to quickly exit to the outdoors. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-227829 Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional automatic door systems have a problem in that when an earthquake occurs, the door section shakes and hits surrounding objects such as the door stopper, causing the door section itself to rotate (dance), making it more likely for the door section to fall off or damage surrounding objects.

[0005] In view of the above, an object of the present invention is to provide an automatic door system and a control method thereof that can make the door less likely to collide with surrounding objects during an earthquake. [Means for solving the problem]

[0006] In order to solve the above problems, one aspect of the automatic door device of the present invention is equipped with a control unit that controls the opening and closing of the door, and an earthquake judgment unit that determines whether or not an earthquake has occurred, and the control unit executes control to hold the door in a predetermined position when the earthquake judgment unit determines that an earthquake has occurred.

[0007] Another aspect of the automatic door system of the present invention comprises a door section having a door that can move in the opening and closing direction, and a plurality of stoppers arranged vertically above and below the vertical center of the door so as to come into contact with the door section when the door moves in the opening direction and limit the movement of the door section along the opening direction at the door's fully open position.

[0008] An automatic door system according to yet another aspect of the present invention comprises a door section having a door that can move in the opening and closing directions, and a stopper that contacts the door section when the door moves in the opening direction, thereby restricting the movement of the door section along the opening direction to the fully open position of the door, the stopper being configured to move to a position where it does not contact the door section when a load equal to or greater than a predetermined load is applied in the opening direction.

[0009] An automatic door system according to yet another aspect of the present invention comprises a door section having a door that can move in the opening and closing directions, a stopper that comes into contact with the door section when the door moves in the opening direction and limits the movement of the door section along the opening direction to the fully open position of the door, an earthquake determination section that determines whether or not an earthquake has occurred, a stopper drive section that moves the stopper to a position where it does not come into contact with the door section, and a stopper drive control section that controls the stopper drive section in response to the determination of an earthquake so as to move the stopper to a position where it does not come into contact with the door section.

[0010] A control method for an automatic door system according to yet another aspect of the present invention includes the steps of determining whether an earthquake has occurred, and executing control to hold the door in a predetermined position in response to the determination of an earthquake.

[0011] A further aspect of the present invention is a control method for an automatic door system comprising a door section having a door that can move in the opening and closing directions, and a stopper that comes into contact with the door section when the door moves in the opening direction, thereby restricting the movement of the door section along the opening direction to the fully open position of the door, the control method comprising the steps of determining whether or not an earthquake has occurred, and moving the stopper to a position where it does not come into contact with the door section in response to the determination that an earthquake has occurred. [Effects of the Invention]

[0012] According to the present invention, it is possible to make the door section less likely to collide with surrounding objects during an earthquake. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a front view schematically showing an automatic door. [Figure 2] FIG. 1 is a block diagram showing the functions of an automatic door. [Figure 3] FIG. 2 is a diagram illustrating the functions of a controller. [Figure 4] 10 is a flowchart of the operation of the controller according to the embodiment. [Figure 5] FIG. 4 is a diagram illustrating an example of a driving voltage of a motor. [Figure 6] FIG. 10 is a diagram illustrating a partially open position of the automatic door. [Figure 7] 10A and 10B are diagrams for explaining the movement of the door section when it shakes and hits a surrounding object during an earthquake. [Figure 8] FIG. 2 is a diagram illustrating the functions of a controller. [Figure 9] FIG. 1 is a front view schematically showing an automatic door. [Figure 10] FIG. 2 is a diagram illustrating the functions of a controller. [Figure 11] FIG. 2 is a diagram illustrating a roller of an automatic door. DETAILED DESCRIPTION OF THE INVENTION

[0014] In the following embodiments and modifications, the same or equivalent components and members are denoted by the same reference numerals, and redundant explanations are omitted where appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some members that are not important for explaining the embodiments are omitted from the drawings.

[0015] [First embodiment] Please refer to Figures 1 and 2. Figure 1 is a front view showing a schematic representation of an automatic door 100. Figure 2 is a block diagram showing a schematic representation of the functions of the automatic door 100. The automatic door 100 of this embodiment is an example of an automatic door system. Each functional block shown in the following figures is realized in terms of hardware using a computer with calculation functions, control functions, memory functions, input functions, and output functions, various electronic elements, mechanical parts, etc., and in terms of software using a computer program, etc., but here we will depict functional blocks 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 forms by combining hardware and software.

[0016] As shown in FIG. 1 or 2, the automatic door 100 mainly comprises a door section 10 that is driven to open and close, a guide mechanism 13 that guides the horizontal movement of the first movable door 11L and the second movable door 11R, a controller 20 that controls the entire automatic door 100, a door sensor 30 that detects pedestrians, a drive unit 40 that generates power, and a power transmission unit 50 that transmits power to the door section 10. In the following description, the left-right direction in FIG. 1 is defined as the horizontal direction (opening / closing direction), the direction perpendicular to the paper surface in FIG. 1 is defined as the front direction, and the up-down direction in FIG. 1 is defined as the vertical direction. However, the automatic door 100 can be installed in any position, and its installation direction is not limited to the example below. In the example in FIG. 1, an automatic door whose opening and closing method is a double sliding type is shown, but this is not limited thereto, and the opening and closing method may be a single sliding type, a swing door type, a folding door type, a revolving door type, or the like.

[0017] The door unit 10 includes a first movable door 11L and a second movable door 11R, each of which is movable horizontally; a first fixed door 12L and a second fixed door 12R, which are positioned to overlap the first movable door 11L and the second movable door 11R when the door unit 10 is in the open state; a door hanger 132; a door roller 133; and a vibration stopper 135. When the door unit 10 is opened, the first movable door 11L (shown on the left side in FIG. 1 ) is driven leftward, and the second movable door 11R (shown on the right side in FIG. 1 ) is driven rightward. When the door unit 10 is closed, the first movable door 11L is driven rightward, and the second movable door 11R is driven leftward, which is the opposite of when the door unit 10 is opened. The number and shape of the doors constituting the door unit 10 are not limited to those described above and can be appropriately designed to meet 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 tilted from the horizontal direction. Hereinafter, the first movable door 11L and the second movable door 11R may be collectively referred to as the movable door 11. The movable door 11 of this embodiment is an example of a door.

[0018] The guide mechanism 13 includes a traveling rail 131 and a guide rail 134. The traveling rail 131 is a columnar rail member that extends horizontally above the first and second movable doors 11L, 11R over the entire movable range thereof. Door hangers 132 attached to the tops of the first and second movable doors 11L, 11R are suspended from the traveling rail 131. The door hangers 132 have rollers 133 made of resin. The door hangers 132 are attached to the movable doors 11 so as to suspend the movable doors 11.

[0019] Two door rollers 133 are provided on each of the tops of the first and second movable doors 11L, 11R, and are configured to be able to run on the running rails 131 while suspending the first and second movable doors 11L, 11R. When the first and second movable doors 11L, 11R are driven to open or close horizontally, the door rollers 133 roll on the running rails 131, enabling smooth opening and closing operations. The guide rails 134 are grooved rail members that extend horizontally below the first and second movable doors 11L, 11R over the entire movable range. The guide rails 134 guide anti-sway units 135 attached to the bottom of the first and second movable doors 11L, 11R. The anti-sway units 135 protrude from the bottom of the first and second movable doors 11L, 11R and fit into the grooved guide rails 134. When each of the first and second movable doors 11L, 11R is driven to open and close horizontally, the vibration prevention portion 135 moves along the guide rail 134, thereby suppressing vibration of each of the first and second movable doors 11L, 11R in the forward direction.

[0020] The automatic door 100 further includes a stopper 140. When the movable door 11 moves in the opening direction, the stopper 140 comes into contact with the door section 10, thereby restricting the movement of the door section 10 in the opening direction at the fully open position of the movable door 11. Specifically, the stopper 140 is provided at both left and right ends of the traveling rail 131, and is capable of restricting further movement of the movable door 11 in the opening direction when the movable door 11 is in the fully open position. When the movable door 11 reaches the fully open position, the stopper 140 comes into contact with the door hanger 132 of the door section 10, thereby stopping the movable door 11. The stopper 140 receives the force resulting from a collision with the door hanger 132 of the door section 10. The stopper 140 is attached so that the door section 10 does not come off the traveling rail 131 even when it collides with the door hanger 132.

[0021] The controller 20 can set various parameters related to the opening and closing of the movable door 11. For example, the controller 20 can adjust settings such as the opening and closing speed, opening strength, and opening width. 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 the two doors are opposite to each other. Preferably, the magnitude (speed) of the speeds of the two doors is the same, but they may be different. Also, different values ​​may be set for the opening and closing speeds during normal opening and closing and other times. For example, in the case of a so-called reversal in which the door unit 10 switches from a normal closing operation to an opening operation to emergency avoidance of a pedestrian being pinched between the first and second movable doors 11L and 11R, the speed of the first and second movable doors 11L and 11R during the opening operation may be set to a value different from the speed during the normal opening operation.

[0022] The opening / closing strength is the magnitude of the force exerted when the first and second movable doors 11L, 11R are opened or closed, and is controlled by the torque value generated by the motor 41 of the drive unit 40, which will be described later. As with the opening / closing speed described above, it is preferable that the first and second movable doors 11L, 11R have the same opening / closing strength. Also, different opening / closing strengths may be set for normal opening and closing and other times. The opening width is the horizontal distance between the first movable door 11L and the second movable door 11R when the door unit 10 is fully open.

[0023] The controller 20 comprises a control device 21, a storage device 22, a communication device 23, and a detection device 24. The control device 21 is realized by an arithmetic processing device implemented in a microcontroller, and is responsible for various information processing and control operations in the automatic door 100. The control device 21 controls the drive unit 40 to open and close the door unit 10 in response to the detection results of passersby and other objects from the door sensor 30. The control device 21 can also open and close the automatic door 100 in response to receiving an opening / closing command signal for opening or closing the automatic door 100 from an operator's work terminal or a remote computer via the communication device 23.

[0024] The storage device 22 is a general-purpose memory that stores various data for the automatic door 100.

[0025] The communication device 23 exchanges various information with communication devices external to the automatic door 100 via wired or wireless connections. For example, the communication device 23 can communicate with a work terminal used by a worker who goes to the site to install or maintain the automatic door 100. This allows the worker to check information about each part of the automatic door 100 and input various data about the automatic door 100 on the work terminal. If the communication device 23 has a communication function via a public information and communication network such as the Internet, it is possible to check information about the automatic door 100 and input data from a remote computer.

[0026] The detection device 24 detects operation information of the automatic door 100 and the occurrence of earthquakes. The detection device 24 includes a voltage sensor 24a that detects the drive voltage of the motor 41, a current sensor 24b that detects the drive current of the motor 41, a speed sensor 24c that detects the opening and closing speed of the automatic door 100, and an earthquake sensor 24d that detects seismic waves and generates earthquake information including the seismic waves. The detection device 24 may be provided outside the controller 20.

[0027] The door sensor 30 includes an activation sensor 31 and an auxiliary sensor 32. The activation sensor 31 is a photoelectric sensor mounted on the surface of the transom 60 above the door section 10. The activation sensor 31 includes a light-emitting unit that emits light such as infrared light toward the floor surface, and a light-receiving unit that detects light reflected from the floor surface. When a pedestrian approaches the automatic door 100 and blocks the light, the amount of light received by the light-receiving unit changes, allowing the pedestrian to be detected. When the detection information from the activation sensor 31 is input to the controller 20, the motor 41 is driven to open the door section 10.

[0028] The auxiliary sensor 32 is a photoelectric sensor provided on the first fixed door 12L and the second fixed door 12R of the door unit 10. The auxiliary sensor 32 includes a light-emitting unit provided on one of the first fixed door 12L and the second fixed door 12R and a light-receiving unit provided on the other. The light-emitting unit and the light-receiving unit are located at the same height from the floor, and the light-receiving unit detects light, such as infrared light, emitted horizontally from the light-emitting unit. When a pedestrian passes through the door unit 10 while the opening is open and blocks the light, the amount of light received by the light-receiving unit changes, allowing the pedestrian to be detected. The main purpose of the auxiliary sensor 32 is for closure protection. If the auxiliary sensor 32 detects a pedestrian during the closing operation of the first and second movable doors 11L and 11R, the control device 21 performs reverse control, halting the closing drive and switching to the opening drive. This prevents pedestrians from being trapped between the first and second movable doors 11L and 11R as they close.

[0029] The drive unit 40 includes a motor 41 as a power source that generates rotational power, and a drive pulley 42 that is rotationally driven by the motor 41. The motor 41 can be configured as any of a variety of known motors, but in this embodiment, as an example, it is a brushless motor equipped with an encoder 41A that uses a Hall element. The position of the rotor of the motor 41 detected by the encoder 41A is input to the control device 21, and a drive voltage or drive current is applied to the motor 41 in response to that position, thereby generating the desired rotational power. The drive pulley 42 is connected to the rotor of the motor 41 via a gear mechanism or the like (not shown), and rotates in conjunction with it.

[0030] The power transmission unit 50 transmits the power generated by the drive unit 40 to the door unit 10, driving the first and second movable doors 11L, 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 drive pulley 42 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 drive pulley 42 and the driven pulley 52, and is also approximately the same as the horizontal dimension of the movable range of the first and second movable doors 11L, 11R. When the drive pulley 42 is rotated by the motor 41, the driven pulley 52 rotates in conjunction with the rotation via the power transmission belt 51.

[0031] The connecting member 53 connects the first and second movable doors 11L, 11R to the power transmission belt 51, respectively, to drive them to open and close. Here, one movable door 11 is connected to the upper side of the power transmission belt 51, and the other movable door 11 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.

[0032] 3 shows an outline of the functions of the controller 20 of this embodiment. The controller 20 includes an earthquake determination unit 110, a control unit 120, and a storage unit .

[0033] The earthquake determination unit 110 acquires earthquake information including seismic waves from the earthquake sensor 24d of the detection device 24, and determines whether or not an earthquake has occurred based on this earthquake information.

[0034] The control unit 120 controls the opening and closing of the movable door 11. When the earthquake determination unit 110 determines that an earthquake has occurred, the control unit 120 executes control to hold the movable door 11 in a predetermined position. It is desirable that the predetermined position is a position where the movable door 11 will not come into contact with surrounding components even if it moves slightly due to earthquake shaking. The control unit 120 includes a drive control unit 121 that controls the drive unit 40 to move the movable door 11 in the opening and closing direction. The drive control unit 121 of this embodiment executes control to hold the movable door 11 in a partially open position. The partially open position will be described later.

[0035] The storage unit 130 stores various data such as earthquake information, operation information of the automatic door 100, and the like.

[0036] The operation of the controller 20 of this embodiment will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the operation S100 of the controller 20 of this embodiment when an earthquake occurs.

[0037] In step S101, the earthquake determination unit 110 acquires earthquake information from the earthquake sensor 24d.

[0038] In step S102, the earthquake determination unit 110 determines whether or not there is an earthquake based on the earthquake information. For example, the earthquake determination unit 110 determines that there is an earthquake when the time-series data of the seismic waves in the earthquake information is equal to or greater than a preset reference value. If it is determined that there is an earthquake (Y in step S102), the earthquake determination unit 110 supplies an earthquake detection signal to the control unit 120, and operation S100 proceeds to step S103. If it is not determined that there is an earthquake in step S102, operation S100 returns to step S101 (N in step S102).

[0039] In step S103, the drive control unit 121 controls the drive unit 40 to move and hold the movable door 11 at a predetermined position. As shown in FIG. 5, the drive voltage of the motor 41 is gradually increased, and the drive unit 40 is driven using a drive voltage slightly higher than the minimum voltage at which the movable door 11 moves (the door operation start voltage in FIG. 5). This allows the movable door 11 to move with as much braking force as possible. As a result, it is possible to move the movable door 11 with the minimum drive voltage while suppressing misalignment of the movable door 11. Note that the upper limit of the drive voltage of the motor 41 at this time can be set to a drive voltage lower than the drive voltage during normal opening and closing operations of the automatic door 100, which are performed when the door sensor 30 detects a person passing through the automatic door 100 when no earthquake has been determined. In this case, the movable door 11 moves at a speed slower than that used in normal opening and closing operations or with a drive force lower than that used in normal opening and closing operations until it reaches the predetermined position. This prevents the movable door 11 from moving too far when the direction of earthquake vibrations and the direction of movement of the movable door 11 coincide. As a result, the movable door 11 is prevented from colliding with surrounding objects. The drive control unit 121 may drive the drive unit 40 so as to periodically apply a braking force by periodically repeating the door operation start voltage and a voltage greater than the door operation start voltage.

[0040] If a locking mechanism for locking the door unit 10, such as the pulley lock 54 (see FIG. 1), is provided, the locking mechanism (pulley lock 54) is kept unlocked in step S103 so as not to interfere with the locking mechanism. Also, for example, the drive control unit 121 holds the movable door 11 at a predetermined position by stopping the supply of three-phase AC to the motor 41 after the movable door 11 reaches a predetermined position.

[0041] The predetermined position in this embodiment is a half-open position. The half-open position will be described with reference to Fig. 6. As shown in Fig. 6, the half-open position is a position between the fully open position and the fully closed position of the movable door 11, and is a position that is a predetermined distance away from at least one of the fully open position and the fully closed position. It is preferable that the half-open position is a position that is equidistant from the fully open position and the fully closed position of the movable door 11. By maintaining the movable door 11 at the above equidistant positions, it is possible to make it less likely for it to come into contact with surrounding objects even if it moves slightly due to earthquake shaking.

[0042] In step S104, the drive control unit 121 determines whether the position of the movable door 11 has moved from a predetermined position. For example, the drive control unit 121 determines whether the position of the movable door 11 has moved from a predetermined position due to shaking caused by an earthquake, based on the stroke value of the movable door 11. The stroke value corresponds to the rotation position of the motor 41, and is obtained by counting the output signal of the encoder 41A. If it is determined that the position has moved (Y in step S104), operation S100 proceeds to step S105. If it is determined that the position has not moved (N in step S104), operation S100 proceeds to step S106.

[0043] In step S105, the drive control unit 121 controls the drive unit 40 to return and hold the movable door 11 at a predetermined position. After step S105, the operation S100 proceeds to step S106.

[0044] In step S106, the drive control unit 121 determines whether the earthquake has subsided. For example, the drive control unit 121 determines that the earthquake has subsided when the time-series data of the seismic waves in the earthquake information becomes smaller than a preset reference value. If it is determined that the earthquake has not subsided (N in step S106), operation S100 returns to step S104. If it is determined that the earthquake has subsided (Y in step S106), operation S100 proceeds to step S107. Therefore, steps S104 to S106 are repeatedly executed until the earthquake subsides.

[0045] In step S107, the drive control unit 121 determines whether a predetermined time has passed since the earthquake subsided. If it is determined that the predetermined time has not passed since the earthquake subsided (N in step S107), operation S100 returns to the beginning of step S107. If it is determined that the predetermined time has passed since the earthquake subsided (Y in step S107), operation S100 proceeds to step S108.

[0046] In step S108, the drive control unit 121 controls the drive unit 40 to move the movable door 11 from the predetermined position to the fully closed position. After step S108, the operation S100 ends, and the automatic door 100 performs normal opening and closing control.

[0047] Here, if an earthquake is determined in step S102, the memory unit 130 stores the date and time when the earthquake determination unit 110 determined that an earthquake occurred, and operation information of the automatic door 100 obtained from the time when the earthquake was determined in step S102 until the time when it is determined that the earthquake has subsided in step S102. The operation information of the automatic door includes, for example, at least one of the drive voltage and drive current of the motor 41, the stroke value, and the traveling speed and acceleration of the movable door 11. The drive voltage and drive current of the motor 41 are obtained from the voltage sensor 24a and the current sensor 24b, respectively. The traveling speed and acceleration of the movable door 11 are obtained from the speed sensor 24c.

[0048] The operation and effects of this embodiment will be described below.

[0049] See Figure 7. When an earthquake occurs, the movable door 11 may shake and collide with other movable doors 11 or surrounding objects such as the stopper 140. At this time, the movable door 11 tends to rotate by bouncing up and down. As a result, there is a problem that the movable door 11 is likely to fall off or damage surrounding objects.

[0050] Therefore, in this embodiment, when the earthquake determination unit 110 determines that an earthquake has occurred, control is executed to hold the movable door 11 in a predetermined position. As a result, in the event of an earthquake, the movable door 11 is held in a predetermined position, making it less likely to collide with surrounding objects. As a result, in the event of an earthquake, rotation of the movable door 11 due to a collision between the movable door 11 and surrounding objects, and the resulting detachment of the movable door 11 and damage to surrounding objects can be suppressed.

[0051] In this embodiment, the predetermined position is a half-open position that is a predetermined distance away from at least one of the fully open position and the fully closed position of the movable door 11. This configuration makes it possible to maintain a predetermined distance between the movable door 11 and its surrounding objects, making it less likely for the movable door 11 to collide with surrounding objects. This configuration also has the advantage that it can be realized without requiring any special device for realizing this configuration.

[0052] Here, even if the movable door 11 is held in a predetermined position, if an earthquake applies a load to the door section 10 that is greater than the holding force, the position of the movable door 11 may shift from the predetermined position. As a result, the movable door 11 may collide with surrounding objects such as another movable door 11 or the stopper 140. In this embodiment, the holding control includes control to return the movable door 11 to the predetermined position if the movable door 11 moves from the predetermined position after being moved to the predetermined position. With this configuration, if the movable door 11 shifts from the predetermined position due to an earthquake after being moved to the predetermined position, the movable door 11 can be moved back to its original predetermined position. As a result, it becomes easier to maintain the predetermined distance between the movable door 11 and surrounding objects.

[0053] In this embodiment, the drive control unit 121 applies to the motor 41 a voltage that is greater than the minimum voltage at which the movable door 11 can move until the movable door 11 reaches the predetermined position, thereby moving the movable door 11 to the predetermined position. With this configuration, the movable door 11 moves with as much braking force as possible applied. As a result, excessive movement caused by the movement direction and swing direction matching can be suppressed, and therefore, it is possible to move the movable door 11 with the minimum motor voltage while suppressing positional deviation of the movable door 11.

[0054] In this embodiment, the memory unit 130 stores operation information of the automatic door 100 when the earthquake determination unit 110 determines that an earthquake has occurred. With this configuration, for example, a worker who goes to the installation site of the automatic door 100 reads the operation information stored in the memory unit 130 via a work terminal. This allows the operation information to be displayed on the display screen of the work terminal, etc., and can be used for maintenance after an earthquake. For example, based on the stroke value in the operation information, it can be determined whether there has been a collision with a nearby object, and it can be suggested that parts of the automatic door 100 be replaced.

[0055] A modification of this embodiment will now be described.

[0056] The controller 20 may further include a notification unit that notifies of an earthquake when the earthquake determination unit 110 determines that an earthquake has occurred. For example, the notification unit may notify of an earthquake by flashing an LED (such as an LED used in the door sensor 30) mounted on the automatic door 100 in a specific pattern in response to the determination of an earthquake.

[0057] The controller 20 may further include a transmission unit that transmits the operation information or the information stored in the memory unit 130 to an external device. For example, the transmission unit transmits the operation information to a remote computer, such as a server, via a public information and communication network, such as the Internet. A worker obtains the operation information from the server via a work terminal. This operation information is then displayed on the display screen of the work terminal, etc., and can be used for post-earthquake maintenance. For example, based on the stroke value in the operation information, it is possible to determine whether there has been a collision with a surrounding object, and to recommend replacement of parts of the automatic door 100.

[0058] In the embodiment, the storage unit 130 is provided in the controller 20, but is not limited to this and may be provided in a storage device external to the controller 20.

[0059] In the embodiment, the earthquake determination unit 110 determines whether an earthquake has occurred based on seismic waves obtained from the earthquake sensor 24d, but this is not limiting. The earthquake determination unit 110 may obtain an earthquake determination result from the earthquake sensor 24d or an earthquake detection system external to the automatic door 100 and determine that an earthquake has occurred based on that determination result. In this case, in step S106, the earthquake determination unit 110 may obtain an earthquake convergence determination result from the earthquake sensor 24d or the external earthquake detection system and determine that the earthquake has subsided based on this earthquake convergence determination result. The earthquake determination unit 110 may also determine whether an earthquake has occurred based on information from components used to control the opening and closing of the automatic door 100 (e.g., the Hall IC of the motor 41, the activation sensor 31, the opening protection sensor, etc.).

[0060] In the embodiment, the drive control unit 121 determines whether the earthquake has subsided in step S106 and whether a predetermined time has elapsed since the earthquake subsided in step S107, but this is not limiting. For example, instead of S106 and S107, the drive control unit 121 may determine whether a predetermined time has elapsed since the earthquake was determined in step S102. In this case, if the predetermined time has elapsed since the earthquake was determined, operation S100 may be transitioned to S108. In this case, the predetermined time may be set to a time sufficient for the earthquake to subside. Operation S100 may also be transitioned to S108 based on an external release signal.

[0061] In the embodiment, the drive control unit moves the movable door 11 to the fully closed position in step S108, but it may also move it to the fully open position.

[0062] [Second embodiment] A second embodiment of the present invention will be described below. In the drawings and description of the second embodiment, components and members that are the same as or equivalent to those in the first embodiment will be given the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

[0063] In the above step S103, the predetermined position in the first embodiment was the half-open position, but the predetermined position in the second embodiment is the fully open position. Also, in the first embodiment, the movable door 11 was held at the predetermined position by stopping the supply of three-phase AC to the motor 41, but in the second embodiment, the movable door 11 is held at the fully open position by continuing to drive the movable door 11 in the opening direction after it reaches the fully open position.

[0064] In this embodiment, the holding control includes control to continue driving the movable door 11 in the opening direction after the movable door 11 has reached its fully open position. According to this configuration, the door hanger 132 is held in a state pressed against the stopper 140. Therefore, the movable door 11 is less likely to move from the fully closed position due to earthquake shaking, which makes it less likely for the movable door 11 to collide with surrounding objects. Furthermore, like the first embodiment, this configuration has the advantage that it can be realized without requiring any special device for realizing this configuration.

[0065] In the above-mentioned continuous driving control, the movable door 11 is driven in the open direction with a driving force (pushing force) greater than the driving force used to move the automatic door 100 in the open direction under normal opening / closing control when no earthquake has been determined by the earthquake determination unit 110. This continuous driving control is executed, for example, by applying to the motor 41 a constant driving voltage equal to or greater than the above-mentioned door operation start voltage.

[0066] In the second embodiment, the predetermined position is the fully open position, but it is not limited to this and may be the fully closed position. In this case, the drive control unit 121 executes control to continue driving the movable door 11 in the closing direction after the movable door 11 reaches the fully closed position. In this case, the movable door 11 is driven with a driving force greater than the driving force used when the automatic door 100 moves in the closing direction in normal opening / closing control when no earthquake has been determined by the earthquake determination unit 110. This keeps the first and second movable doors 11L and 11R pressed against each other.

[0067] [Third embodiment] A third embodiment of the present invention will be described below. In the drawings and description of the third embodiment, components and members that are the same as or equivalent to those in the first embodiment will be denoted by the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

[0068] In the third embodiment, the movable door 11 is held in a predetermined position using a pulley lock 54 (see FIG. 1) that engages with the drive pulley 42 and the driven pulley 52 to lock the power transmission belt 51 so that it cannot be wound up. The pulley lock 54 of the third embodiment is an example of a lock mechanism that locks the movable door 11. Referring to FIG. 8, the control unit 120 of the third embodiment includes a lock control unit 122 that controls the activation (locking) and deactivation (unlocking) of the pulley lock 54.

[0069] In the third embodiment, when the movable door 11 reaches a predetermined position in step S103 in response to the determination of an earthquake, the lock control unit 122 executes control to activate the pulley lock 54, thereby locking the movable door 11. This keeps the movable door 11 in a predetermined position. In the third embodiment, if it is determined that a predetermined time has passed since the earthquake subsided (Y in step S107), the pulley lock 54 is unlocked and the process proceeds to step S108.

[0070] According to the third embodiment, by using the pulley lock 54, it is possible to hold the movable door 11 in a predetermined position more firmly than in the first and second embodiments.

[0071] When the predetermined position is the fully closed position, the movable door 11 may be held in the fully closed position using an electric lock that locks the movable door 11.

[0072] [Fourth embodiment] A fourth embodiment of the present invention will be described below. In the drawings and description of the fourth embodiment, components and members that are the same as or equivalent to those of the first embodiment will be denoted by the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

[0073] Referring again to Figure 7, when the door hanger 132 collides with the stopper 140, the movable door 11 rotates with the stopper 140 as a fulcrum, causing the lower part of the movable door 11 to swing and making the movable door 11 more likely to fall off.

[0074] See Figure 9. In this embodiment, multiple stoppers 140 are lined up in the vertical direction and arranged on the upper and lower sides of the vertical center of the movable door 11. The multiple stoppers 140 in this embodiment include upper stoppers 140a provided at both left and right ends of a traveling rail 131 that guides the door section 10 from above in the opening and closing direction, and lower stoppers 140 provided at both left and right ends of a guide rail 134 that guides the door section 10 from below in the opening and closing direction. The traveling rail 131 is an example of an upper rail, and the guide rail 134 is an example of a lower rail.

[0075] The upper stopper 140a contacts the door hanger 132 in the fully open position, and the lower stopper 140b contacts the steady rest 135 in the fully open position. When the door section 10 contacts the upper stopper 140a and the lower stopper 140b in the fully open position, the movement of the movable door 11 in the opening direction is restricted at the fully open position. The position in the opening / closing direction where the upper stopper 140a contacts the door hanger 132 of the door section 10 in the fully open position is equal to the position in the opening / closing direction where the lower stopper 140b contacts the steady rest 135 of the door section 10 in the fully open position.

[0076] In this embodiment, multiple stoppers 140 are arranged vertically, respectively on the upper and lower sides of the vertical center of the movable door 11. With this configuration, in the event of an earthquake, the door hanger 132 and the vibration prevention part 135 of the door section 10 can be caused to collide with the upper stopper 140a and the lower stopper 140b simultaneously, respectively. As a result, when the door section 10 collides with the stopper 140, rotation of the movable door 11 around the point of contact with the upper stopper 140a or the lower stopper 140b can be suppressed.

[0077] In this embodiment, the upper stopper 140a and the lower stopper 140b are provided on the traveling rail 131 and the guide rail 134, respectively, but are not limited to this. For example, the upper stopper 140a and the lower stopper 140b may be provided on the left and right vertical frames of the frame body to which the door unit 10 is attached so as to be able to open and close, or may be provided on the left and right fixed doors 12L and 12R.

[0078] In this embodiment, two stoppers 140, the upper stopper 140a and the lower stopper 140b, are provided, but the present invention is not limited to this, and three or more stoppers 140 may be provided.

[0079] In this embodiment, the upper stopper 140a and the lower stopper 140b are configured to contact the door hanger 132 and the anti-vibration portion 135, but are not limited to this. For example, the upper stopper 140a and the lower stopper 140b may be configured to contact the door edge of the movable door 11.

[0080] In this embodiment, the stopper 140 includes the upper stopper 140a and the lower stopper 140b, but is not limited to this, and one stopper 140 may be used that extends in the vertical direction and comes into contact with the entire end of the movable door 11. Alternatively, at least one of the upper stopper 140a and the lower stopper 140 may extend in the vertical direction and come into contact with the entire end of the movable door 11.

[0081] In this embodiment, the upper stopper 140a and the lower stopper 140b are configured to come into contact with the door section 10 in the fully open position, but this is not limiting. For example, the upper stopper 140a and the lower stopper 140b may be configured to come into contact with the door section 10 in the fully closed position, or may be provided on both the fully closed position and the fully open position so as to come into contact with the door section 10 in both the fully closed position and the fully open position. When the upper stopper 140a and the lower stopper 140b are provided so as to come into contact with the door section 10 in the fully open position, the upper stopper 140a and the lower stopper 140b may be configured to come into contact with the door edge of the movable door 11.

[0082] [Fifth embodiment] A fifth embodiment of the present invention will be described below. In the drawings and description of the fifth embodiment, components and members that are the same as or equivalent to those of the first embodiment will be given the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

[0083] In this embodiment, the stopper 140 is configured to move to a position where it does not come into contact with the door section 10 when a load equal to or greater than a predetermined load is applied in the opening direction. For example, the stopper 140 is configured to fall off the traveling rail 131 due to the impact when the stopper 140 collides with the door section 10 during an earthquake and a load equal to or greater than the predetermined load is applied in the opening direction. Alternatively, the stopper 140 may be configured to retract into the automatic door 100 due to the impact when the stopper 140 collides with the door section 10 during an earthquake and a load equal to or greater than the predetermined load is applied in the opening direction. The predetermined load here is set as appropriate so as to be greater than the load applied to the stopper 140 when the door section 10 is normally driven to open.

[0084] According to this embodiment, even if the door section 10 shakes and hits the stopper 140 with force during an earthquake, the impact causes the stopper 140 to move to a position where it does not come into contact with the door section 10. Therefore, the load applied to the stopper 140 due to the collision can be alleviated, and rotation of the movable door 11 around the stopper 140 as a fulcrum can be suppressed. Furthermore, after the stopper 140 moves to a position where it does not come into contact with the door section 10, the stopper 140 cannot come into contact with the door section 10, and therefore rotation of the movable door 11 around the stopper 140 as a fulcrum can be suppressed.

[0085] [Sixth embodiment] A sixth embodiment of the present invention will be described below. In the drawings and description of the sixth embodiment, components and members that are the same as or equivalent to those of the first embodiment will be given the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

[0086] Referring to Figure 10, automatic door 100 is equipped with stopper drive unit 43 that moves stopper 140 to a position where it does not come into contact with door section 10. Control unit 120 is equipped with stopper drive control unit 123 that controls stopper drive unit 43 so as to move stopper 140 to a position where it does not come into contact with door section 10 when earthquake detection unit 110 determines that an earthquake has occurred.

[0087] The stopper driving unit 43 is an actuator that can move the stopper 140 to a position where it does not come into contact with the door section 10. For example, the stopper driving unit 43 can cause the stopper 140 to drop off the traveling rail 131 in response to a movement command from the stopper driving control unit 123. Alternatively, the stopper driving unit 43 can move the stopper 140 so as to be stored inside the automatic door 100 in response to a movement command from the stopper driving control unit 123.

[0088] According to this embodiment, in response to the determination of an earthquake, the stopper 140 moves to a position where it does not come into contact with the door section 10, thereby suppressing the occurrence of rotation of the movable door 11 with the stopper 140 as a fulcrum.

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

[0090] FIG. 11 shows a door roller 133 of an automatic door 100 according to a seventh embodiment. For simplicity, FIG. 11 shows only the running rail 131 and the door roller 133, and omits other components (such as the door hanger 132). As shown in FIG. 11, the door roller 133 of the seventh embodiment has a large-diameter end 133a with a relatively large diameter on one side in the direction of the rotation axis, and a small-diameter end 133b with a relatively small diameter on the other side in the direction of the rotation axis. In the seventh embodiment, the large-diameter end 133a is located on the left side of the paper in FIG. 11 (the front side of the paper in FIG. 1), and the small-diameter end 133b is located on the right side of the paper in FIG. 11 (the back side of the paper in FIG. 1), but this is not limiting, and the positions of the large-diameter end 133a and the small-diameter end 133b may be reversed.

[0091] In this way, the diameter of the end (large diameter end 133a) on one side in the rotation axis direction of the door roller 133 of the seventh embodiment is larger than the diameter of the end (small diameter end 133b) on the other side in the rotation axis direction. With this configuration, even if shaking occurs in the projection direction, the tilt of the door roller 133 in the projection direction is suppressed by contact between the large diameter end 133a and the running rail 131. As a result, rotation in the projection direction of the movable door 11 is suppressed and the door roller 133 does not climb over the running rail 131, so it is possible to improve the wheel derailment resistance of the door roller 133. [Explanation of symbols]

[0092] 10 Door unit, 20 Controller, 21 Control device, 22 Storage device, 23 Communication device, 24 Detection device, 40 Drive unit, 41 Motor, 43 Stopper drive unit, 54 Pulley lock, 100 Automatic door, 110 Earthquake judgment unit, 120 Control unit, 121 Drive control unit, 122 Lock control unit, 123 Stopper drive control unit, 130 Memory unit, 133 Door roller, 133a Large diameter end, 133b Small diameter end, 140 Stopper, 140a Upper stopper, 140b Lower stopper.

Claims

1. a control unit that controls the opening and closing of the door; An earthquake determination unit that determines whether an earthquake has occurred, the control unit executes control to hold the door at a predetermined position that is a predetermined distance away from at least one of a fully open position and a fully closed position of the door when the earthquake determination unit determines that an earthquake has occurred, The control of holding the door at a predetermined position includes control of returning the door to the predetermined position if the position of the door has moved from the predetermined position after being moved to the predetermined position, The predetermined position is a position other than the fully open position and the fully closed position of the door. Automatic door device.

2. a locking mechanism for locking the door; The control for holding the door in a predetermined position includes a control for activating the locking mechanism to lock the door when the door reaches the predetermined position. The automatic door system according to claim 1.

3. The control unit moves the door to the predetermined position at a speed slower than the travel speed of the door in normal opening / closing control or with a driving force smaller than the driving force in normal opening / closing control until the door reaches the predetermined position. The automatic door system according to claim 1.

4. The control unit applies a voltage greater than a minimum voltage at which the door can move to a motor that drives the door until the door reaches the predetermined position, thereby moving the door to the predetermined position. The automatic door system according to claim 3.

5. The automatic door system is equipped with a storage unit that stores operation information of the automatic door system when the earthquake determination unit determines that an earthquake has occurred. The automatic door system according to claim 1.

6. The automatic door system is equipped with a transmission unit that transmits to an external device operation information when the earthquake determination unit determines that an earthquake has occurred or information stored in a memory unit that stores operation information of the automatic door system when the earthquake determination unit determines that an earthquake has occurred. The automatic door system according to claim 1.

7. and a notification unit that notifies the earthquake when the earthquake determination unit determines that the earthquake occurs. The automatic door system according to claim 1.

8. A step in which an earthquake judgment unit provided in the automatic door device judges whether or not an earthquake has occurred; The automatic door system is designed to operate automatically when an earthquake occurs, and to prevent the door from moving forward. a step in which the control unit executes control to return the door to the predetermined position when the position of the door has moved from the predetermined position after the door has been moved to the predetermined position; Equipped with The predetermined position is a position other than the fully open position and the fully closed position of the door. A method for controlling an automatic door device.

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