Automatic door system, control method for automatic door system, control program for automatic door system

Abstract

To provide a technology of an automatic door device which can reduce the influence on a user when the user touching a door is to open the door.SOLUTION: An automatic door device 100 includes a door drive control unit 50 configured to open a door 20 on the basis of an open instruction of an open instruction output unit which outputs an open instruction in response to an operation to open the door 20. The door drive control unit 50 executes warning operation which issues a warning in an early stage of opening of the door 20 based on the open instruction.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] An automatic door device that opens and closes a door by motor drive is known. For example, Patent Document 1 describes an automatic door device for a toilet installed in a facility such as a public toilet or a toilet in a shopping center. This automatic door device includes a sliding door that is disposed so as to be openable and closable at the doorway of the toilet cubicle, a controller and drive means disposed inside the door, and an outer operation unit including a push-button type outer opening switch and an outer closing switch attached to the outdoor side. This automatic door device opens and closes the door by driving a motor of the drive means controlled by the controller.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] The inventor of the present invention has obtained the following recognition regarding an automatic door device. When an open switch is operated while a part of a user's body is in contact with the door of the automatic door device, it is conceivable that the user will be affected to a certain extent according to the movement of the opening door.

[0005]

[0006] It is desirable that the influence on the user during the opening operation is small. The automatic door device described in Patent Document 1 cannot be said to have taken sufficient measures from the viewpoint of reducing the influence on the user when the user operates to open the door while touching the door. This invention has been made in view of these problems, and one of its objectives is to provide a technology for an automatic door system that can reduce the impact on the user when the user touches the door while operating it to open it. [Means for solving the problem]

[0007] To solve the above problems, an automatic door device according to one embodiment of the present invention includes a door drive control unit that opens the door based on an open instruction output unit that outputs an open instruction in response to an operation to open the door. The door drive control unit performs a warning operation that issues a warning at the beginning of the door opening operation performed based on the open instruction.

[0008] Another aspect of the present invention is an automatic door device. This device comprises a door separating the interior from the exterior, an instruction output unit that outputs an open instruction or a close instruction in response to an operation of the door open instruction or a close instruction, and a control unit that controls the opening and closing drive of the door based on the instruction from the instruction output unit. The control unit performs a warning operation in which, at the initial stage of the door opening drive based on the open instruction output from the instruction output unit, the door is driven at a speed lower than the normal driving speed of the door.

[0009] A further aspect of the present invention is a method for controlling an automatic door device. This method includes the steps of: outputting an open command from an instruction output unit in response to an operation to open the door; and performing a warning operation to issue a warning at the initial stage of driving the door to open in response to the open command.

[0010] Another aspect of the present invention is a control program for an automatic door device. This control program causes a computer to perform the following steps: output an open command from an instruction output unit in response to an operation to open the door; and perform a warning operation to issue a warning at the initial stage of driving the door open after receiving the open command.

[0011] A further aspect of the present invention is an automatic door device. This device includes a door drive control unit that opens and closes a door based on an instruction from an instruction output unit that outputs an open instruction or a close instruction in response to an operation of the door open instruction or a close instruction; a first detection unit provided at a predetermined height in the opening and detecting a person or object present in the opening; a second detection unit that detects a person or object located at a position lower than the detection area of ​​the first detection unit; and a resistance detection unit that detects the resistance of the door's movement. When the door drive control unit is closing the door and the resistance detected by the resistance detection unit exceeds a threshold, and the second detection unit is in a detection state, the door drive control unit performs an avoidance operation to open the door or stop the door.

[0012] Another aspect of the present invention is an automatic door device. This device includes a door provided in an opening separating the interior from the exterior, an instruction output unit that outputs an open instruction or a close instruction in response to an operation to open or close the door, a control unit that controls the opening and closing drive of the door based on the instruction of the instruction output unit, a resistance detection unit that detects the resistance of the door's movement, a first detection unit provided at a predetermined height in the opening that detects a person or object present in the opening, and a second detection unit that detects a person or object located at a position lower than the detection area of ​​the first detection unit when the resistance detection unit is in a detection state. The control unit controls the door to open or stop when the resistance detection unit is in a detection state while the door is being closed, and does not close the door until the second detection unit is in a non-detection state.

[0013] A further aspect of the present invention is a method for controlling an automatic door device. This method relates to an automatic door device that opens and closes a door based on an instruction from an instruction output unit that outputs an open instruction or a close instruction in response to an operation of the door open instruction or a close instruction, and includes: a first detection step of detecting a person or object present in the opening at a predetermined first height of the opening; a second detection step of detecting a person or object present at a position lower than the first height; a resistance detection step of detecting the resistance of the door's movement; and a step of opening the door or stopping the door when the door is being closed and the movement resistance detected in the resistance detection step exceeds a threshold, and a person or object is detected in the second detection step.

[0014] A further aspect of the present invention is a control program for an automatic door device. This control program causes a computer to perform the following steps for an automatic door device that opens and closes a door based on an instruction from an instruction output unit that outputs an open instruction or a close instruction in response to an operation to open or close the door: a first detection step of detecting a person or object present in the opening at a predetermined first height of the opening; a second detection step of detecting a person or object present at a position lower than the first height; a resistance detection step of detecting the resistance of the door's movement; and a step of opening the door or stopping the door when the door is being closed and the movement resistance detected in the resistance detection step exceeds a threshold, and a person or object is detected in the second detection step.

[0015] Furthermore, any combination of the above, or any substitution of the components or expressions of the present invention between methods, apparatus, programs, temporary or non-temporary storage media recording programs, systems, etc., are also valid embodiments of the present invention. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide an automatic door device technology that can reduce the impact on the user when the user touches the door while operating to open it. [Brief explanation of the drawing]

[0017] [Figure 1] This is a schematic plan view showing a room equipped with an automatic door device according to the first embodiment. [Figure 2] Figure 1 is a front view showing a room equipped with an automatic door system. [Figure 3] Figure 1 is a block diagram showing the configuration of the automatic door device. [Figure 4] This figure shows an example of the speed change of a door during opening, excluding the preparatory movement. [Figure 5] This figure shows an example of the speed changes of a door during opening, including the preparatory movement. [Figure 6] This figure shows another example of the speed changes of a door during an opening operation, including a preparatory movement. [Figure 7]It is a figure showing another example of the speed transition of a door during an opening operation including a preliminary movement operation. [Figure 8] It is a flowchart showing an example of an avoidance operation of the automatic door device of FIG. 1.

Embodiments for Carrying Out the Invention

[0018] Hereinafter, the present invention will be described with reference to each drawing based on preferred embodiments. In the embodiments and modifications, the same or equivalent components and members shall be denoted by the same reference numerals, and repeated explanations will be omitted as appropriate. Also, the dimensions of the members in each drawing are shown enlarged or reduced as appropriate for ease of understanding. Also, a part of the members that are not important for explaining the embodiments in each drawing is shown with omission.

[0019] Also, separate components having a common point are distinguished by attaching "first", "second", etc. at the beginning of the name, and these are omitted when collectively referred to. Also, terms including ordinals such as first and second are used to explain various components, but this term is used only for the purpose of distinguishing one component from another component, and the components are not limited by this term.

[0020] [First Embodiment] Referring to FIGS. 1, 2, and 3, the automatic door device 100 according to the first embodiment of the present invention will be described. FIG. 1 is a plan view schematically showing a room 10 provided with the automatic door device 100. FIG. 2 is a front view showing the room 10 provided with the automatic door device 100. FIG. 2 shows a part of the front wall 101 of the room 10 broken away. For convenience of explanation, as shown in the figure, a horizontal direction is taken as the X direction, a horizontal direction orthogonal to the X direction is taken as the Y direction, and a vertical direction orthogonal to both is taken as the Z direction. The X direction may be referred to as the left-right direction, the Y direction as the front-back direction, and the Z direction as the up-down direction. Such notation of directions does not limit the posture of the automatic door device 100, and the automatic door device 100 can be used in any posture.

[0021] Figure 3 is a block diagram of the automatic door device 100. Each block shown in Figure 3 can be realized hardware-wise using components such as a computer processor, CPU, and memory, as well as electronic circuits and mechanical devices, and software-wise using computer programs, etc. However, here, the diagram depicts functional blocks realized through the coordination of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways through combinations of hardware and software.

[0022] The automatic door device 100 is a device that opens and closes a door for opening and closing an opening. The automatic door device 100 can be applied to openings of various partitioning means such as walls that divide a space. In this embodiment, the automatic door device 100 opens and closes an opening 102 provided in the front wall 101 of a room 10 using a door 20. The opening 102 in Figure 2 is provided off-center to the right of the left-right center of the front wall 101. The door 20 in this example is a sliding door that moves left and right. The room 10 can be installed in various facilities such as train stations, hotels, department stores, hospitals, and elderly care facilities.

[0023] There are no restrictions on the type of room 10, but in this example, room 10 is a toilet room used as a multi-functional toilet. A multi-functional toilet is a toilet intended for use not only by able-bodied people but also by wheelchair users, users with internal disabilities, etc. Users with internal disabilities include, for example, users of stomas such as colostomies and urostomies. As an example, room 10 is equipped with a toilet bowl 11, an ostomy chair 12, a sink 13, a bed 14, and a child's chair 19. The ostomy chair 12 is a washing platform for users to clean their stomas. Handrails 15 are also provided around the toilet bowl 11 and the ostomy chair 12.

[0024] Furthermore, a call operation unit 16 is provided in room 10 near the toilet 11. The call operation unit 16 detects user operations performed by a user who wishes to request assistance from another person due to illness or other reasons, and provides the detection result as a call signal to the door drive control unit 50. In this embodiment, the call operation unit 16 provides the door drive control unit 50 with a call signal as a detection result, consisting of a detected state where a user operation has been detected and a non-detection state where no operation has been detected. The call signal is turned on in the detected state and turned off in the non-detection state. In this example, the call operation unit 16 is a push-button switch that turns on the call signal when pressed and turns off the call signal when released. The call operation unit 16 is sometimes called a call switch. The door drive control unit 50 performs a predetermined emergency operation when the call signal from the call operation unit 16 is turned on. This emergency action includes notifying the administrator of room 10 of the detection result, displaying the detection result to the outdoor notification unit 46, and releasing the restriction on the movement of door 20 by the door lock unit 48. The call operation unit 16 also functions as an emergency button.

[0025] Furthermore, Room 10 is equipped with an indoor notification unit 17 and an extension operation unit 18 near the Ostomate 12. The indoor notification unit 17 is a device that notifies the user of predetermined matters from the administrator of Room 10 or the door drive control unit 50. The indoor notification unit 17 can notify predetermined matters, for example, through the sound of a speaker or a display such as an LCD screen. If a usage time limit (for example, 30 minutes) is set for Room 10, the door drive control unit 50 performs predetermined indoor notification operations through the indoor notification unit 17 according to the elapsed time since the user entered the room. These indoor notification operations include notifying the remaining time until the usage time limit is reached, notifying that the usage time limit has been exceeded, and releasing the restriction on the movement of the door 20 by the door lock unit 48. Also, if the usage time limit is exceeded, the door drive control unit 50 notifies the outdoor notification unit 46 and the administrator of Room 10 that the usage time limit has been exceeded.

[0026] The extension operation unit 18 detects user operations to extend the usage time limit and provides the detection result to the door drive control unit 50 as an extension signal. In this embodiment, the extension operation unit 18 provides the door drive control unit 50 with an extension signal as a detection result, which consists of a detected state where user operations are detected and a non-detected state where operations are not detected. The extension signal is turned on in the detected state and turned off in the non-detected state. In this example, the extension operation unit 18 is a push-button switch that turns the extension signal on when pressed and turns the extension signal off when released. Hereinafter, the extension operation unit 18 may be referred to as the extension switch. The door drive control unit 50 extends the usage time limit by a predetermined time (for example, 10 minutes) when the extension signal from the extension operation unit 18 is turned on.

[0027] The automatic door device 100 drives a door 20 to open and close a rectangular opening 102 when viewed from the front. The door 20 is a movable body that is horizontally slidable on a movement path 22 that extends from a fully closed position on the right to a fully open position on the left. The movement path 22 is the trajectory of the door 20 projected onto the floor surface. The automatic door device 100 includes operation detection units 24 and 26 and a door drive control unit 50.

[0028] The operation detection units 24 and 26 detect the user's opening and closing operations and provide the door drive control unit 50 with an open door activation signal or a close door activation signal (hereinafter sometimes collectively referred to as "activation signals") based on the detection results. The door drive control unit 50 opens and closes the door 20 based on the activation signals from the operation detection units 24 and 26. The operation detection units 24 and 26 are exemplified by an open instruction output unit that outputs an open instruction when the door 20 is opened, and a close instruction output unit that outputs a close instruction when the door 20 is closed. The open instruction output unit and the close instruction output unit are collectively referred to as the instruction output unit.

[0029] In this embodiment, the operation detection units 24 and 26 include an external operation detection unit 24 that can be operated from outside the room 10 and an internal operation detection unit 26 that can be operated from inside the room 10. In the example shown in Figure 2, the external operation detection unit 24 is provided on the outside of the front wall 101, and the internal operation detection unit 26 is provided on the inside of the front wall 101. The operation detection units 24 and 26 may also be provided on the door 20.

[0030] The external operation detection unit 24 includes an external opening operation unit 241 that detects an opening operation to open the door 20, and an external closing operation unit 242 that detects a closing operation to close the door 20. The internal operation detection unit 26 includes an internal opening operation unit 261 that detects an opening operation to open the door 20, and an internal closing operation unit 262 that detects a closing operation to close the door 20.

[0031] The outer opening operation unit 241, the outer closing operation unit 242, the inner opening operation unit 261, and the inner closing operation unit 262 can employ devices based on various principles capable of detecting user operation. Each of the operation units 241, 242, 261, and 262 in this embodiment is a push-button switch that turns on an activation signal when pressed and turns off an activation signal when released. Hereinafter, the outer opening operation unit 241 and the inner opening operation unit 261 may be referred to as the opening switch, and the outer closing operation unit 242 and the inner closing operation unit 262 may be referred to as the closing switch.

[0032] In this embodiment, the door drive control unit 50 includes a control unit 52 and a drive unit 56. The control unit 52 controls the opening and closing operation of the door 20 based on the detection results of the operation detection units 24 and 26. The control unit 52 will be described later. The drive unit 56 slides the door 20 based on the control of the control unit 52. The drive unit 56 is sometimes referred to as a door engine. For example, the drive unit 56 can be composed of a loop-shaped belt (not shown) to which the door 20 is connected and a drive motor 562 that drives the belt. The rotation of the drive motor 562 is controlled by the control unit 52 via a drive circuit 561. The door drive control unit 50 may be provided on the transom of the front wall 101.

[0033] In this embodiment, the drive unit 56 includes a resistance detection unit 36 ​​and a position detection unit 38. The resistance detection unit 36 ​​and the position detection unit 38 provide detection results to the door drive control unit 50. The resistance detection unit 36 ​​detects the movement resistance of the door 20 during movement. The movement resistance of the door 20 is the resistance force that the door 20 experiences in the opposite direction of movement during movement, and is sometimes referred to as running resistance or sliding resistance. The movement resistance is usually greater when there is something in contact with the moving body. As an example, the resistance detection unit 36 ​​is a current sensor that transmits the result of detecting the drive current of the drive motor 562 to the door drive control unit 50. The door drive control unit 50 can identify the movement resistance based on the detection result of the resistance detection unit 36.

[0034] The position detection unit 38 detects the position of the door 20 from the fully closed position to the fully open position. For example, the position detection unit 38 is an incremental encoder that transmits a position signal, which is a pulse signal with a number of pulses proportional to the rotation angle of the drive motor 562, to the door drive control unit 50. When the automatic door device 100 is started, the door drive control unit 50 moves the door 20 to the fully closed position, uses that fully closed position as a reference position, and can determine the position of the door 20 by counting the number of pulses of the position signal from the position detection unit 38.

[0035] The automatic door device 100 of this embodiment includes a warning output unit 44 that issues a warning to the user based on the control of the door drive control unit 50. The warning output unit 44 in this example includes a sound output unit 441 that emits a warning sound and a light output unit 442 that emits a warning light, based on the control of the door drive control unit 50. The sound output unit 441 can be configured to include, for example, a speaker. The light output unit 442 can be configured to include, for example, a light-emitting element such as an LED. The warning output unit 44 may be provided on the front wall 101 as shown in the figure.

[0036] In this embodiment, the automatic door device 100 includes a side detection unit 34 capable of detecting the presence of an object on the side of the door 20. Examples of objects to be detected by the side detection unit 34 include parts of the user's body such as hands and feet, or luggage. In this example, the side detection unit 34 provides the door drive control unit 50 with a side detection signal as a detection result, consisting of a detection state in which the presence of an object is detected and a non-detection state in which no object is detected. The side detection signal is turned on in the detection state and turned off in the non-detection state. The door drive control unit 50 performs predetermined operations, described later, based on the detection result of the side detection unit 34. In this embodiment, the side detection unit 34 detects the presence of an object on the outer side 201 and the inner side 202 of the door 20. In this embodiment, the side detection unit 34 is configured to include a light-receiving element that receives reflected infrared light projected along the sides 201 and 202 of the door 20. As an example, the side detection unit 34 is provided on the transom of the front wall 101.

[0037] In this embodiment, the automatic door device 100 includes an opening detection unit 32 capable of detecting objects present in the path of the door 20 in the opened opening 102. The opening detection unit 32 is sometimes referred to as an auxiliary sensor. In this example, the opening detection unit 32 provides the door drive control unit 50 with an opening detection signal as a detection result, consisting of a detection state in which the presence of an object is detected and a non-detection state in which no object is detected. The opening detection signal is turned on in the detection state and turned off in the non-detection state. The door drive control unit 50 performs predetermined operations, described later, based on the detection result of the opening detection unit 32. Examples of objects to be detected by the opening detection unit 32 include the user's body and luggage. As an example, the opening detection unit 32 can be configured to include a set of light emitter and light receiver provided on the front wall 101 at positions separated to the left and right of the opening 102.

[0038] The opening detection unit 32 of this embodiment includes a first detection unit 321 capable of detecting an object present in the doorway 22 at a predetermined first height H1, and a second detection unit 322 capable of detecting an object present in the doorway 20 at a second height H2 lower than the first height H1. The first height H1 is set by the first detection unit 321 to a height at which a user crossing the opening 102 on foot or in a wheelchair can be detected. For example, the first height H1 can be set in the range of 200 mm to 700 mm. The second height H2 is set by the second detection unit 322 to a height at which a user lying in the doorway 22 can be detected. For example, the second height H2 can be set in the range of 100 mm to 300 mm.

[0039] In this embodiment, room 10 is provided with an activity determination unit 27 that determines whether a person is active in room 10. The activity determination unit 27 includes an object detection sensor having a detection area consisting of multiple detection spots. The detection principle of the object detection sensor is not particularly limited, but the activity determination unit 27 in this embodiment is configured to include multiple light-receiving elements that receive reflected infrared light projected onto each detection spot in the detection area. The activity determination unit 27 determines whether a person is active based on the difference between multiple detection results acquired at different times. In this example, the activity determination unit 27 provides the door drive control unit 50 with an activity determination signal as a determination result, consisting of an active state in which it is determined that a person is active, and an inactive state in which it is determined that a person is not active. The activity determination signal is turned on in the active state in which it is determined that a person is active, and turned off in the inactive state in which it is determined that a person is not active.

[0040] In this embodiment, room 10 is provided with an occupancy detection unit 28 that detects whether or not there is a person inside room 10. The detection principle of the occupancy detection unit 28 is not particularly limited, but the occupancy detection unit 28 in this embodiment is a human presence sensor configured to include a pyroelectric element capable of detecting changes in infrared radiation emitted by a person. In this example, the occupancy detection unit 28 provides the door drive control unit 50 with a human presence detection signal as a detection result, consisting of a detected state where a person is detected and a non-detected state where a person is not detected, in response to the signal from the pyroelectric element. The human presence detection signal is turned on when a person is detected and turned off when a person is not detected.

[0041] In this embodiment, room 10 is provided with an outdoor notification unit 46 that notifies the outside of the indoor status of room 10, such as whether it is occupied or if it is in an abnormal state. The outdoor notification unit 46 in Figure 2 is, as an example, a display that shows the word "In Use" based on the control of the door drive control unit 50. The outdoor notification unit 46 may be installed on the transom of the front wall 101, as shown in the figure. For example, the door drive control unit 50 causes the outdoor notification unit 46 to display "In Use" when the occupancy detection unit 28 is in a detection state, and stops this display when it is not detected.

[0042] In this embodiment, room 10 is provided with a door lock unit 48 that restricts the movement of the closed door 20 based on the control of the door drive control unit 50. The door lock unit 48 may mechanically restrict the movement of the door 20 by locking it with electromagnetic force, such as an electric lock, or it may controlmatically restrict the opening operation by operating the outer opening operation unit 241 by disabling the door opening activation signal of the outer opening operation unit 241, or it may be a combination of both. For example, the door drive control unit 50 can turn on the door lock unit 48 when room 10 is in use to restrict the movement of the door 20. In this specification, disabling the activation signal is exemplified by disabling the opening / closing instruction of the instruction input unit.

[0043] Next, the control unit 52 will be described. As shown in Figure 3, the control unit 52 in this embodiment includes an information acquisition unit 521, an information output unit 522, a door operation control unit 523, a warning operation control unit 524, a storage unit 526, a time determination unit 527, a time management unit 528, and a transmission unit 529, and functions as an information processing unit.

[0044] The information acquisition unit 521 functions as an input port for acquiring activation signals, detection signals, etc., from the outward opening operation unit 241, the outward closing operation unit 242, the inward opening operation unit 261, the inward closing operation unit 262, the first detection unit 321, the second detection unit 322, the side detection unit 34, the activity determination unit 27, the occupancy detection unit 28, the call operation unit 16, the extension operation unit 18, the resistance detection unit 36, and the position detection unit 38.

[0045] The information output unit 522 outputs control signals to the sound output unit 441, the light output unit 442, the indoor notification unit 17, the outdoor notification unit 46, and the door lock unit 48 to control them. The information output unit 522 functions as an output port. The door operation control unit 523 outputs control signals to the drive circuit 561 of the drive unit 56 to control the operation of the door 20. The warning operation control unit 524 controls the operation of the door 20 via the door operation control unit 523 to execute a warning operation described later. The storage unit 526 temporarily stores the information signals from each detection unit acquired by the information acquisition unit 521. The storage unit 526 stores the control programs P100 and P200 described later. The time management unit 528 functions as a time counter that counts the elapsed time after the user enters the room. The time determination unit 527 determines whether the elapsed time counted by the time management unit 528 exceeds the usage limit time. The transmission unit 529 transmits predetermined information to be output to an external party such as the administrator of the room 10. This predetermined information includes that the call operation unit 16 was operated and that the usage time limit has been exceeded.

[0046] Next, the operation of the automatic door device 100 will be explained. First, the opening and closing operation of the first example operation, which does not include warning operations, will be explained. In the first example operation, the automatic door device 100 operates as follows. (1) When entering room 10, the user operates the external opening operation unit 241 (open switch). When the external opening operation unit 241 is operated, the door opening activation signal is turned on, and the door drive control unit 50 performs the opening operation. Due to the opening operation, the door 20 moves to the fully open position and stops.

[0047] (2) After entering room 10, the user operates the inner closing operation unit 262 (close switch). When the inner closing operation unit 262 is operated, the door closing activation signal is turned on, and the door drive control unit 50 performs the closing operation. Due to the closing operation, the door 20 moves to the fully closed position and stops. (3) In this state, the user uses the facilities in room 10.

[0048] (4) When exiting room 10, the user operates the inner opening operation unit 261 (open switch). When the inner opening operation unit 261 is operated, the door opening activation signal is turned on, and the door drive control unit 50 performs the opening operation. Due to the opening operation, the door 20 moves to the fully open position and stops. (5) After exiting room 10, the user operates the external closing operation unit 242 (close switch). When the external closing operation unit 242 is operated, the door closing activation signal is turned on, and the door drive control unit 50 performs the closing operation. Due to the closing operation, the door 20 moves to the fully closed position and stops.

[0049] The speed transition of the door 20 during opening operation will be explained. Figure 4 is a diagram showing a first example of the speed transition of the door 20 during opening operation. In this diagram, the horizontal axis shows the position of the door 20, and the vertical axis shows the speed of the door 20. During opening operation, the door 20 is controlled from the fully closed position to the fully open position according to the position of the door 20, which is determined from the number of pulses of the position signal of the position detection unit 38. In this example, the door 20 accelerates from a stopped state to a high first speed, moves at a constant speed at the first speed, decelerates from a predetermined deceleration start position to a low second speed, slowly approaches the fully open position at the second speed, and stops at the fully open position.

[0050] This constant velocity movement is not limited to strictly constant velocity movement; it is acceptable if it is approximately constant velocity, even with some fluctuations. In the opening operation, the door 20 moves the longest distance at the first velocity. In this sense, the first velocity is the normal movement speed of the door 20. The average speed during which the door 20 moves from the fully closed position to the fully open position is called the average movement speed of the door 20 in the first operation example. The average movement speed is obtained by dividing the distance the door 20 moves by the time it moves. The closing operation is an operation in which the fully open position and the fully closed position are reversed, and a similar velocity progression is observed.

[0051] (Example of second action) Next, a second example of operation of this embodiment will be described. The second example of operation includes a warning operation. In the opening operation, if the door 20 moves at a normal speed while the user's hand is touching the door 20, the user may lose their balance. For example, in automatic door systems used by many elderly people with reduced physical strength, such as nursing homes, users may press the open switch while leaning on the door to support themselves. Even in this case, it is desirable that the automatic door system be configured so that the user is not pulled by the opening door.

[0052] Therefore, in the automatic door device 100 of this embodiment, the door drive control unit 50 performs a warning operation that issues a warning at the beginning of the door 20's opening operation. Because the warning allows the user to release their hands, the likelihood of the user losing their balance is reduced even if the door 20 moves at normal speed afterward.

[0053] The warning action only needs to be capable of issuing a warning to the user. In this embodiment, the warning action includes a preliminary movement action that moves the door 20 at a speed slower than the normal movement speed of the door 20, and an action that outputs a warning sound or a warning light to the user. The warning sound is output from the sound output unit 441, and the warning light is output from the light output unit 442. By outputting a warning sound or a warning light, the user can be alerted. Furthermore, by performing the preliminary movement action, the user can be alerted even if they cannot perceive the sound or light. It is not necessary for the warning action to include multiple actions, but the warning action may include two or more different actions.

[0054] In the warning operation, the initial period of the opening operation refers to the period from when the door drive control unit 50 receives the door opening activation signal until the door 20 reaches the first speed, and includes the period before the door 20 begins to move.

[0055] An example of a preparatory movement operation will be explained with reference to Figure 5. Figure 5 is a diagram showing an example of the speed transition of the door 20 during an opening operation including a preparatory movement operation, and corresponds to Figure 4. In this example, the door drive control unit 50 performs a preparatory movement operation to move the door 20 at a low third speed before accelerating the door 20 to the first speed. In the preparatory movement operation in Figure 5, as indicated by the symbol A, the door 20 undergoes a first acceleration to a third speed that is lower than the first speed, then moves temporarily at the third speed, and then undergoes a second acceleration to the first speed. After accelerating to the first speed, the door 20 moves with the same speed transition as the opening operation in the first operation example. The distance the door 20 moves during the preparatory movement operation may be 500 mm or less. Alternatively, the distance the door 20 moves during the preparatory movement operation may be 10 mm or more. By performing a preparatory movement operation as a warning operation, the door 20 moves at a low speed in the initial stages of the opening operation, giving the user time to release their hands from the door 20 and reducing the likelihood of losing their balance. Thus, the preparatory movement may include a movement that does not accelerate temporarily.

[0056] The speed of the preparatory movement is the average speed at which the door 20 moves from the start position to the end position of the preparatory movement. The speed of the preparatory movement may be slower than the first speed, slower than the average speed at which the door 20 moves from the fully closed position to the fully open position, or slower than the second speed. For example, the speed of the preparatory movement may be between 10 mm / second and 100 mm / second.

[0057] Let's describe another example of a preparatory movement. Figures 6 and 7 show the velocity changes of the door 20 during an opening operation that includes another example of a preparatory movement, and correspond to Figure 4. In the preparatory movement of Figure 6, as indicated by the symbol B, the door 20 undergoes a first acceleration, is temporarily decelerated, and then undergoes a second acceleration. Thus, a preparatory movement may include an operation that temporarily decelerates or stops.

[0058] In the preliminary movement shown in Figure 7, as indicated by the symbol C, the door 20 undergoes a first acceleration, then accelerates with a smaller acceleration than the first, and then undergoes a second acceleration. Thus, the preliminary movement may include an action to temporarily reduce the acceleration.

[0059] When a user is touching the door 20, it is desirable to stop the opening operation as quickly as possible. Therefore, this embodiment includes a resistance detection unit 36 ​​that detects the movement resistance of the door 20 during movement, and the door drive control unit 50 stops the opening operation if the movement resistance detected by the resistance detection unit 36 ​​exceeds a threshold T1 during the warning operation. This threshold T1 can be set between the movement resistance when there is no object in contact with the door 20 and the movement resistance when there is an object in contact with it.

[0060] From the perspective of improving usability, it is desirable to promptly resume the opening operation once the contact condition is resolved. Therefore, in this embodiment, the door drive control unit 50 resumes the opening operation if the movement resistance detected by the resistance detection unit 36 ​​after stopping the opening operation is below a predetermined reference value. This reference value can be set between the movement resistance when there is no contact object on the door 20 and the movement resistance when there is contact object. For example, this reference value may be different from the threshold T1 described above, or it may be lower than the threshold T1.

[0061] When a user is touching the door 20, it is desirable to stop the opening operation as quickly as possible. Therefore, this embodiment includes a side detection unit 34 that detects the presence of an object on the sides 201 and 202 of the door 20, and the door drive control unit 50 stops the opening operation if the side detection unit 34 detects an object during the warning operation.

[0062] From the perspective of improving usability, it is desirable to promptly resume the opening operation once an object has been removed from the side. Therefore, in this embodiment, the door drive control unit 50 resumes the opening operation after the side detection unit 34 stops detecting an object.

[0063] (Example of third action) Next, a third example of operation of this embodiment will be described. The third example of operation includes an avoidance operation. For example, in an automatic door system for a facility used by many elderly people with weakened physical strength, such as a nursing home, there is a possibility that a user may fall into the opening during the closing operation, and the moving door may come into contact with the user. In this case, it is desirable that the automatic door system be configured to reduce the impact that the door has on the user.

[0064] The second detection unit 322 in this embodiment is configured to detect a user who has fallen into the opening 102. It is also conceivable that the closing operation be prohibited when the second detection unit 322 is in a detection state. Since the second detection unit 322 is installed at a relatively low position close to the floor, it is more prone to the accumulation of foreign matter such as mud and dust than the first detection unit 321, thus more likely to cause a false detection state. In a false detection state, the door 20 will not close until the foreign matter is removed through maintenance, and the automatic door device 100 will malfunction. Therefore, it is desirable that the automatic door device 100 be able to maintain its function even when the second detection unit 322 is in a false detection state.

[0065] Therefore, in this embodiment, the automatic door device 100 maintains its function even when the second detection unit 322 is in a false detection state, and performs an action (hereinafter referred to as "avoidance action") that reduces the impact of the closing door 20 on a person who has fallen.

[0066] In this embodiment, the door drive control unit 50 performs an avoidance operation to open the door 20 or stop the door 20 when the movement resistance detected by the resistance detection unit 36 ​​during the closing operation of the door 20 exceeds the threshold T2 and the second detection unit 322 is in a detection state. In this case, the presence of a person who has fallen is detected by the movement resistance, and the detection state of the second detection unit 322 is referred to when a person who has fallen is present, so that malfunctions due to false detection conditions can be avoided and the impact of the door 20 on the person who has fallen can be reduced. The threshold T2 can be set between the movement resistance when there is no person who has fallen on the door 20 and the movement resistance when there is a person who has fallen.

[0067] An example of a closing operation process for the automatic door device 100, which moves the door 20 from the fully open position to the fully closed position, will be described. This process includes avoidance operations. In this description, the state in which each detection unit is detecting is indicated as "on," and the state in which each detection unit is not detecting is indicated as "off." Figure 8 is a flowchart of process S110 of an example of operation of the automatic door device 100. When process S110 is started and the closing switch (outer closing operation unit 242 or inner closing operation unit 262) is turned on (step S111), the door drive control unit 50 determines whether the first detection unit 321 is on or off (step S112).

[0068] If the first detection unit 321 is ON (Y in step S112), the door drive control unit 50 opens or stops the door 20 without closing it (step S113). After executing step S113, the door drive control unit 50 returns the process to the beginning of step S111 and repeats steps S111 to S113. In other words, the closing operation is not started while the first detection unit 321 is ON.

[0069] If the first detection unit 321 is off (N in step S112), the door drive control unit 50 starts the closing operation to close the door 20 (step S114).

[0070] Once the closing operation begins, the door drive control unit 50 determines whether the resistance detection unit 36 ​​is ON or OFF (step S115). If the resistance detection unit 36 ​​is OFF (N in step S115), the door drive control unit 50 determines whether the door 20 has moved to the fully closed position or OFF (step S116).

[0071] If the door 20 has not moved to the fully closed position (N in step S116), the door drive control unit 50 returns the process to the beginning of step S115 and repeats steps S115 to S116. During this time, the door 20 moves toward the fully closed position.

[0072] If the resistance detection unit 36 ​​is ON (Y in step S115), the door drive control unit 50 determines that there is resistance that should not be there and proceeds to avoidance operation. The door drive control unit 50 opens or stops the door 20 without closing it (step S117). At this point, if the close switch is ON (step S118), the door drive control unit 50 determines whether the second detection unit 322 is ON or OFF before starting the closing operation (step S119). If the second detection unit 322 is OFF (N in step S119), the door drive control unit 50 performs the closing operation to close the door 20 (step S122). After executing step S122, the door drive control unit 50 moves the process to the beginning of step S115.

[0073] If the second detection unit 322 is ON (Y in step S119), the door drive control unit 50 performs an avoidance operation to stop or close the door 20 at a slow speed (step S120). If the door 20 stops in this step, the door 20 remains in that state.

[0074] After executing step S120, the door drive control unit 50 determines whether the door 20 is in a stopped state or not (step S121). If the door 20 is in a stopped state (Y in step S121), the door drive control unit 50 returns the process to the beginning of step S118. If the door 20 is not in a stopped state (N in step S121), the door drive control unit 50 moves the process to the beginning of step S116. If the door 20 has moved to the fully closed position (Y in step S116), the door drive control unit 50 terminates process S110. Process S110 is merely an example, and other steps may be added, some steps may be changed or deleted, or the order of the steps may be changed.

[0075] The control during and after the avoidance operation will be described. If the door closing activation signals of the operation detection units 24 and 26 are turned on during the avoidance operation, the door 20 will close, which could affect the person who has fallen. Therefore, in this embodiment, the door drive control unit 50 disables the door closing activation signals of the operation detection units 24 and 26 when the second detection unit 322 is in a detected state during the avoidance operation.

[0076] From the perspective of improving usability, it is desirable to quickly return to normal operation once the detection state of the second detection unit 322 is resolved. Therefore, in this embodiment, when the door 20 is fully open during the avoidance operation and the second detection unit 322 is in a non-detection state, the door drive control unit 50 releases the deactivation of the door closing activation signals of the operation detection units 24 and 26. In this specification, releasing the deactivation of the activation signals is exemplified by releasing the deactivation of the opening / closing instruction of the instruction input unit.

[0077] It is desirable that the system be able to quickly return to normal operation once the second detection unit 322 is in a non-detection state. Therefore, in this embodiment, when the door drive control unit 50 performs a closing operation based on the door closing activation signals from the operation detection units 24 and 26 after the second detection unit 322 has become non-detection, it moves the door 20 at the normal closing speed. Here, the normal closing speed is the speed of the normal closing speed transition before the avoidance operation (see Figure 4).

[0078] Even when the second detection unit 322 is in a non-detection state, if the door is to close without user operation, it is desirable to move the door 20 slowly. Therefore, in this embodiment, when the door drive control unit 50 closes the door after the second detection unit 322 has gone into a non-detection state and the door closing activation signals of the operation detection units 24 and 26 are off, the door 20 is moved at a slower speed than the normal closing speed of the door 20. Here, closing the door when the door closing activation signal is off means that the door closes when the operation detection units 24 and 26 are not being operated. Also, slower than the normal closing speed means that the average movement speed of the closing operation is lower than the average movement speed of the normal closing operation before the avoidance operation.

[0079] The features of the automatic door device 100 of this embodiment, configured as described above, will now be explained. The automatic door device 100 includes a door drive control unit 50 that opens the door 20 based on an open instruction output unit which outputs an open instruction in response to an open instruction operation of the door 20. The door drive control unit 50 performs a warning operation that issues a warning at the beginning of the door opening operation of the door 20 based on the open instruction. With this configuration, the impact on the user can be reduced when the operation detection units 24 and 26 are opened while in contact with the door 20.

[0080] In this embodiment, the warning operation includes driving the door 20 at a speed lower than the normal driving speed of the door 20. In this case, since the door 20 is moved at a low speed, the impact on the user can be reduced.

[0081] In this embodiment, the warning operation further includes outputting a warning sound or a warning light. In this case, the impact on the user can be reduced because the user's attention can be drawn to the sound or light.

[0082] This embodiment includes a resistance detection unit 36 ​​that detects the movement resistance of the door 20, and the door drive control unit 50 stops the opening operation if the movement resistance detected by the resistance detection unit 36 ​​exceeds a threshold T1 during a warning operation. In this case, the opening operation can be stopped quickly when the user is touching the door 20.

[0083] In this embodiment, the door drive control unit 50 restarts the opening operation if the movement resistance detected by the resistance detection unit 36 ​​after stopping the opening operation is below a predetermined reference value. In this case, the opening operation can be restarted quickly once the contact condition is resolved.

[0084] This embodiment includes a side detection unit 34 that detects the presence of an object on the sides 201 and 202 of the door 20, and the door drive control unit 50 stops the opening operation if the side detection unit 34 detects an object during a warning operation. In this case, the opening operation can be stopped even earlier if the user is touching the sides 201 and 202.

[0085] In this embodiment, the door drive control unit 50 resumes the opening operation after stopping the opening operation and once the side detection unit 34 no longer detects anything. In this case, once the object is removed from the sides 201 and 202, the opening operation can be quickly resumed.

[0086] The features of the automatic door device 100 of this embodiment will now be described from another perspective. The automatic door device 100 includes a door drive control unit 50 that opens and closes the door 20 based on an instruction input from an instruction input unit into which an open or close instruction is input; a first detection unit provided at a predetermined height in the opening that detects a person or object present in the opening; a second detection unit 322 that detects a person or object located lower than the detection area of ​​the first detection unit 321; and a resistance detection unit 36 ​​that detects the movement resistance of the door 20. When the door drive control unit 50 is closing the door 20 and the movement resistance detected by the resistance detection unit 36 ​​exceeds a threshold T2, and the second detection unit 322 is in a detection state, the door drive control unit 50 performs an avoidance operation to open the door 20 or stop the door 20. With this configuration, the impact of the closing door 20 on a person who might fall can be reduced.

[0087] In this embodiment, the door drive control unit 50 disables the closing instruction of the instruction input unit when the second detection unit 322 is in a detection state. Disabling the closing instruction of the instruction input unit is exemplified by disabling the door closing activation signals of the operation detection units 24 and 26. In this case, even if the door closing activation signals of the operation detection units 24 and 26 are turned on during the avoidance operation, the door 20 will not close, thus reducing the impact on the person who falls.

[0088] In this embodiment, when the door drive control unit 50 is performing an avoidance operation and the door 20 is fully open, if the second detection unit 322 is in a non-detection state, it releases the deactivation of the closing instruction in the instruction input unit. Here, releasing the deactivation of the closing instruction in the instruction input unit is exemplified by releasing the deactivation of the door closing activation signals of the operation detection units 24 and 26. In this case, once the opening detection unit 32 becomes non-detection, it can quickly return to normal operation.

[0089] In this embodiment, the door drive control unit 50 drives the door 20 at the normal closing speed when closing based on a closing instruction from the instruction input unit after the second detection unit 322 has gone into a non-detection state. In this case, the system can quickly return to normal operation once the opening detection unit 32 has gone into a non-detection state.

[0090] In this embodiment, if the door drive control unit 50 closes the door after the second detection unit 322 has gone into a non-detection state and without a closing instruction from the instruction input unit, it moves the door 20 at a slower speed than the normal closing speed of the door 20. If the door closes without user intervention, the door 20 can be moved slowly.

[0091] The second to fifth embodiments of the present invention will be described below. In the drawings and descriptions of the second to fifth embodiments, components and members that are the same or equivalent as those in the first embodiment will be denoted by the same reference numerals. Descriptions that overlap with those of the first embodiment will be omitted as appropriate, and the descriptions will focus on the configurations that differ from those of the first embodiment.

[0092] [Second Embodiment] A second embodiment of the present invention is a control method for an automatic door device. This control method includes a step of performing a warning operation to issue a warning at the beginning of the door opening operation of an automatic door device 100 that opens the door 20 based on an instruction input to an instruction input unit that receives an instruction to open the door 20. With this control, even if the opening operation of the operation detection units 24 and 26 is performed while in contact with the door 20, the impact on the user can be reduced.

[0093] [Third Embodiment] A third embodiment of the present invention is a control program P100 (computer program) for an automatic door device. The control program P100 according to the present invention causes a computer to perform a warning operation, which issues a warning at the beginning of the door opening operation of an automatic door device 100 that opens a door 20 based on an instruction input to an instruction input unit that receives an instruction to open the door 20.

[0094] The control program P100 may be installed in the storage (e.g., memory unit 526) of the automatic door device 100 as an application program in which multiple modules corresponding to the functional blocks of the automatic door device 100 are implemented. The control program P100 may be read into the main memory of the computer processor (e.g., CPU) that constitutes the control unit 52 of the automatic door device 100 and executed thereafter.

[0095] According to the control program P100, even if the opening operation of the operation detection units 24 and 26 is performed while in contact with the door 20, the impact on the user can be minimized.

[0096] [Fourth Embodiment] A fourth embodiment of the present invention is a control method for an automatic door device. This control method for an automatic door device 100 that opens and closes a door 20 based on an instruction input to an instruction input unit into which an open or close instruction is input includes: a first detection step of detecting a person or object present in the opening at a predetermined first height of the opening; a second detection step of detecting a person or object present at a position lower than the first height; a resistance detection step of detecting the movement resistance of the door 20; and a step of opening the door 20 or stopping the door 20 when the movement resistance detected in the resistance detection step exceeds a threshold while the door 20 is being closed and a person or object is detected in the second detection step. This control method reduces the impact that the closing door 20 has on a person who might fall.

[0097] [Fifth Embodiment] A fifth embodiment of the present invention is a control program P200 (computer program) for an automatic door device. The control program P200 according to the present invention causes a computer to execute the following steps for an automatic door device 100 that opens and closes a door 20 based on an instruction input to an instruction input unit into which an open or close instruction is input: a first detection step of detecting a person or object present in the opening at a predetermined first height H1 of the opening; a second detection step of detecting a person or object present at a position lower than the first height; a resistance detection step of detecting the movement resistance of the door 20; and when the door 20 is being closed and the movement resistance detected in the resistance detection step exceeds a threshold, and a person or object is detected in the second detection step, the computer to open the door or stop the door.

[0098] In the control program P200, these functions may be installed in the storage (e.g., memory unit 526) of the automatic door device 100 as an application program that implements multiple modules corresponding to the functional blocks of the automatic door device 100. The control program P200 may be read into the main memory of the computer processor (e.g., CPU) that constitutes the control unit 52 of the automatic door device 100 and executed thereafter.

[0099] According to the control program P200, the impact of the closing door 20 on a person who has fallen can be reduced.

[0100] The embodiments of the present invention have been described in detail above. The embodiments described above are merely examples of how to implement the present invention. The contents of the embodiments do not limit the technical scope of the present invention, and many design changes, such as changes, additions, and deletions of components, are possible as long as they do not depart from the spirit of the invention as defined in the claims. In the embodiments described above, the contents in which such design changes are possible are described with notations such as "of the embodiments" or "in the embodiments," but this does not mean that design changes are not permitted in contents without such notations.

[0101] [Differentiation] The following describes modified examples. In the drawings and descriptions of the modified examples, components and members that are the same or equivalent as those in the embodiments are denoted by the same reference numerals. Descriptions that overlap with those in the embodiments will be omitted as appropriate, and the descriptions will focus on the configurations that differ from the first embodiment.

[0102] In the description of the embodiment, an example was shown in which the preparatory movement decelerates or reduces acceleration at the beginning of the opening operation. However, for example, the preparatory movement may be an operation that moves the door 20 a short distance in the left-right direction at the beginning of the opening operation, or an operation that vibrates the door 20.

[0103] In the description of the embodiment, an example was shown in which a warning sound or warning light is output from the warning output unit 44 as a warning operation. However, for example, the warning operation may also include the operation of displaying warning characters or images from the outdoor notification unit 46.

[0104] In the description of the embodiment, an example was shown in which the movement path 22 does not have guide means such as rails or grooves, but the movement path 22 may have guide means such as rails or grooves.

[0105] In the description of the embodiment, an example was shown in which the side detection unit 34 is provided on the transom of the front wall 101, but for example, the side detection unit 34 may be provided on the door 20.

[0106] In the description of the embodiment, the external operation detection unit 24 and the internal operation detection unit 26 were shown as push-button switches, but for example, the external operation detection unit 24 and the internal operation detection unit 26 may be operated by wireless communication from a wireless device such as a smartphone or IC card.

[0107] The above-described modifications produce the same functions and effects as the first embodiment.

[0108] Any combination of the embodiments and modifications described above is also useful as an embodiment of the present invention. The new embodiments resulting from these combinations possess the combined effects of the respective embodiments and modifications. [Explanation of Symbols]

[0109] 100 Automatic door device, 20 Door, 24 Outside operation detection unit, 241 Outside opening operation unit, 242 Outside closing operation unit, 26 Inside operation detection unit, 261 Inside opening operation unit, 262 Inside closing operation unit, 32 Opening detection unit, 34 Side detection unit, 36 Resistance detection unit, 44 Warning output unit, 50 Door drive control unit, 52 Control unit, 56 Drive unit.

Claims

1. A door drive control unit that opens and closes a door based on an instruction from an instruction output unit that outputs an open instruction or a close instruction in response to an operation to open or close the door, A first detection unit is provided at a predetermined height in the opening and detects a person or object present in the opening, A second detection unit detects a person or object located at a lower position than the detection area of ​​the first detection unit, A resistance detection unit for detecting the resistance to the movement of the aforementioned door, Equipped with, When the door drive control unit is closing the door and the resistance detected by the resistance detection unit exceeds a threshold, and the second detection unit is in a detection state, the control unit performs an avoidance operation to open the door or stop the door. Automatic door system.

2. The door drive control unit disables the closing instruction of the instruction output unit when the second detection unit is in a detection state. The automatic door device according to claim 1.

3. The door drive control unit, when performing the avoidance operation and the door is fully open, releases the disablement of the closing instruction of the instruction output unit if the second detection unit is in a non-detection state. The automatic door device according to claim 2.

4. When the door drive control unit performs a closing operation based on the closing instruction of the instruction output unit after the second detection unit has become non-detection-oriented, it drives the door at the normal closing speed. The automatic door device according to claim 3.

5. If the door drive control unit closes the door after the second detection unit has gone into a non-detection state and without receiving a closing instruction from the instruction output unit, it moves the door at a slower speed than the normal closing speed of the door. The automatic door device according to claim 3.

6. A door is installed in an opening that separates the interior from the exterior, An instruction output unit that outputs the open instruction or the closed instruction in response to the operation of the door open instruction or the closed instruction, A control unit that controls the opening and closing drive of the door based on the instructions of the instruction output unit, A resistance detection unit for detecting the resistance to the movement of the aforementioned door, A first detection unit is provided at a predetermined height in the opening and detects a person or object present in the opening, The system includes a second detection unit that detects a person or object located at a lower position than the detection area of ​​the first detection unit when the resistance detection unit is in a detection state. The control unit controls the door to open or stop when the resistance detection unit detects a resistance while the door is being closed, and does not close the door until the second detection unit no longer detects a resistance. Automatic door system.

7. Regarding an automatic door device that opens and closes a door based on an instruction from an instruction output unit that outputs an open instruction or a close instruction in response to the operation of an open instruction or a close instruction for the door, A first detection step of detecting a person or object present in the opening at a predetermined first height of the opening, A second detection step involves detecting a person or object located at a position lower than the first height, A resistance detection step for detecting the resistance to movement of the aforementioned door, When the door is being closed, if the movement resistance detected in the resistance detection step exceeds a threshold, and a person or object is detected in the second detection step, the steps include opening the door or stopping the door. A method for controlling an automatic door system, including the following:

8. Regarding an automatic door device that opens and closes a door based on an instruction from an instruction output unit that outputs an open instruction or a close instruction in response to the operation of an open instruction or a close instruction for the door, A first detection step of detecting a person or object present in the opening at a predetermined first height of the opening, A second detection step involves detecting a person or object located at a position lower than the first height, A resistance detection step for detecting the resistance to movement of the aforementioned door, When the door is being closed, if the movement resistance detected in the resistance detection step exceeds a threshold, and a person or object is detected in the second detection step, the steps include opening the door or stopping the door. A control program for an automatic door system that causes a computer to execute it.

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