Automatic door device, automatic door system, method for controlling an automatic door device, and control program for an automatic door device

Abstract

To provide technique of an automatic door device capable of restraining a detection target from being pulled into a door being under opening operation.SOLUTION: An automatic door device according to an embodiment of the present invention includes an open instruction signal outputting unit 102 for outputting an open instruction signal of a door for opening and closing an opening, a limitation unit 103 for outputting a limitation signal for limiting opening operation of the door when a sensor included in a protection detection area provided within a range of an opening width of the opening in a detection area detects a person or an object in the protection detection area, and a control unit 104 for controlling the opening and closing operation of the door on the basis of the open instruction signal. The control unit 104 limits the opening operation when the open instruction signal is output in a state of receiving the limitation signal.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] For example, in Patent Document 1, when a door pocket sensor detects that a person or an object exists on the door pocket side of an automatic door while the door is in the closed position and inputs a detection signal to a controller, and a detection signal is input from an entrance / exit sensor to the controller, an automatic door device is described that stops the motor for a set waiting time and keeps the door in the closed position. According to the automatic door device of Patent Document 1, since the door waits in the closed position for the set waiting time, a person or an object may retreat from the door pocket side of the automatic door while waiting, and it is possible to prevent the door from colliding with a person or an object existing on the door pocket side.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a detection target such as a person or an object exists near a door that opens and closes an opening of an automatic door device and the door starts to open, the detection target may be drawn into the opening door. Conventionally, there has been no method for suppressing the drawing of the detection target into the opening door.

[0005] In view of the above, an object of the present invention is to provide a technology for an automatic door device capable of suppressing a detection target from being drawn into an opening door.

Means for Solving the Problems

[0006] To solve the above problems, an automatic door device according to one aspect of the present invention comprises: an open instruction signal output unit that outputs an open instruction signal for opening and closing an opening; a limiting unit that outputs a limiting signal to limit the opening operation of the door when a sensor whose detection area includes a protective detection area provided within the opening width range of the opening detects a person or object in the protective detection area; and a control unit that controls the opening and closing operation of the door based on the open instruction signal, wherein the control unit limits the opening operation when the open instruction signal is output while the limiting signal has been received.

[0007] Another embodiment of the present invention provides an automatic door system comprising: a security release device that outputs a security release signal to permit the opening operation of a door that opens and closes an opening; an automatic door device comprising: an activation sensor that detects a person or object in an activation detection area provided around the opening; a protection detection sensor that detects a person or object in a protection detection area provided within the opening width of the opening; an open instruction signal output unit that outputs an open instruction signal for the door based on at least one of the detection of a person or object in the activation detection area and the output of the security release signal; a control unit that controls the opening and closing operations of the door based on the open instruction signal; and a restriction unit that outputs a restriction signal to restrict the opening operation of the door when the protection detection sensor detects a person or object in the protection detection area, wherein the control unit restricts the opening operation when the open instruction signal is output while the restriction signal has been received.

[0008] An automatic door device according to yet another aspect of the present invention is an automatic door device comprising: an open instruction signal output unit that outputs an open instruction signal for a door that opens and closes an opening; a limiting unit that outputs a limiting signal for limiting the opening operation of the door when a sensor whose detection area includes a protective detection area provided on the tail end side of the door detects a person or object in the protective detection area; and a control unit that controls the opening and closing operation of the door based on the open instruction signal, wherein the control unit, upon receiving the limiting signal and when the open instruction signal is output, opens the door by a predetermined limiting distance, and then limits the opening operation by either stopping the door or closing the door to return it to a fully closed state.

[0009] An automatic door system in yet another aspect of the present invention is an automatic door system comprising: a security release device that outputs a security release signal to permit the opening operation of a door that opens and closes an opening; an automatic door device comprising: an activation sensor that detects a person or object in an activation detection area provided around the opening; a protection detection sensor that detects a person or object in a protection detection area provided within the opening width of the opening; an open instruction signal output unit that outputs an open instruction signal for the door based on at least one of the detection of a person or object in the activation detection area and the output of the security release signal; a control unit that controls the opening and closing operations of the door based on the open instruction signal; and a limiting unit that outputs a limiting signal to limit the opening operation of the door when the protection detection sensor detects a person or object in the protection detection area, wherein the control unit, upon receiving the limiting signal and when the open instruction signal is output, opens the door by a predetermined limiting distance, and then limits the opening operation by either stopping the door or closing the door to return it to a fully closed state.

[0010] An automatic door device according to yet another aspect of the present invention is an automatic door device comprising: an open instruction signal output unit that outputs an open instruction signal for a door that opens and closes an opening; a limiting unit that outputs a limiting signal for limiting the opening operation of the door when a sensor whose detection area includes a protective detection area provided on the tail end side of the door detects a person or object in the protective detection area; and a control unit that controls the opening and closing operation of the door based on the open instruction signal, wherein the control unit has received the limiting signal and, when the open instruction signal is output, it limits the opening operation by alternately executing a first low-speed operation at a first low speed that is slower than the normal opening operation of the door and a second low-speed operation at a second low speed that is slower than the normal opening operation and different from the first low speed.

[0011] An automatic door system in yet another aspect of the present invention is an automatic door system comprising: a security release device that outputs a security release signal to permit the opening operation of a door that opens and closes an opening; an automatic door device comprising: an activation sensor that detects a person or object in an activation detection area provided around an opening; a protection detection sensor that detects a person or object in a protection detection area provided within the opening width of the opening; an open instruction signal output unit that outputs an open instruction signal for the door based on at least one of the detection of a person or object in the activation detection area and the output of the security release signal; a control unit that controls the opening and closing operations of the door based on the open instruction signal; and a limiting unit that outputs a limiting signal to limit the opening operation of the door when the sensor detects a person or object in the protection detection area, wherein the control unit, when it has received the limiting signal and the open instruction signal is output, limits the opening operation by alternately executing a first low-speed operation at a speed slower than the normal opening operation of the door and a second low-speed operation at a speed slower than the normal opening operation and different from the first low-speed operation.

[0012] A control method for an automatic door device according to yet another aspect of the present invention is a control method for an automatic door device comprising: a step of a limiting unit that outputs a limiting signal to limit the opening operation of a door that opens and closes an opening when a sensor whose detection area includes a protective detection area provided within the opening width of an opening detects a person or object in the protective detection area; and a step of a control unit that controls the opening and closing operation of the door based on an opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal for the door, and when the limiting signal is received and the opening instruction signal is output, the control unit that limits the opening operation.

[0013] A control program for an automatic door device according to yet another aspect of the present invention is a control program for an automatic door device that causes a computer to perform the following steps: a limiting unit outputs a limiting signal to restrict the opening operation of a door that opens and closes an opening when a sensor whose detection area includes a protective detection area provided within the opening width of the opening detects a person or object in the protective detection area; and a control unit that controls the opening and closing operation of the door based on an opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal to the door, and restricts the opening operation when the opening instruction signal is output while the control unit has received the limiting signal.

[0014] A control method for an automatic door device according to yet another aspect of the present invention is a control method for an automatic door device comprising: a step of a limiting unit that outputs a limiting signal to limit the opening operation of a door that opens and closes an opening when a sensor that includes a protective detection area provided on the tail end side of a door that opens and closes an opening has detected a person or object in the protective detection area; and a step of a control unit that controls the opening and closing operation of the door based on an opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal for the door, having received the limiting signal and when the opening instruction signal has been output, opening the door by a predetermined limiting distance, and then limiting the opening operation by either stopping the door or closing the door to return it to a fully closed state.

[0015] A control program for an automatic door device according to yet another aspect of the present invention is a control program for an automatic door device which causes a computer to perform the following steps: a limiting unit outputs a limiting signal to restrict the opening operation of a door that opens and closes an opening when a sensor whose detection area includes a protective detection area provided on the tail end side of a door that opens and closes an opening detection area detects a person or object in the protective detection area; and a control unit which controls the opening and closing operation of the door based on an opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal for the door, receives the limiting signal and, when the opening instruction signal is output, opens the door by a predetermined limiting distance, and then restricts the opening operation by either stopping the door or closing the door to return it to a fully closed state.

[0016] A control method for an automatic door device according to yet another aspect of the present invention is a control method for an automatic door device comprising: a step of a limiting unit that outputs a limiting signal to limit the opening operation of a door that opens and closes an opening when a sensor that includes a protective detection area provided on the tail end side of a door that opens and closes an opening has detected a person or object in the protective detection area; and a step of a control unit that controls the opening and closing operation of the door based on an opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal to limit the opening operation when the opening instruction signal is output while the control unit has received the limiting signal, by alternately executing a first low-speed operation which is slower than the normal opening operation of the door and a second low-speed operation which is slower than the normal opening operation and different from the first low-speed operation.

[0017] A control program for an automatic door device according to yet another aspect of the present invention is a control program for an automatic door device which causes a computer to perform the following steps: a limiting unit outputs a limiting signal to restrict the opening operation of a door that opens and closes an opening when a sensor whose detection area includes a protective detection area provided on the tail end side of a door that opens and closes an opening detects a person or object in the protective detection area; and a control unit which controls the opening and closing operation of the door based on an opening instruction signal output unit that outputs an opening instruction signal to the door, and when the opening instruction signal is output while the control unit has received the limiting signal, it restricts the opening operation by alternately executing a first low-speed operation which is slower than the normal opening operation of the door and a second low-speed operation which is slower than the normal opening operation and different from the first low-speed operation.

[0018] 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]

[0019] According to the present invention, it is possible to provide a technology for an automatic door device that can prevent the detected object from being pulled into a door that is opening. [Brief explanation of the drawing]

[0020] [Figure 1] This is a schematic front view of an automatic door system. [Figure 2] This diagram illustrates the hardware configuration of an automatic door system. [Figure 3] This is a schematic diagram showing the activation detection area and protection detection area of ​​the first embodiment as viewed from above. [Figure 4] This is a functional block diagram of the door controller according to the first embodiment. [Figure 5] This is a flowchart showing the processing of the door controller according to the first embodiment. [Figure 6] It is a functional block diagram of the door controller according to the second embodiment. [Figure 7] It is a flowchart showing the processing of the door controller according to the second embodiment. [Figure 8] It is a schematic diagram showing the activation detection area and the protection detection area of the third embodiment when viewed from above.

Embodiments for Carrying Out the Invention

[0021] Hereinafter, the present invention will be described with reference to the drawings based on preferred embodiments. In the embodiments and modification examples, the same or equivalent components and members are denoted by the same reference numerals, and repeated explanations are omitted as appropriate. Also, the dimensions of the members in each drawing are enlarged or reduced as appropriate for easy understanding. In addition, some members that are not important for explaining the embodiments in each drawing are omitted.

[0022] Also, separate components having something in common are distinguished by attaching "First, Second", etc. at the beginning of their names, and these are omitted when collectively referred to. Also, terms including ordinals such as First and Second are used to describe various components, but this term is used only for the purpose of distinguishing one component from another, and the components are not limited by this term.

[0023] First Embodiment Figure 1 is a schematic front view of the automatic door device 100. The automatic door device 100 shown in Figure 1 is a double sliding door type, in which two doors 9 automatically open and close to the left and right. The doors 9 are a pair, left and right, and are configured to move back and forth along a fixed 22 that is fixedly positioned at a distance from each other on either side of the opening 23, thereby opening and closing the opening 23. In this embodiment, the fixed 22 is positioned opposite the fully open door 9 when viewed from the front, and is fixedly positioned alongside the door 9 in the direction of depth when viewed from the front. As an example, the automatic door device 100 is a device that opens and closes a door for opening an opening 23 provided in a wall or the like that divides a space in various facilities such as condominiums, hotels, and research laboratories. The automatic door device 100 in this embodiment is installed at the entrance of a condominium. The fixed 22 in this embodiment is an example of a fixed part.

[0024] Hereinafter, the direction along the opening and closing direction of the automatic door device 100 will be referred to as the left-right direction. As shown in Figure 1, when viewing the automatic door device 100 from the front, the left side will be referred to as "left" or "leftward," and the right side will be referred to as "right" or "rightward." Furthermore, the direction along the projection direction of the automatic door device 100 will be referred to as the front-back direction. The side away from the automatic door device 100 will be referred to as "front" or "forward," and the side approaching the automatic door device 100 in the front-back direction will be referred to as "rear" or "backward." Also, the projection direction of the automatic door device 100 will be referred to as the "up-down direction." Such directional notations do not restrict the orientation of the automatic door device 100, and the automatic door device 100 can be used in any orientation.

[0025] Door 9 is in a fully closed state when the left and right ends of the door come into contact with each other so that the opening 23 is closed. Door 9 moves so that the ends of the door separate, and the ends of the door move to near the end of the fix 22 on the opening 23 side and stop, opening 23 to a fully open state. Note that the automatic door device 100 may be a double sliding door type, a single sliding door type, a folding door type, etc.

[0026] Figure 2 is a schematic block diagram showing the hardware configuration of the automatic door device 100 according to the present invention.

[0027] As shown in Figure 2, the automatic door device 100 includes an automatic door sensor 10 and an automatic door drive device 90 that drives the door 9 to open and close. The automatic door device 100 is configured to communicate with the authentication device 51 and the authorization device 52 of the security release system 50, which are located outside the automatic door device 100.

[0028] The automatic door sensor 10 detects a person or object (hereinafter referred to as "detection target") within the activation detection area 70 and the protection detection area 71 of the automatic door device 100. The automatic door sensor 10 includes an outdoor activation sensor 4A and an indoor activation sensor 4B, and an auxiliary photoelectric sensor 30.

[0029] The outdoor activation sensor 4A detects the object in the outdoor activation detection area 70A, which is located around the outdoor side of the opening 23. The outdoor activation sensor 4A also detects the object in the protective detection area 71, which is located to protect the object from contact with the door 9 when the door 9 is in the opening operation. The outdoor activation sensor 4A is located, for example, in the center of the left-right direction on the outdoor side of the transom 16 above the opening 23.

[0030] The indoor activation sensor 4B detects the target object in the indoor activation detection area 70B, which is located around the indoor side of the opening 23. The indoor activation sensor 4B is positioned, for example, in the center of the left-right direction on the indoor side outer surface of the transom 16 above the opening 23.

[0031] Figure 3 is a schematic diagram showing the activation detection area 70 and protection detection area 71 of the first embodiment as viewed from above, and shows the activation detection area 70 and protection detection area 71 on the floor surface. As shown in Figure 3, the outdoor activation detection area 70A is provided on the outdoor side of the fully closed door 9. The indoor activation detection area 70B is provided on the opposite side of the opening 23 from the outdoor activation detection area 70A. In Figure 3, the solid line represents the fully closed door 9, and the dotted line represents the fully open door 9.

[0032] The protective detection area 71 is provided within the opening width of the opening 23 (see Figure 3). In this embodiment, the protective detection area 71 is provided between the left and right fixes 22 and is located on the opening 23 side from the track of the door 9. In addition, in this embodiment, the protective detection area 71 is provided along the door surface of the door 9 on the fixe 22 side with respect to the door 9 in the depth direction. The protective detection area 71 may or may not include the area on the track of the door 9.

[0033] The outdoor activation sensor 4A and the indoor activation sensor 4B are infrared reflection type sensors that emit and receive infrared light diagonally downward from their position on the transom 16, and detect objects entering the door 9. When the outdoor activation sensor 4A detects an object, it transmits an outdoor activation signal to the door controller 91. When the indoor activation sensor 4B detects an object, it transmits an indoor activation signal to the door controller 91. Hereinafter, the outdoor activation sensor 4A and the indoor activation sensor 4B may be collectively referred to as activation sensor 4. Also, the outdoor activation signal and the indoor activation signal may be collectively referred to as activation signal. The outdoor activation detection area 70A and the indoor activation detection area 70B constitute the activation detection area 70 of the automatic door device 100.

[0034] In this embodiment, the outdoor activation sensor 4A sequentially acquires the amount of infrared light received in the outdoor activation detection area 70A. The indoor activation sensor 4B sequentially acquires the amount of infrared light received in the indoor activation detection area 70B. For example, the outdoor activation sensor 4A and the indoor activation sensor 4B each determine the presence or absence of a detection target in their respective areas based on the acquired amount of light received. For example, the outdoor activation sensor 4A and the indoor activation sensor 4B each determine that a detection target exists in the activation detection areas 70A and 70B when the detection level of the amount of light received in their respective activation detection areas 70A and 70B exceeds a predetermined level, and generate an activation signal. Hereinafter, the state in which a detection target is determined to exist in the activation detection area 70 is referred to as the detection state, and the state in which there is no detection state is referred to as the non-detection state. Also, for example, the outdoor activation sensor 4A determines that a detection target exists in the protection detection area 71 when the detection level of the amount of light received in the protection detection area 71 exceeds a predetermined level, and generates a protection detection signal. The shapes of the activation detection area 70 and the protection detection area 71 may be circular, elliptical, rectangular, or polygonal in any way other than a rectangle. The number and size of the activation detection area 70 and the protection detection area 71 are not limited to the example in Figure 3 and may be set arbitrarily.

[0035] The auxiliary photoelectric sensor 30 is a photoelectric detection device and has a light emitter 301 and a light receiver 302 positioned near the opening 23 of the fixed 22. The auxiliary photoelectric sensor 30 detects when the light rays passing between the light emitter 301 and the light receiver 302 are blocked and transmits detection information to the door controller 91 indicating that a person or object is present in the track of the door 9. In addition to the photoelectric method, the auxiliary photoelectric sensor 30 may also be a light reflection method or an ultrasonic method detection device attached to the transom 16.

[0036] The automatic door drive unit 90 includes a door controller 91 and a door engine 92. The door controller 91 controls the door engine 92 to open and close the door 9 based on a start signal, detection information, and a security release signal described later. There are no limitations on the transmission path 96 that transmits the start signal, detection information, and security release signal described later, but in this example the transmission path 96 includes an internal bus (e.g., CAN: Controller Area Network). The door engine 92 drives the door 9 to open and close by rotating a motor (not shown) based on the control of the door controller 91.

[0037] When the door controller 91 receives an indoor activation signal, it activates the motor (not shown) of the door engine 92 to open the door 9 until it is fully open. On the other hand, in this embodiment, from the viewpoint of improving security inside the building by suppressing, for example, the entry of intruders from outside, the door controller 91 does not open the door 9 even if it receives an outdoor activation signal when it has not received the security release signal described later, but it opens the door 9 until it is fully open when it receives the outdoor activation signal while it has received the security release signal described later.

[0038] The door controller 91 maintains the fully open state for a certain period of time after the door 9 has changed to the fully open state, and then operates the door engine 92 in the reverse direction to drive the door 9 until it is fully closed. When the door controller 91 receives detection information from the auxiliary photoelectric sensor 30 while the door 9 is being driven to close, it reverses the direction in which the door engine 92 drives the door 9, bringing the door 9 back to the fully open state.

[0039] When the door controller 91 receives a restriction signal from the restriction unit 103 (described later) and an open instruction signal is output from the open instruction signal output unit 102 (described later), it restricts the opening operation of the door 9. The method for doing so will be described later.

[0040] The security release system 50 includes an authentication device 51, an authorization device 52, an external intercom 53 located near the automatic door device 100, and an internal intercom 54 located inside the rooms of residents or building managers of the apartment building. The authentication device 51 and the authorization device 52 each output a security release signal to the door controller 91 to release the security of the automatic door device 100 and allow the door 9 to open, thereby permitting the passage of persons (passersby) attempting to pass through the opening 23 in predetermined cases. For example, when the door controller 91 receives a security release signal, it remains in a state of having received the security release signal for a predetermined period of time.

[0041] The authentication device 51 outputs a security release signal based on the authentication of the passerby. The authentication device 51 is installed, for example, near the door 9. In this embodiment, the authentication device 51 is installed outdoors of the building where the automatic door device 100 is installed. The authentication device 51 may be, for example, a key operation device that authenticates a passerby based on the operation of a predetermined key, a PIN input device for entering a PIN, or a biometric authentication device.

[0042] The authorization device 52 outputs a security release signal based on input from a user (resident, manager, etc.) inside the room. In this embodiment, the authorization device 52 is installed in each room. For example, when a passerby communicates with a user inside the room by having the external intercom 53 and the internal intercom 54 communicate, the authorization device 52 outputs a security release signal in response to receiving user input during the communication to authorize the passerby's passage.

[0043] Figure 4 is a functional block diagram of the door controller 91 of the first embodiment. Each block shown in the following figures can be realized in hardware terms by components such as a computer processor, CPU, and memory, as well as electronic circuits and mechanical devices, and in software terms by computer programs, etc., but here we are depicting functional blocks that are realized through the cooperation of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways by combinations of hardware and software.

[0044] As shown in Figure 4, the door controller 91 includes an acquisition unit 101, an open instruction signal output unit 102, a limiting unit 103, and a control unit 104.

[0045] The acquisition unit 101 acquires the activation signals and protection detection signals from the outdoor activation sensor 4A and the indoor activation sensor 4B, detection information from the auxiliary photoelectric sensor 30, and security release signals, etc.

[0046] The open instruction signal output unit 102 outputs an open instruction signal for the door 9. The automatic door device 100 in this embodiment is configured so that the activation sensor 4 becomes active when a security release signal is received, and the open instruction signal output unit 102 outputs an open instruction signal when the activation signal for the activation sensor 4 is output.

[0047] The limiting unit 103 outputs a limiting signal to restrict the opening operation of the door 9 when the outdoor activation sensor 4A detects an object in the protection detection area 71.

[0048] The control unit 104 controls the opening and closing operations of the door 9 based on the open instruction signal. The control unit 104 opens the door 9 based on the open instruction signal, and restricts the opening operation to protect the detected object from the door 9 which would open if the open instruction signal is output while a restriction signal has been received. Hereinafter, the operation of the door 9 when the opening operation is restricted may be referred to as the open protection operation.

[0049] In this embodiment, the limiting unit 103 outputs a limiting signal to perform an open protection operation on the door 9 when it receives a protection detection signal while the door 9 is in a fully closed state or in a state where the opening operation of the door 9 is restricted as described later, and the control unit 104 executes the open protection operation on the door 9. On the other hand, if a protection detection signal is received in a state other than the fully closed state or the state where the opening operation of the door 9 is restricted as described later, the limiting unit 103 does not output a limiting signal, and the control unit 104 executes a predetermined closing protection operation on the door 9 (for example, closing at a slower speed than normal, stopping, or reversing to an open operation) to protect the detected object from the closing operation of the door 9.

[0050] Figure 5 is a flowchart showing the process S100 of the door controller 91 in the first embodiment.

[0051] In step S101, the open instruction signal output unit 102 determines whether the conditions for outputting the open instruction signal are met. For example, the open instruction signal output unit 102 determines, as conditions for outputting the open instruction signal, whether an indoor activation signal has been acquired and whether an outdoor activation signal has been acquired while a security release signal has been received. If the conditions for outputting the open instruction signal are not met (N in step S101), process S100 returns to the beginning of step S101 and repeats step S101. If the conditions for outputting the open instruction signal are met (Y in step S101), process S100 proceeds to step S102.

[0052] In step S102, the open instruction signal output unit 102 outputs an open instruction signal to the control unit 104.

[0053] In step S103, the control unit 104, in response to receiving the open instruction signal, determines whether or not it has received a limit signal. Here, the limit signal is output from the limit unit 103 to the control unit 104 when the limit unit 103 acquires the protection detection signal output from the outdoor activation sensor 4A via the acquisition unit 101 by detecting a detection target within the protection detection area 71. When the control unit 104 acquires the limit signal, it enters a state of having received a limit signal. This state of having received a limit signal continues from the time the limit signal is received until the limit termination conditions described later are met. Alternatively, the state of having received a limit signal may end after a predetermined time has elapsed since the time the limit signal was received. If it is not in a state of having received a limit signal (N in step S103), the process S100 proceeds to step S104.

[0054] When no restriction signal is received, there is no object to be detected in the protection detection area 71. Therefore, even if the door 9 is opened, there is little chance that the object's hand or other body part will be dragged by the door 9 and fall, or that the object's fingers or other body part will be pulled between the door 9 and the fix 22. For this reason, in step S104, the control unit 104 opens the door 9. After step S104, process S100 ends.

[0055] If a restriction signal is received (Y in step S103), processing S100 proceeds to step S105. Here, when a restriction signal is received, the object to be detected is within the protection detection area 71, so there is a risk that the object's hand or other body part may be dragged by the door 9 when the door 9 opens, causing the object to fall, or that the object's fingers or other body part may be pulled between the door 9 and the fix 22. Therefore, in step S105, the control unit 104 restricts the opening of the door 9 and performs an open protection operation on the door 9.

[0056] In this embodiment, the control unit 104 limits the opening of the door 9 by opening it by a predetermined limited distance and then stopping it. The predetermined limited distance here can be a distance smaller than the distance from the fully closed position to the fully open position of the door 9 (for example, a few centimeters). For example, the control unit 104 can move the door 9 by the predetermined limited distance based on the detected value of the encoder or limit switch of the door engine 92 motor. This operation of opening the door 9 by a predetermined limited distance and then stopping it may be performed repeatedly at regular time intervals.

[0057] In step S106, the control unit 104 determines whether the termination condition is met. In this embodiment, the termination condition is, for example, when the outdoor activation sensor 4A no longer detects a detection target within the protection detection area 71. Specifically, for example, this occurs when a detection target that was previously located within the protection detection area 71 leaves the protection detection area 71 and the door controller 91 no longer receives a protection detection signal. If the termination condition is met (Y in step S106), process S100 proceeds to step S107. If the termination condition is not met (N in step S106), process S100 returns to step S106, and step S106 is repeated until the termination condition is met (Y in step S106).

[0058] In step S107, the control unit 104 terminates the restriction on the opening operation of the door 9 and closes the door 9 completely.

[0059] After step S107, process S100 is terminated.

[0060] Here, for example, in an automatic door system 100 operating with security specifications for an apartment building (where automatic activation in the outdoor activation detection area 70A is disabled when the door is fully closed), if a target being detected within the protective detection area 71 within the opening width of the opening 23 has its hand on the door 9 during the opening operation, there is a risk that the target's fingers or other body parts may be pulled into the gap between the opening door 9 and the fixed door. Measures to prevent fingers from being pulled into this gap include structural measures such as reducing the gap (e.g., 5mm or less), increasing the gap (e.g., 25mm or more), or providing protective materials. Other measures include installing an edge switch (made of rubber, etc.) at the dangerous area near the gap, or locally monitoring the dangerous area with a sensor (infrared, etc.) and stopping the door 9 when the sensor detects something. However, implementing such structural measures has limitations for building fixtures and may be undesirable from an aesthetic standpoint. The aforementioned measures using edge switches and sensors also require additional equipment, which is disadvantageous in terms of cost.

[0061] Furthermore, in the automatic door device 100 operating with the above security specifications, if a person to be detected who is located in the protective detection area 71 within the opening width of the opening 23 has their hand on the door 9 when it is opened, there is a risk that the person's hand or other body part may be dragged by the door 9, causing them to fall over.

[0062] In this embodiment, the limiting unit 103 outputs a limiting signal to restrict the opening of the door 9 when the outdoor activation sensor 4A detects a target in the protective detection area 71, and the control unit 104 restricts the opening of the door 9 when an open instruction signal is output while it has received the limiting signal. With this configuration, it is possible to prevent a part of the body of the detected target from being dragged by the opening door 9 or pulled between the door 9 and the fix 22 in the protective detection area 71.

[0063] In this embodiment, the protective detection area 71 is provided along the door surface of the door 9, on the side of the fix 22 with respect to the door 9 in the direction of view. This configuration makes it possible to prevent a person's hand or other object from being caught and trapped between the door 9 and the fixed part such as the fix 22.

[0064] In this embodiment, the control unit 104 limits the opening of the door 9 by opening it by a predetermined limited distance that is smaller than the distance from the fully closed position to the fully open position of the door 9, and then stopping the operation. With this configuration, by opening the door 9 in a manner different from the usual, it is possible to open the door 9 while alerting people in the vicinity of the automatic door device 100, such as people in the protective detection area 71.

[0065] In this embodiment, the control unit 104 terminates the restriction on the opening operation of the door 9 when the outdoor activation sensor 4A stops detecting the target object within the protective detection area 71 before the door 9 reaches the fully open position. With this configuration, the automatic door device 100 can be returned to normal operation early in response to the fact that the possibility of the detected object leaving the protective detection area 71 and being dragged or pulled into the door 9 has become extremely low.

[0066] The following describes some variations.

[0067] In this embodiment, the control unit 104 opened the door 9 by a predetermined limited distance and then stopped it. However, it is not limited to this, and the opening of the door 9 may be restricted by opening the door 9 by a predetermined limited distance and then closing it to return it to a fully closed state. With this configuration, by opening the door 9 in a manner different from the normal operation, it is possible to alert the detected object within the protective detection area 71, thereby preventing the detected object from being pulled into the door 9. Note that the operation of opening the door 9 by a predetermined limited distance and then closing it to return it to a fully closed state may be performed repeatedly at regular time intervals.

[0068] Furthermore, the control unit 104 may restrict the opening of the door 9 by opening it at a slower speed than the normal opening operation. With this configuration, while ensuring the passage of the automatic door device 100, the door 9 is opened in a manner different from the normal operation, thereby alerting the detected object within the protective detection area 71 and preventing the detected object from being pulled into the door 9. In addition, the control unit 104 may restrict the opening of the door 9 by alternately executing a first low-speed operation at a first low speed and a second low-speed operation at a second low speed when an open instruction signal is output while a restriction signal has been received. Here, the first low speed is slower than the normal opening operation of the door 9, and the second low speed is slower than the normal opening operation of the door 9 and is different from the first low speed.

[0069] Furthermore, the control unit 104 may restrict the opening operation of the door 9 by not driving the door 9. With this configuration, since the door 9 does not move in the opening direction in the first place, it is possible to suppress the detection target from being dragged or pulled in by the door 9.

[0070] Furthermore, the control unit 104 may restrict the opening of the door 9 by driving it in the closing direction. With this configuration, the door 9 is pressed against an opposing object in the closing direction, and the deformation of the door edge rubber (not shown) provided on the door edge of the door 9 makes it possible to alert people near the automatic door device 100 by making them feel that something is wrong with the automatic door device 100. This restriction operation may be performed repeatedly at regular time intervals.

[0071] The termination conditions for the restriction are not limited to the examples described above. For example, the termination condition for the restriction may be when the door 9 has opened by a predetermined termination distance since the restriction on the opening operation of the door 9 began. Here, the predetermined termination distance can be a distance smaller than the distance from the fully closed position to the fully open position of the door 9 (for example, half the distance from the fully closed position to the fully open position of the door 9). With this configuration, by combining it with an open protection operation that opens the door 9, it is possible to return the automatic door device 100 to normal operation earlier. Alternatively, the termination condition for the restriction may be when the door 9 has reached the fully open position since the restriction on the opening operation of the door 9 began. With this configuration, it is possible to open the door 9 while suppressing the detection target in the protection detection area 71 from being dragged by the opening door 9 or pulled between the door 9 and the fix 22. Alternatively, for example, the termination condition for the restriction may be when a predetermined time has elapsed since the restriction on the opening operation of the door 9 began. The control unit 104 may determine whether or not at least one of the above-described termination conditions is met.

[0072] In this embodiment, when the restriction on the opening operation ends in step S107, the control unit 104 returns the door 9 to the fully closed state, but it is not limited to this, and the door 9 may be opened.

[0073] In this embodiment, an example is shown in which two activation sensors 4 are placed outdoors and indoors, respectively. However, the embodiment is not limited to this, and both activation sensors 4 may be placed indoors, or both may be placed outdoors.

[0074] In this embodiment, the outdoor activation sensor 4A sets the protective detection area 71, but it is not limited to this. Other sensors such as the indoor activation sensor 4B and the auxiliary photoelectric sensor 30 may also set the protective detection area 71, or a separate protective detection sensor that detects the target object in the protective detection area 71 may be used. Furthermore, the protective detection area 71 may be set both outdoors and indoors.

[0075] In this embodiment, the protective detection area 71 is provided with the fix 22 on the front side of the door 9 when the door 9 is viewed from the front on the outside, but it may also be provided on the rear side of the door 9 when the door 9 is viewed from the front on the outside. With this configuration, it is possible to prevent the detection target, who has their hand on the door 9, from being dragged and falling when the door is opened.

[0076] In this embodiment, the door controller 91 opened the door 9 for pedestrians entering from inside the building based on the acquisition of an indoor activation signal, but is not limited to this; it may also open the door 9 based on the acquisition of both a security release signal and an indoor activation signal. Also in this embodiment, the door controller 91 opened the door 9 for pedestrians entering from outside the building based on the acquisition of both a security release signal and an outdoor activation signal, but is not limited to this; it may also open the door 9 based on the acquisition of an outdoor activation signal. Furthermore, the door controller 91 may open the door 9 based on the acquisition of a security release signal, regardless of the activation signal from the automatic door sensor 10. Moreover, the door controller 91 may open the door 9 based only on the activation signal, without requiring a security release signal.

[0077] In this embodiment, the authentication device 51 is installed outdoors of the building where the automatic door device 100 is installed, but it is not limited to this. The authentication device 51 may be installed indoors, or it may be installed both outdoors and indoors.

[0078] In this embodiment, the door controller 91 determines whether to perform an open protection operation or a closed protection operation of the door 9 based on whether the door 9 is in a fully closed state, etc., but is not limited to this. For example, the automatic door sensor 10 may determine whether to perform an open protection operation or a closed protection operation of the door 9 by outputting a signal to perform an open protection operation and a signal to perform a closed protection operation of the door 9 based on whether the door 9 is in a fully closed state, etc.

[0079] In this embodiment, Fix 22 is given as the fixing part, but it is not limited to this, and the wall of the building may also be used as the fixing part.

[0080] 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 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 description will focus on the configurations that differ from those of the first embodiment.

[0081] Figure 6 is a functional block diagram of the automatic door device 100 of the second embodiment. As shown in Figure 6, the automatic door device 100 of the second embodiment further includes a notification unit 105 that notifies that the opening operation of the door 9 is being restricted.

[0082] Figure 7 is a flowchart showing the process S200 of the automatic door device 100 according to the second embodiment. Steps S201 to S205, S207, and S208 in Figure 7 are basically the same as steps S101 to S107 in Figure 5, except for points that are specifically mentioned, so their explanation is omitted.

[0083] After steps S201 to S204, if the control unit 104 restricts the opening of the door 9 in step S205, the control unit 104 supplies a notification instruction to the notification unit 105. In step S206, the notification unit 105 notifies that the opening of the door 9 is being restricted. The notification unit 105 can notify that the opening of the door 9 is being restricted, for example, by sound from a speaker provided in the automatic door device 100, flashing of an LED lamp, display on a liquid crystal display, etc.

[0084] After steps S207 and S208, in step S209, the notification unit 105 notifies that the restriction on the opening operation of the door 9 has ended. For example, the notification unit 105 may continue to notify that the restriction on the opening operation of the door 9 has ended until a predetermined time has elapsed, or it may continue to notify until the predetermined signal described above in step S201 is obtained. After step S209, processing S200 ends.

[0085] In the second embodiment, a notification is given that the opening of door 9 is restricted. With this configuration, a person in the protective detection area 71 can understand that the opening of door 9 is restricted, making it easier for them to take action such as leaving the protective detection area 71.

[0086] 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. Descriptions that overlap with those of the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from those of the first embodiment.

[0087] Figure 8 is a schematic diagram showing the activation detection area 70 and the protection detection area 71 of the second embodiment as viewed from above. As shown in Figure 8, in the third embodiment, the protection detection area 71 is provided on the tail end side of the door 9. The protection detection area 71 is provided outside the range of the opening width of the opening 23. In Figure 8, the protection detection area 71 includes the area on the track of the door 9, but it does not have to include this area.

[0088] Here, as shown in Figure 8, if there is a detection target near the trailing edge of door 9, for example, when door 9 is opened, the detection target may collide with the trailing edge of door 9 or be pulled into the gap between door 9 and fix 22. Even if the measures described above are implemented to address such risks, unless the detection target moves away from the dangerous area near the trailing edge of door 9, collisions with the trailing edge of door 9 or being pulled into the gap between door 9 and fix 22 cannot be effectively prevented.

[0089] In the third embodiment, the limiting unit 103 outputs a limiting signal when it detects an object within the protective detection area 71 provided on the trailing side of the door 9, and the control unit 104, upon receiving the limiting signal and receiving an open instruction signal, opens the door 9 by a predetermined limiting distance and then stops the door 9, thereby limiting the opening operation of the door 9. With this configuration, by opening the door 9 in a manner different from the normal operation, it is possible to open the door 9 while alerting the object within the protective detection area 71 provided on the trailing side of the door 9. As a result, it is possible to encourage the object to leave the protective detection area 71 provided on the trailing side of the door 9, thereby preventing the object from colliding with the opening door 9 or being pulled between the door 9 and the fix 22.

[0090] The control unit 104 may, when it receives a restriction signal and an open instruction signal is output, restrict the opening of the door 9 by opening the door 9 by a predetermined restricted distance and then closing it to return it to a fully closed state. Therefore, when the control unit 104 receives a restriction signal and an open instruction signal is output, it can restrict the opening of the door 9 by either opening the door 9 by a predetermined restricted distance and then stopping the door 9, or by closing the door 9 to return it to a fully closed state. This operation of opening the door 9 by a predetermined restricted distance and then closing it to return it to a fully closed state may be performed repeatedly at regular time intervals.

[0091] The protective detection area 71 may be provided not only on the door end side of the door 9, but also within the range of the opening width of the opening 23 (see Figure 3), as in the first embodiment.

[0092] 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 in the third embodiment will be denoted by the same reference numerals. Descriptions that overlap with those of the third embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from those of the third embodiment.

[0093] In the fourth embodiment, the limiting unit 103 outputs a limiting signal when it detects an object within the protective detection area 71 provided on the tail end of the door 9, and the control unit 104, upon receiving the limiting signal and receiving an open instruction signal, alternately executes the first low-speed operation and the second low-speed operation to limit the opening operation of the door 9. With this configuration, while ensuring the passage of the automatic door device 100, the door 9 is opened in a manner different from normal, thereby alerting the object to be detected within the protective detection area 71 provided on the tail end of the door 9, and thereby preventing the object from being pulled into the door 9.

[0094] 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]

[0095] 4A Outdoor activation sensor, 4B Indoor activation sensor, 9 Door, 10 Sensor for automatic door, 20 Automatic door drive unit, 22 Fix, 23 Opening, 50 Security release system, 51 Authentication device, 52 Authorization device, 70 Activation detection area, 71 Protection detection area, 100 Automatic door device, 101 Acquisition unit, 102 Open instruction signal output unit, 103 Restriction unit, 104 Control unit, 105 Notification unit.

Claims

1. An open instruction signal output unit that outputs an open instruction signal for the door based on the fact that a security release signal has been output from a security release device that outputs a security release signal to permit the opening operation of a door that opens and closes an opening, A limiting unit outputs a limiting signal to restrict the opening of the door when a sensor whose detection area includes a protective detection area provided within the opening width range of the opening detects a person or object in the protective detection area, The system includes a control unit that controls the opening and closing operations of the door based on the opening instruction signal, The control unit restricts the opening operation when the door is fully closed and the limiting signal has been received, and the opening instruction signal is output. Automatic door system.

2. When the door is viewed from the front, a fixed portion facing the fully open door is fixedly positioned alongside the door in the direction of view when the door is viewed from the front, and the protective detection area is provided along the door surface of the door, on the side of the fixed portion in the direction of view relative to the door. The automatic door device according to claim 1.

3. The control unit limits the opening operation by opening the door by a predetermined limit distance that is smaller than the distance from the fully closed position to the fully open position of the door, and then stopping the operation. The automatic door device according to claim 1 or 2.

4. The control unit restricts the opening operation by opening the door by a predetermined limited distance that is smaller than the distance from the fully closed position to the fully open position of the door, and then closing it back to the fully closed position. The automatic door device according to claim 1 or 2.

5. The control unit limits the opening operation by opening the door at a slower speed than the normal opening operation. The automatic door device according to claim 1 or 2.

6. The control unit restricts the opening operation by not driving the door. The automatic door device according to claim 1 or 2.

7. The control unit restricts the opening operation by driving the door in the closing direction. The automatic door device according to claim 1 or 2.

8. The control unit terminates the restriction on the opening operation when the sensor stops detecting the person or object within the protective detection area before the door reaches the fully open position. The automatic door device according to claim 1 or 2.

9. The control unit terminates the restriction on the opening operation when the door opens by a predetermined limit termination distance that is less than the distance from the fully closed position to the fully open position of the door, after the restriction on the opening operation has been initiated. The automatic door device according to claim 1 or 2.

10. The control unit starts restricting the opening operation and terminates the restriction when the door reaches the fully open position. The automatic door device according to claim 1 or 2.

11. The system includes a notification unit that notifies that the aforementioned opening operation is being restricted. The automatic door device according to claim 1 or 2.

12. A security release device that outputs a security release signal to allow the opening operation of a door that opens and closes an opening, It is an automatic door system, A startup sensor that detects a person or object in a startup detection area provided around the opening, A protective detection sensor that detects a person or object in a protective detection area provided within the opening width range of the aforementioned opening, An open instruction signal output unit outputs a door open instruction signal based on the output of the security release signal, A control unit that controls the opening and closing operations of the door based on the opening instruction signal, The system includes a limiting unit that outputs a limiting signal to restrict the opening of the door when the protection detection sensor detects a person or object in the protection detection area, The control unit restricts the opening operation when the door is fully closed and the limiting signal has been received, and the opening instruction signal is output. Automatic door system, An automatic door system equipped with [the following features].

13. An open instruction signal output unit that outputs an open instruction signal for the door based on the fact that a security release signal has been output from a security release device that outputs a security release signal to permit the opening operation of a door that opens and closes an opening, A limiting unit outputs a limiting signal to restrict the opening of the door when a sensor, whose detection area includes a protective detection area provided on the door edge side of the door, detects a person or object in the protective detection area. The system includes a control unit that controls the opening and closing operations of the door based on the opening instruction signal, The control unit includes a control unit that, when the door is fully closed and the limiting signal has been received, outputs an open instruction signal, opens the door by a predetermined limiting distance, and then limits the opening operation by either stopping the door or closing the door to return it to the fully closed state, Equipped with, Automatic door system.

14. A security release device that outputs a security release signal to allow the opening operation of a door that opens and closes an opening, It is an automatic door system, A startup sensor that detects a person or object in a startup detection area provided around the opening, A protective detection sensor that detects a person or object in a protective detection area provided within the opening width range of the aforementioned opening, An open instruction signal output unit outputs a door open instruction signal based on the output of the security release signal, A control unit that controls the opening and closing operations of the door based on the opening instruction signal, A limiting unit that outputs a limiting signal to limit the opening operation of the door when the protection detection sensor detects a person or object in the protection detection area, Equipped with, When the door is fully closed and the limiting signal has been received, the control unit opens the door by a predetermined limiting distance, and then limits the opening operation by either stopping the door or closing the door to return it to the fully closed state. Automatic door system, An automatic door system equipped with [the following features].

15. An open instruction signal output unit that outputs an open instruction signal for the door based on the fact that a security release signal has been output from a security release device that outputs a security release signal to permit the opening operation of a door that opens and closes an opening, A limiting unit outputs a limiting signal to restrict the opening of the door when a sensor, whose detection area includes a protective detection area provided on the door edge side of the door, detects a person or object in the protective detection area. The system includes a control unit that controls the opening and closing operations of the door based on the opening instruction signal, The control unit restricts the opening operation by alternately executing a first low-speed operation at a speed slower than the normal opening operation of the door and a second low-speed operation at a speed slower than the normal opening operation and different from the first low-speed operation when the open instruction signal is output while the door is in a fully closed state and the limiting signal has been received. Equipped with, Automatic door system.

16. A security release device that outputs a security release signal to allow the opening operation of a door that opens and closes an opening, It is an automatic door system, A startup sensor that detects a person or object in a startup detection area provided around the opening, A protective detection sensor that detects a person or object in a protective detection area provided within the opening width range of the aforementioned opening, An open instruction signal output unit outputs a door open instruction signal based on the output of the security release signal, A control unit that controls the opening and closing operations of the door based on the opening instruction signal, A limiting unit that outputs a limiting signal to limit the opening operation of the door when the sensor detects a person or object in the aforementioned protection detection area, Equipped with, The control unit restricts the opening operation by alternately executing a first low-speed operation, which is slower than the normal opening operation of the door, and a second low-speed operation, which is slower than the normal opening operation but different from the first low-speed operation, when the door is fully closed and the limiting signal has been received and the opening instruction signal is output. Automatic door system, An automatic door system equipped with [the following features].

17. A limiting unit outputs a limiting signal to restrict the opening operation of a door that opens and closes an opening when a sensor that includes a protective detection area within the opening width range of the opening detects a person or object in the protective detection area, and A control unit that controls the opening and closing operations of the door based on the opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal for the door, includes the step of restricting the opening operation when the opening instruction signal is output while the door is in a fully closed state and the restriction signal has been received, Equipped with, The open instruction signal output unit outputs the open instruction signal based on the fact that the security release signal is output from the security release device which outputs a security release signal to permit the opening operation of the door. A method for controlling an automatic door system.

18. On the computer, A limiting unit outputs a limiting signal to restrict the opening operation of a door that opens and closes an opening when a sensor that includes a protective detection area within the opening width range of the opening detects a person or object in the protective detection area, and A control unit that controls the opening and closing operations of the door based on the opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal for the door, includes the step of restricting the opening operation when the opening instruction signal is output while the door is in a fully closed state and the restriction signal has been received, Make it run, The open instruction signal output unit outputs the open instruction signal based on the fact that the security release signal is output from the security release device which outputs a security release signal to permit the opening operation of the door. Control program for an automatic door system.

19. A limiting unit outputs a limiting signal to restrict the opening operation of a door that opens and closes an opening when a sensor that includes a protective detection area located on the door edge side of the door that opens and closes an opening detects a person or object in the protective detection area, and A control unit that controls the opening and closing operations of the door based on the opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal for the door, includes the steps of: when the door is in a fully closed state and the limiting signal has been received, the control unit opens the door by a predetermined limiting distance, and then limits the opening operation by either stopping the door or closing the door to return it to a fully closed state; Equipped with, The open instruction signal output unit outputs the open instruction signal based on the fact that the security release signal is output from the security release device which outputs a security release signal to permit the opening operation of the door. A method for controlling an automatic door system.

20. On the computer, A limiting unit outputs a limiting signal to restrict the opening operation of a door that opens and closes an opening when a sensor that includes a protective detection area located on the door edge side of the door that opens and closes an opening detects a person or object in the protective detection area, and A control unit that controls the opening and closing operations of the door based on the opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal for the door, includes the steps of: when the door is in a fully closed state and the limiting signal has been received, the control unit opens the door by a predetermined limiting distance, and then limits the opening operation by either stopping the door or closing the door to return it to a fully closed state; Make it run, The open instruction signal output unit outputs the open instruction signal based on the fact that the security release signal is output from the security release device which outputs a security release signal to permit the opening operation of the door. Control program for an automatic door system.

21. A limiting unit outputs a limiting signal to restrict the opening operation of a door that opens and closes an opening when a sensor that includes a protective detection area located on the door edge side of the door that opens and closes an opening detects a person or object in the protective detection area, and A control unit that controls the opening and closing operations of the door based on the opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal for the door, limits the opening operation by alternately executing a first low-speed operation which is slower than the normal opening operation of the door and a second low-speed operation which is slower than the normal opening operation and different from the first low-speed operation, when the opening instruction signal is output while the door is in a fully closed state and the limiting signal has been received. Equipped with, The open instruction signal output unit outputs the open instruction signal based on the fact that the security release signal is output from the security release device which outputs a security release signal to permit the opening operation of the door. A method for controlling an automatic door system.

22. On the computer, A limiting unit outputs a limiting signal to restrict the opening operation of a door that opens and closes an opening when a sensor that includes a protective detection area located on the door edge side of the door that opens and closes an opening detects a person or object in the protective detection area, and A control unit that controls the opening and closing operations of the door based on the opening instruction signal from an opening instruction signal output unit that outputs an opening instruction signal for the door, limits the opening operation by alternately executing a first low-speed operation which is slower than the normal opening operation of the door and a second low-speed operation which is slower than the normal opening operation and different from the first low-speed operation, when the opening instruction signal is output while the door is in a fully closed state and the limiting signal has been received. Make it run, The open instruction signal output unit outputs the open instruction signal based on the fact that the security release signal is output from the security release device which outputs a security release signal to permit the opening operation of the door. Control program for an automatic door system.

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