Automatic door system, method for setting up the automatic door system, and setting program for the automatic door system.

Abstract

To provide an automatic door device that automatically sets a deceleration start position, a method for setting an automatic door device, and a program for setting an automatic door device.SOLUTION: An automatic door device 10 includes a protection sensor 26 having a detection area in a certain range from surfaces of a first door 11 and a second door 12 of a hinged door, a first door engine 30 and a second door engine 40 for driving the first door 11 and the second door 12, a control unit 21 for controlling the first door engine 30 and the second door engine 40, an acquisition section 22 for acquiring positions of the first door 11 and the second door 12 when a detection state of the protection sensor 26 is changed when the first door 11 and the second door 12 are in their opened or closed, and a setting section 23 for setting a deceleration start position for reducing a driving speed for driving the first door engine 30 and the second door engine 40 to open the first door 11 and the second door 12 based on the positions acquired by the acquisition section 22.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] The automatic door device described in Patent Document 1 is a hinged door provided at an opening of a building. The door of the hinged door rotates around a rotation axis. The hinged door opens and closes the opening of the building by the rotation of the door.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the automatic door device of a hinged door, in order to comply with "JIS A 4722" of the domestic automatic door safety standard, it is necessary to set a plurality of items, and in particular, the setting work of the deceleration start position for reducing the moving speed of the door is complicated. There is a demand for automatically setting the deceleration start position.

Means for Solving the Problems

[0005] The automatic door device that solves the above problems includes a sensor having a detection area within a certain range from the surface of the door of a hinged door that opens and closes an opening by rotating, a drive unit that drives the door, a control unit that controls the drive unit, and a position information acquisition unit that acquires the position of the door at the time when a change occurs in the detection state of the sensor when the door is being opened or closed, and a setting unit that sets a deceleration start position for reducing the drive speed for driving the drive unit so that the door opens based on the position acquired by the position information acquisition unit. The control unit controls the drive unit based on the deceleration start position set by the setting unit.

[0006] With the above configuration, the deceleration start position can be automatically set based on the door's position at the time a change occurs in the sensor's detection state acquired by the position information acquisition unit due to the door's opening or closing operation.

[0007] With respect to the above-mentioned automatic door device, it is preferable that the setting unit sets the deceleration start position to a position closer to the fully closed position than the position acquired by the position information acquisition unit. With respect to the above-mentioned automatic door device, it is preferable that the setting unit sets the deceleration start position such that the speed of the door when it reaches the position acquired by the position information acquisition unit falls below a threshold.

[0008] With respect to the above-mentioned automatic door device, if the deceleration start position calculated based on the position acquired by the position information acquisition unit is closer to the fully open position than the deceleration start position set in the control unit, the setting unit prefers to maintain the set deceleration start position.

[0009] It is preferable that the above-mentioned automatic door device includes a communication unit that communicates the deceleration start position set by the setting unit to an external party. A method for setting up an automatic door device that solves the above problems is a method for setting up an automatic door device for a hinged door that opens and closes an opening by rotating, and includes: an opening / closing operation step that opens or closes the hinged door; a position information acquisition step that acquires the position of the door at the time of the change when there is a change in the detection state of a sensor having a detection area within a certain range from the surface of the door while the door is being opened or closed; and a setting step that sets a deceleration start position that reduces the driving speed of the drive unit that drives the door when the door is automatically opened based on the position acquired in the position information acquisition step.

[0010] According to the above method, the deceleration start position can be automatically set based on the door's position at the time a change occurs in the sensor's detection state, which is acquired through the door's opening or closing operation. A setting program for an automatic door device that solves the above problems is a setting program for an automatic door device of a hinged door that opens and closes an opening by rotating, and causes a computer to execute the following: an opening / closing operation step that opens or closes the hinged door; a position information acquisition step that acquires the position of the door at the time the change occurs when there is a change in the detection state of a sensor having a detection area within a certain range from the surface of the door while the door is being opened or closed; and a setting step that sets a deceleration start position that reduces the drive speed of the drive unit that drives the door when the door is automatically opened based on the position acquired in the position information acquisition step.

[0011] According to the above program, the deceleration start position can be automatically set based on the door's position at the moment a change occurs in the sensor's detection state, which is acquired through the door's opening or closing operation. [Effects of the Invention]

[0012] According to the present invention, the deceleration start position can be set automatically. [Brief explanation of the drawing]

[0013] [Figure 1] A front view showing the schematic configuration of the first embodiment of the automatic door device. [Figure 2] A plan view showing the schematic configuration of the automatic door device of the same embodiment. [Figure 3] A plan view showing the operation of the door of the automatic door device of the same embodiment. [Figure 4] A plan view showing the starting position of deceleration for the door of the automatic door device of the same embodiment. [Figure 5] A block diagram showing the electrical configuration of the automatic door device of the same embodiment. [Figure 6] A flowchart showing the setting process for the automatic door device of the same embodiment. [Figure 7] A flowchart illustrating the setting process for the second embodiment of the automatic door device. [Figure 8] A flowchart illustrating the setting process for the third embodiment of the automatic door device. [Figure 9] A flowchart showing the setting process of the fourth embodiment of the automatic door device.

Embodiments for Carrying out the Invention

[0014] (First Embodiment) Hereinafter, referring to FIGS. 1 to 6, the first embodiment of the automatic door device will be described. The automatic door device is a double-opening door.

[0015] (Automatic Door Device 10) As shown in FIGS. 1 and 2, an automatic door device 10 is installed in the opening 1 of the building. The automatic door device 10 includes two first doors 11 and a second door 12. The first door 11 is located on the left side in the figure. The first door 11 rotates about a rotation axis PL located near the door butt 11B. The first door 11 is left-handed with the rotation axis PL on the left when viewed from the side where the door opens inward. The second door 12 is located on the right side in the figure. The second door 12 rotates about a rotation axis PR located near the door butt 12B. The second door 12 is right-handed with the rotation axis PR on the right when viewed from the side where the door opens inward. A blind 13 is provided above the first door 11 and the second door 12 of the opening 1. A door stop 14 that restricts the door from opening forward is provided on the lower surface of the blind 13, which is the upper part of the opening 1. The door engine and door controller of the automatic door device 10 are installed in the blind 13.

[0016] As shown in Figure 3, the automatic door device 10 includes a door controller 20 that controls the automatic door device 10. The door controller 20 may be configured as one or more processors that execute various processes according to a computer program (software). The processes executed by the door controller 20, i.e., the processor, include a method for setting up the automatic door device 10. The method for setting up the automatic door device 10 includes an opening / closing operation step, a position information acquisition step, and a setting step, which will be described later. The door controller 20 may also be configured as a circuit including one or more dedicated hardware circuits, such as application-specific integrated circuits (ASICs), or a combination thereof, that execute at least some of the various processes. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute processes. Memory, i.e., computer-readable media, includes any available media that can be accessed by a general-purpose or dedicated computer. The program stored in the computer-readable media includes a setting program for the automatic door device 10. The setting program for the automatic door device 10 causes the computer to execute the opening / closing operation step, the position information acquisition step, and the setting step.

[0017] The automatic door device 10 includes a first door engine 30 that drives the first door 11 and a second door engine 40 that drives the second door 12. The first door engine 30 includes a first motor 31 and a first transmission mechanism 32. The first motor 31 is driven and controlled by the door controller 20. The first transmission mechanism 32 transmits the driving force of the first motor 31 to the first door 11. The first motor 31 is provided with a first encoder 31A for detecting rotation. The first encoder 31A outputs a detection result including the presence or absence and the rotation direction of the rotation of the first motor 31 to the door controller 20. The second door engine 40 includes a second motor 41 and a second transmission mechanism 42. The second motor 41 is driven and controlled by the door controller 20. The second transmission mechanism 42 transmits the driving force of the second motor 41 to the second door 12. The second motor 41 is provided with a second encoder (41A) for detecting rotation. The second encoder 41A outputs a detection result including the presence or absence and the rotation direction of the rotation of the second motor 41 to the door controller 20. Note that the first door engine 30 and the second door engine 40 correspond to the drive unit.

[0018] The automatic door device 10 includes an activation sensor 25, a protection sensor 26, and a communication unit 27. The door controller 20 is electrically connected to the activation sensor 25, the protection sensor 26, and the communication unit 27. The activation sensor 25 is a sensor that detects people and objects within a predetermined range of the automatic door device 10, and outputs to the door controller 20 when people or objects are detected. When the activation sensor 25 detects, the door controller 20 causes the first door 11 and the second door 12 to perform an opening operation. The protection sensor 26 is a sensor that detects people and objects within the moving range of the first door 11 and the second door 12, and outputs to the door controller 20 when people or objects are detected. The protection sensor 26 has a detection area AS within a certain range from the surfaces of the first door 11 and the second door 12 (see FIG. 4). The protection sensor 26 can physically adjust the distance from the door surface. The communication unit 27 communicates with a communication terminal 50 outside the automatic door device 10 by short-range wireless communication such as Bluetooth (registered trademark), and inputs information from the communication terminal 50 to the door controller 20 or outputs information from the door controller 20 to the communication terminal 50.

[0019] (Communication terminal 50) The communication terminal 50 is a smartphone or tablet, and is operated by an operator by launching a dedicated app when configuring the automatic door device 10. The communication terminal 50 is operated when configuring the drive control of the first door 11 and the second door 12 of the automatic door device 10. The app on the communication terminal 50 is switched to configuration mode when configuring the drive control.

[0020] (Door controller 20) The door controller 20 comprises a control unit 21, an acquisition unit 22, and a setting unit 23. The control unit 21 controls the first door engine 30 and the second door engine 40. Specifically, the control unit 21 opens and closes the first door 11 and the second door 12 by driving and controlling the first motor 31 and the second motor 41. During the opening operation, the control unit 21 decelerates the rotation of the first door 11 and the second door 12 from the deceleration start position PS (see Figure 5). The deceleration start position PS is the position where the reduction in the driving speed that drives the first door engine 30 and the second door engine 40 to open the first door 11 and the second door 12 begins. If the protection sensor 26 detects a person or object, the control unit 21 stops driving the first door 11 and the second door 12. The acquisition unit 22 acquires whether or not the first door 11 and the second door 12 have moved and the amount of movement. The acquisition unit 22 acquires whether the first door 11 and the second door 12 have moved from the first encoder 31A and the second encoder 41A. When the first door 11 and the second door 12 are being opened or closed, if there is a change in the detection state of the protection sensor 26, the acquisition unit 22 acquires the positions of the first door 11 and the second door 12 at the time of the change. The setting unit 23 operates when the setting mode is entered. In setting mode, the setting unit 23 sets the deceleration start position PS based on the position acquired by the acquisition unit 22. The setting unit 23 also acquires the door width and door speed as setting items and calculates and sets the installation distance LA of the protection sensor 26. When the setting is complete, the setting unit 23 transmits a setting completion signal to the communication terminal 50. The acquisition unit 22 includes the functions of the position information acquisition unit.

[0021] Figures 4 and 5 illustrate the second door 12. Since the first door 11 and the second door 12 are symmetrical with respect to the boundary between the door edge 11A of the first door 11 and the door edge 12A of the second door 12, the illustration and description of the first door 11 are omitted.

[0022] As shown in Figure 4, the second door 12 fully closes the opening 1 at the fully closed position PC and fully opens the opening 1 at the fully open position PO. The second door 12 moves from the fully closed position PC to the fully open position PO during the opening operation and moves from the fully open position PO to the fully closed position PC during the closing operation. The protective sensor 26 is installed on the closing side of the second door 12. The protective sensor 26 and the door edge 12B of the second door 12 are separated by an installation distance LA. The protective sensor 26 has a detection area AS shown by a dashed line within a certain range from the surface of the second door 12. The protective sensor 26 detects people and objects located in the direction of movement of the second door 12 during the opening operation.

[0023] As shown in Figure 5, when the second door 12 is moved from the fully closed position PC to the fully open position PO, the protective sensor 26 detects the wall 3 before it reaches the fully open position PO. The detection position is defined as the position where the protective sensor 26 first detects the wall 3 during the opening operation. Detection occurs when the corner of the detection area AS closest to the rotation axis PR reaches the wall 3. In other words, the detection position is the position of the second door 12 at the moment when there is a change in the detection state of the protective sensor 26 while the second door 12 is being opened or closed. The setting unit 23 defines the position immediately before the detection position during the opening operation as the deceleration start position PS. Therefore, when installing the automatic door device 10, it is necessary to position the protective sensor 26 and set the deceleration start position PS. The safety distance LS is defined as the straight-line distance between the door edge 12A of the second door 12 and the wall 3 when the second door 12 is at the deceleration start position PS.

[0024] The control unit 21 disables detection by the protective sensor 26 between the deceleration start position PS and the fully open position PO. That is, the control unit 21 stops detection by the protective sensor 26 or ignores the detection results of the protective sensor 26. The control unit 21 drives at high speed between the fully closed position PC and the deceleration start position PS, and at low speed between the deceleration start position PS and the fully open position PO. The area between the fully closed position PC and the deceleration start position PS is defined as the high-speed region, and the area between the deceleration start position PS and the fully open position PO is defined as the low-speed region. The control unit 21 lowers the speed in the low-speed region compared to the speed in the high-speed region. This reduces the impact when colliding with people or objects in the low-speed region.

[0025] (Setup process) Next, with reference to Figure 6, the setting process for drive control by the automatic door device 10 configured as described above will be explained. When an operator sets the settings, the operator operates the communication terminal 50 to change the communication terminal 50 to setting mode. The communication terminal 50 then transmits the setting mode to the communication unit 27 of the automatic door device 10 via wireless communication. When the door controller 20 receives the setting mode, it changes to the setting mode. The setting mode of the first embodiment will be referred to as the first setting mode. The operator has selected the first setting mode on the communication terminal 50.

[0026] First, as shown in Figure 6, the operator registers the setting items (step S11). That is, the communication terminal 50 displays an instruction to input the setting items. The operator inputs the width of the first door 11 and the second door 12, and the drive speed of the first door 11 and the second door 12 as setting items to the communication terminal 50. Once the operator has finished inputting the setting items, the communication terminal 50 transmits them to the door controller 20. The door controller 20 registers the received setting items.

[0027] Next, the automatic door device 10 calculates the installation distance LA of the protective sensor 26 (step S12). That is, the setting unit 23 calculates the installation distance LA of the protective sensor 26 based on the acquired setting items. The setting unit 23 then transmits the calculated installation distance to the communication terminal 50 via the communication unit 27. The communication terminal 50 displays the received installation distance LA on its screen.

[0028] Next, the worker installs the protective sensors 26 (step S13). Specifically, the worker installs the protective sensors 26 on the first door 11 and the second door 12, respectively, according to the installation distance LA displayed on the communication terminal 50.

[0029] Next, the worker adjusts the detection area AS of the protective sensor 26 (step S14). That is, the worker adjusts the detection area AS of the protective sensor 26 so that it is at least a predetermined distance from the surface of the door. Once the adjustment of the detection area AS of the protective sensor 26 is complete, the worker operates the button on the communication terminal 50 that indicates the completion of the adjustment of the detection area AS. The communication terminal 50 transmits information that the adjustment of the detection area AS is complete to the door controller 20.

[0030] Next, the automatic door device 10 performs an opening or closing operation (step S15). That is, when the control unit 21 receives information that the adjustment of the detection area AS is complete, it drives the first motor 31 and the second motor 41 to open or close the first door 11 and the second door 12. The control unit 21 operates to include the point in time when there is a change in the detection state of the protective sensor 26 in order to determine the detection position of the protective sensor 26.

[0031] Next, the automatic door device 10 acquires the detection position (step S16). The acquisition unit 22 acquires the positions of the first door 11 and the second door 12 as the detection position when there is a change in the detection state of the protective sensor 26 while the first door 11 and the second door 12 are being opened or closed. If the acquisition unit 22 does not acquire position information, the control unit 21 controls the first motor 31 and the second motor 41 based on the deceleration start position PS that has already been set. Step S16 corresponds to the position information acquisition step.

[0032] Next, the automatic door device 10 sets the safety distance LS (step S17). That is, the setting unit 23 sets the deceleration start position PS based on the acquired detection position. The setting unit 23 sets the position immediately before the detection position during the opening operation as the deceleration start position PS, thereby making the deceleration start position PS close to the fully closed position PC. The distance between the door edge 12A and the wall 3 when the second door 12 is at the deceleration start position PS is the safety distance LS. The setting unit 23 calculates and sets the safety distance LS. Note that if the deceleration start position PS calculated by the acquisition unit 22 based on the position acquired is closer to the fully open position PO than the deceleration start position PS already set in the control unit 21, the setting unit 23 maintains the set deceleration start position PS. Step S17 corresponds to the setting step. The automatic door device 10 transmits the deceleration start position PS to the communication terminal 50. The communication terminal 50 acquires the deceleration start position PS. When the setting is complete, the setting unit 23 exits the setting mode.

[0033] Next, the effects of the first embodiment will be described. (1-1) The deceleration start position PS can be automatically set based on the positions of the first door 11 and the second door 12 at the time when there is a change in the detection state of the protective sensor 26 acquired by the acquisition unit 22 due to the opening or closing operation of the first door 11 and the second door 12.

[0034] (1-2) By setting the deceleration start position PS to a position close to the fully closed position PC, the low-speed region in which the movement decelerates during the opening operation can be enlarged, thereby improving safety. (1-3) If the deceleration start position PS calculated based on the position acquired by the acquisition unit 22 is closer to the fully open position PO than the already set deceleration start position PS, safety can be maintained by not bringing the deceleration start position PS closer to the fully open position PO.

[0035] (1-4) The deceleration start position PS set by the setting unit 23 can be received and confirmed by the communication terminal 50 via the communication unit 27. (1-5) In some cases the acquisition unit 22 may not be able to acquire position information, in such cases the first motor 31 and the second motor 41 can be controlled by adopting the deceleration start position PS that has already been set.

[0036] (Second Embodiment) The second embodiment of the automatic door device will be described below with reference to Figure 7. The automatic door device of this embodiment differs from the first embodiment in its drive control setting process. The following description will focus on the differences from the first embodiment.

[0037] The area between the deceleration start position PS and the fully open position PO is a low-speed region, resulting in a slower door drive speed. Therefore, to ensure passability, a safety distance must be defined first, and the settings must be adjusted according to that defined safety distance. Passability refers to the characteristic of being easy to pass through without obstructing traffic. Passability can be improved by reducing the low-speed region.

[0038] (Setup process) Next, with reference to Figure 7, the setting process for drive control by the automatic door device 10 will be described. When an operator sets the settings, the operator operates the communication terminal 50 to change the communication terminal 50 to setting mode. The communication terminal 50 then transmits the setting mode to the communication unit 27 of the automatic door device 10 via wireless communication. When the door controller 20 receives the setting mode, it changes to the setting mode. The setting mode of the second embodiment will be referred to as the second setting mode. The operator has selected the second setting mode on the communication terminal 50.

[0039] First, as shown in Figure 7, the worker manually moves the first door 11 and the second door 12 to a specified safety distance (step S21). That is, the communication terminal 50 displays instructions to move the doors to a specified safety distance, to install the protective sensor 26, and to adjust the detection area AS. The worker moves the first door 11 to a specified safety distance in order to install the protective sensor 26 on the first door 11. The worker moves the second door 12 to a specified safety distance in order to install the protective sensor 26 on the second door 12.

[0040] The worker installs the protective sensor 26 (step S13). Specifically, the worker installs the protective sensor 26 on the first door 11 in accordance with the moved position of the first door 11. The worker also installs the protective sensor 26 on the second door 12 in accordance with the moved position of the second door 12.

[0041] Next, the worker adjusts the detection area AS of the protective sensor 26 (step S14). That is, the worker adjusts the detection area AS of the protective sensor 26 so that it is at least a predetermined distance from the surfaces of the first door 11 and the second door 12. Once the adjustment of the detection area AS of the protective sensor 26 is complete, the worker operates the button on the communication terminal 50 that indicates the completion of the adjustment of the detection area AS. The communication terminal 50 transmits the information that the adjustment of the detection area AS is complete to the door controller 20.

[0042] Next, the worker measures the installation distance LA of the protective sensor 26 (step S22). That is, the communication terminal 50 displays an instruction to input the installation distance LA of the protective sensor 26. The worker measures the installation distance LA between the protective sensor 26 attached to the first door 11 and the door edge 11B of the first door 11. The worker also measures the installation distance LA between the protective sensor 26 attached to the second door 12 and the door edge 12B of the second door 12.

[0043] The operator registers the settings (step S23). Specifically, the operator inputs the widths of the first door 11 and the second door 12, and the measured installation distance LA, as settings into the communication terminal 50. Once the operator has finished inputting the settings, the communication terminal 50 transmits them to the door controller 20. The door controller 20 registers the received settings.

[0044] Next, the automatic door device 10 calculates the driving speeds of the first door 11 and the second door 12 (step S24). That is, the setting unit 23 calculates the driving speeds of the first door 11 and the second door 12 based on the acquired setting items.

[0045] Next, the automatic door device 10 performs an opening or closing operation (step S15). That is, the control unit 21 calculates the driving speed of the first door 11 and the second door 12, and then drives the first motor 31 and the second motor 41 to open or close the first door 11 and the second door 12. The control unit 21 operates to include the point in time when there is a change in the detection state of the protective sensor 26, in order to determine the detection position of the protective sensor 26.

[0046] Next, the automatic door device 10 acquires the detection position (step S16). The acquisition unit 22 acquires the positions of the first door 11 and the second door 12 as the detection position when there is a change in the detection state of the protective sensor 26 while the first door 11 and the second door 12 are being opened or closed. If the acquisition unit 22 does not acquire position information, the control unit 21 uses the already set deceleration start position PS to control the first motor 31 and the second motor 41. Step S16 corresponds to the position information acquisition step.

[0047] Next, the automatic door device 10 sets the safety distance LS (step S17). That is, the setting unit 23 sets the deceleration start position PS based on the acquired detection position. The setting unit 23 sets the deceleration start position PS to a position close to the fully closed position PC by setting the position immediately before the detection position during the opening operation as the deceleration start position PS. The safety distance LS is the distance between the door edge 12A and the wall 3 when the second door 12 is at the deceleration start position PS. The setting unit 23 calculates and sets the safety distance LS. Step S17 corresponds to the setting step. The automatic door device 10 transmits the deceleration start position PS to the communication terminal 50. The communication terminal 50 acquires the deceleration start position PS. When the setting is complete, the setting unit 23 exits the setting mode.

[0048] Next, the effects of the second embodiment will be described. In addition to the effects of (1-1), (1-2), (1-4), and (1-5) of the first embodiment, the following effects are also achieved. (2-1) By setting parameters in accordance with the specified safety distance, traversability can be ensured.

[0049] (Third embodiment) The third embodiment of the automatic door device will be described below with reference to Figure 8. The automatic door device of this embodiment differs from the first embodiment in its drive control setting process. The following description will focus on the differences from the first embodiment.

[0050] In the case of a protective sensor 26 that can learn the detection area, it is possible to set an area where detection is disabled. Therefore, the protective sensor 26 is mounted close to the edge of the door, and the detection disabled area is set by area learning, and the safety distance LS of the first door 11 and the second door 12 is set.

[0051] (Setup process) Next, with reference to Figure 8, the setting process for drive control by the automatic door device 10 will be described. When an operator sets the settings, the operator operates the communication terminal 50 to change the communication terminal 50 to setting mode. The communication terminal 50 then transmits the setting mode to the communication unit 27 of the automatic door device 10 via wireless communication. When the door controller 20 receives the setting mode, it changes to the setting mode. The setting mode of the third embodiment will be referred to as the third setting mode. The operator has selected the third setting mode on the communication terminal 50.

[0052] First, as shown in Figure 8, the worker installs the protective sensor 26 (step S13). That is, the communication terminal 50 displays instructions to install the protective sensor 26 and to adjust the detection area AS. The worker installs the protective sensor 26 on the first door 11, placing it close to the edge 11B of the first door 11. The worker then installs the protective sensor 26 on the second door 12, placing it close to the edge 12B of the second door 12.

[0053] Next, the worker adjusts the detection area AS of the protective sensor 26 (step S14). That is, the worker adjusts the detection area AS of the protective sensor 26 so that it is at least a predetermined distance from the surfaces of the first door 11 and the second door 12. Once the adjustment of the detection area AS of the protective sensor 26 is complete, the worker operates the button on the communication terminal 50 that indicates the completion of the adjustment of the detection area AS. The communication terminal 50 transmits the information that the adjustment of the detection area AS is complete to the door controller 20.

[0054] Next, the automatic door device 10 performs area learning (step S31). Specifically, the setting unit 23, in the first and second embodiments, learns the area near the door edge of the door where the installation distance LA has been set as a detection-disabled area. Note that this area is learned as an area, rather than being determined from the installation distance LA.

[0055] Next, the worker measures the installation distance LA of the protective sensor 26 (step S22). That is, the communication terminal 50 displays an instruction to input the installation distance LA of the protective sensor 26. The worker measures the installation distance LA between the protective sensor 26 attached to the first door 11 and the door edge 11B of the first door 11. The worker also measures the installation distance LA between the protective sensor 26 attached to the second door 12 and the door edge 12B of the second door 12.

[0056] The operator registers the settings (step S23). Specifically, the operator inputs the widths of the first door 11 and the second door 12, and the measured installation distance LA, as settings into the communication terminal 50. Once the operator has finished inputting the settings, the communication terminal 50 transmits them to the door controller 20. The door controller 20 registers the received settings.

[0057] Next, the automatic door device 10 calculates the driving speeds of the first door 11 and the second door 12 (step S24). That is, the setting unit 23 calculates the driving speeds of the first door 11 and the second door 12 based on the acquired setting items.

[0058] Next, the automatic door device 10 performs an opening or closing operation (step S15). That is, the control unit 21 calculates the driving speed of the first door 11 and the second door 12, and then drives the first motor 31 and the second motor 41 to open or close the first door 11 and the second door 12. The control unit 21 operates to include the point in time when there is a change in the detection state of the protective sensor 26, in order to determine the detection position of the protective sensor 26.

[0059] Next, the automatic door device 10 acquires the detection position (step S16). The acquisition unit 22 acquires the positions of the first door 11 and the second door 12 as the detection position when there is a change in the detection state of the protective sensor 26 while the first door 11 and the second door 12 are being opened or closed. If the acquisition unit 22 does not acquire position information, the control unit 21 uses the already set deceleration start position PS to control the first motor 31 and the second motor 41. Step S16 corresponds to the position information acquisition step.

[0060] Next, the automatic door device 10 sets the safety distance LS (step S17). That is, the setting unit 23 sets the deceleration start position PS based on the acquired detection position. The setting unit 23 sets the position immediately before the detection position during the opening operation as the deceleration start position PS, thereby making the deceleration start position PS a position close to the fully closed position PC. The distance between the door edge 12A and the wall 3 when the second door 12 is at the deceleration start position PS is the safety distance LS. The setting unit 23 calculates and sets the safety distance LS. fixed Department 23 If the deceleration start position PS calculated by the acquisition unit 22 based on the acquired position is closer to the fully open position PO than the deceleration start position PS set in the control unit 21, the already set deceleration start position PS is adopted. Step S17 corresponds to the setting step. The automatic door device 10 transmits the deceleration start position PS to the communication terminal 50. The communication terminal 50 acquires the deceleration start position PS. When the setting is complete, the setting unit 23 exits the setting mode.

[0061] Next, the effects of the third embodiment will be described. This embodiment will achieve the effects described in (1-1) to (1-5) of the first embodiment. (3-1) Since the protective sensor 26 can learn the detection area AS, the protective sensor 26 can be installed closer to the edge of the door.

[0062] (Fourth Embodiment) The fourth embodiment of the automatic door device will now be described with reference to Figure 9. The automatic door device of this embodiment differs from the first embodiment in its drive control setting process. The following description will focus on the differences from the first embodiment.

[0063] In the case of a protective sensor 26 that can learn detection areas, it is possible to set areas where detection is disabled. Therefore, area learning may be performed after registering the settings for the protective sensor 26.

[0064] (Setup process) Next, with reference to Figure 9, the setting process for drive control by the automatic door device 10 will be described. When an operator sets the settings, the operator operates the communication terminal 50 to change the communication terminal 50 to setting mode. The communication terminal 50 then transmits the setting mode to the communication unit 27 of the automatic door device 10 via wireless communication. When the door controller 20 receives the setting mode, it changes to the setting mode. The setting mode of the fourth embodiment will be referred to as the fourth setting mode. The operator has selected the fourth setting mode on the communication terminal 50.

[0065] First, as shown in Figure 9, the worker installs the protective sensor 26 (step S13). That is, the communication terminal 50 displays instructions to install the protective sensor 26 and to adjust the detection area AS. The worker installs the protective sensor 26 on the first door 11 and the second door 12, respectively.

[0066] Next, the worker adjusts the detection area AS of the protective sensor 26 (step S14). That is, the worker adjusts the detection area AS of the protective sensor 26 so that it is at least a predetermined distance from the surface of the door. Once the adjustment of the detection area AS of the protective sensor 26 is complete, the worker operates the button on the communication terminal 50 that indicates the completion of the adjustment of the detection area AS. The communication terminal 50 transmits information that the adjustment of the detection area AS is complete to the door controller 20.

[0067] Next, the worker measures the strokes of the first door 11 and the second door 12 (step S41). That is, the communication terminal 50 displays an instruction to input the strokes of the first door 11 and the second door 12. The worker measures the stroke of the first door 11. The worker also measures the stroke of the second door 12.

[0068] The operator registers the setting items (step S23). Specifically, the operator inputs the width of the first door 11 and the second door 12, and the measured stroke, as setting items into the communication terminal 50. Once the operator has finished inputting the setting items, the communication terminal 50 transmits them to the door controller 20. The door controller 20 registers the received setting items.

[0069] Next, the automatic door device 10 calculates the safety distance LS between the first door 11 and the second door 12 (step S42). That is, the setting unit 23 calculates and registers the safety distance LS between the first door 11 and the second door 12 based on the acquired setting items.

[0070] Next, the automatic door device 10 stops at the safety distance LS (step S 43 ). In other words, when the control unit 21 calculates the safety distance LS, it drives and controls the first motor 31 and the second motor 41 to open or close the first door 11 and the second door 12 and stop them at the safety distance LS. The control unit 21 performs the above operation in order to perform area learning of the protection sensor 26 at the registered safety distance LS.

[0071] Next, the automatic door device 10 performs area learning (step S44). Specifically, the setting unit 23 learns the detection invalid area for doors that have stopped at the safety distance LS. The setting unit 23 learns the detection area from the fully closed position to the safety distance LS. Note that this is learned as an area, rather than being determined from the installation distance LA. Once the setting is complete, the setting unit 23 exits the setting mode.

[0072] Next, the effects of the fourth embodiment will be described. (4-1) Since the protective sensor 26 can learn the detection area AS, false detections can be reduced.

[0073] (Other embodiments) Each of the above embodiments can be implemented with the following modifications. Each of the above embodiments and the following modifications can be combined with each other to the extent that they do not contradict each other technically.

[0074] In each of the above embodiments, if the calculated deceleration start position PS is closer to the fully open position PO than the deceleration start position PS set in the control unit 21, the already set deceleration start position PS is maintained. However, instead of automatically deciding not to change the setting of the deceleration start position PS, the system may output to the communication terminal 50 via the communication unit 27 to confirm with the operator whether a change is necessary.

[0075] In each of the above embodiments, the setting unit 23 set the position immediately before the detection position during the opening operation as the deceleration start position PS. However, the deceleration start position PS may be set at a predetermined distance from the detection position during the opening operation. Alternatively, the deceleration start position PS may be set at the position reached by the door after a predetermined time has elapsed from the detection position during the opening operation.

[0076] In each of the above embodiments, the setting unit 23 set the position immediately before the detection position during the opening operation as the deceleration start position PS. However, the deceleration start position PS may be set so that the speed of the first door 11 and the second door 12 when they reach the position acquired by the acquisition unit 22 is below a threshold. With such a configuration, the speed of the doors has already decreased at the position acquired by the acquisition unit 22, so safety can be enhanced.

[0077] In each of the above embodiments, if the automatic door device 10 is equipped with a door closer to close the opened door, the door closer is kept stopped during the setting mode so as not to close. By preventing the door from closing automatically, it is possible to adjust the detection area of ​​the protective sensor 26 and to easily perform detection by the protective sensor 26.

[0078] In the first and third embodiments described above, the automatic door device 10 drives the first door 11 and the second door 12 to acquire the detection position. However, the detection position may also be acquired by having an operator move the first door 11 and the second door 12.

[0079] The parameters used in calculating the installation distance in the first embodiment (step S12) and the door speed in the second embodiment (step S24) may be added as needed. In each of the above embodiments, if there is no wall 3 and the protective sensor 26 moves to the fully open position PO without detecting a wall, the safety distance LS may be set to zero.

[0080] In each of the above embodiments, the communication terminal 50 is a touch panel terminal operated by touch operation, but the operation of the communication terminal 50 is not limited to touch operation; it may also be a device operated by button operation. Furthermore, it may be wired communication, not just wireless communication.

[0081] In each of the above embodiments, the automatic door device 10 is provided with two first doors 11 and a second door 12, but it may also be an automatic door device provided with one door. In each of the above embodiments, the first door engine 30 and the second door engine 40 are installed on the transom 13. However, the first door engine 30 and the second door engine 40 may be installed embedded in the floor 2 instead of on the transom 13.

[0082] In each of the above embodiments, the protective sensor 26 was installed near the trailing edge of the door. However, the protective sensor 26 may also be installed near the leading edge of the door. In this case as well, the protective sensor 26 will form a similar detection area AS.

[0083] In each of the above embodiments, if the structure is composed of multiple objects, those multiple objects may be integrated, and conversely, if the structure is composed of a single object, it may be divided into multiple objects. Whether or not the objects are integrated, the structure should be configured in a way that achieves the objective of the invention.

[0084] In each of the above embodiments, if multiple functions are provided in a distributed manner, some or all of those functions may be consolidated and provided together. Conversely, if multiple functions are consolidated and provided together, some or all of those functions may be distributed and provided together. Regardless of whether the functions are consolidated or distributed, it is sufficient that the objective of the invention can be achieved. [Explanation of Symbols]

[0085] AS...Detection area PC…Fully closed position PL...left rotation axis PO…Fully open position PR...Right rotation axis PS…Deceleration start position 1...Aperture 2… floor 3... Wall 10... Automatic door system 11…First Door 11A…Door 11B…Tojiri 12…2nd door 12A…Door 12B…Tojiri 13... No eyes 14... Door stop 20... Door controller 21... Control Unit 22…Acquisition part 23…Settings section 25…Startup sensor 26…Protective sensor 27… Communications Department 30…First door engine 31…First motor 31A...First encoder 32...First transmission mechanism 40…2nd door engine 41…Second motor 41A...Second encoder 42...Second transmission mechanism 50…Communication terminals

Claims

1. A sensor having a detection area within a certain range from the surface of a hinged door that opens and closes by rotating, A drive unit for driving the aforementioned door, A control unit that controls the drive unit, A position information acquisition unit that acquires the position of the door at the time of change when there is a change in the detection state of the sensor while the door is being opened or closed, When the setting mode is changed to one in which a deceleration start position is set to reduce the drive speed that drives the drive unit to open the door, the system includes a setting unit that sets the deceleration start position based on the position acquired by the position information acquisition unit, When the control unit opens the door after the setting mode has ended, it controls the drive unit based on the deceleration start position already set by the setting unit. Automatic door system.

2. The setting unit sets the deceleration start position to a position closer to the fully closed position than the position acquired by the position information acquisition unit. The automatic door device according to claim 1.

3. The setting unit sets the deceleration start position such that the speed of the door when it reaches the position acquired by the position information acquisition unit falls below a threshold. The automatic door device according to claim 2.

4. The setting unit maintains the set deceleration start position if the deceleration start position calculated based on the position acquired by the position information acquisition unit is closer to the fully open position than the deceleration start position set in the control unit. An automatic door device according to any one of claims 1 to 3.

5. The setting unit includes a communication unit that communicates the deceleration start position set by the setting unit to an external party. An automatic door device according to any one of claims 1 to 4.

6. A method for setting up an automatic door device for a hinged door that opens and closes by rotating, An opening and closing operation step for opening or closing the aforementioned hinged door, A position information acquisition step in which, when the door is being opened or closed, if there is a change in the detection state of a sensor having a detection area within a certain range from the surface of the door, the position of the door at the time the change occurred is acquired. When the setting mode is changed to one in which a deceleration start position is set to reduce the drive speed of the drive unit that drives the door when the door is opened automatically, the setting step includes setting the deceleration start position based on the position acquired in the position information acquisition step, When the door is opened after the setting mode has ended, the drive unit is controlled based on the deceleration start position that has already been set in the setting step. How to set up an automatic door system.

7. A setting program for an automatic door device that opens and closes its opening by rotating, An opening and closing operation step for opening or closing the aforementioned hinged door, A position information acquisition step in which, when the door is being opened or closed, if there is a change in the detection state of a sensor having a detection area within a certain range from the surface of the door, the position of the door at the time the change occurred is acquired. When the setting mode is changed to one in which a deceleration start position is set to reduce the drive speed of the drive unit that drives the door when the door is opened automatically, the setting step of setting the deceleration start position based on the position acquired in the position information acquisition step, When the door is opened after the setting mode has finished, the computer is instructed to perform the following actions: control of the drive unit based on the deceleration start position already set in the setting step. Automatic door system setting program.

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