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

Abstract

To provide an automatic door device, a control method of the automatic door device, a control program of the automatic door device, and a sensor for the automatic door device, which are capable of enhancing usability.SOLUTION: An automatic door device 10 includes a hinged door which rotates to open / close an opening, a protection sensor 16 which is provided in a specific range from a door surface of the hinged door and has a detection area made up of a plurality of small areas, a first door engine 30 and a second door engine 40 which drive the door, a control unit 21 which controls the first door engine 30 and the second door engine 40, a storage unit 22 which stores a combination of each small area and a control mode of the door engine set for each small area, and a determination unit 23 which determines the control mode of the door engines based on the combination of the small area in a detection state and the control mode of the door engine stored in the storage unit 22. The control unit 21 controls the first door engine 30 and the second door engine 40 according to the control mode determined by the determination unit 23.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

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

[0006] According to the above configuration, a control mode for the drive unit is set for each sub-area of ​​the detection area, and the drive unit is controlled according to the control mode set for the sub-area that has detected something. Therefore, compared to a configuration in which the drive unit is uniformly stopped for the detection area, the ease of use in an automatic door system for hinged doors can be improved.

[0007] The above-described automatic door device preferably includes a modification unit that changes the combination stored in the storage unit based on the driving state of the drive unit. In the above-described automatic door device, it is preferable that the detection area is provided on the side of the door that opens.

[0008] In the above-described automatic door device, it is preferable that the detection area is provided on the side of the door that is closing. In the above-described automatic door device, a priority order is set for the control modes of the drive unit set for each of the small areas, and when multiple of the small areas are detected, the determination unit preferably determines the control mode of the drive unit to be the control mode with the highest priority among the control modes set for the multiple small areas.

[0009] With respect to the above-mentioned automatic door device, it is preferable that the determination unit determines the control mode of the drive unit based on the control mode with the highest priority when multiple of the small areas are detected.

[0010] Regarding the above automatic door device, the small area is the same as the door A sideIt is preferable that the detection area is divided into areas based on the distance from the source. Regarding the above automatic door device, the determination unit determines the most... A side When the aforementioned small area close to the door is detected, it is preferable to determine the control mode of the drive unit to drive the door at a safe speed that minimizes the impact when the door comes into contact with the door.

[0011] With respect to the above-described automatic door device, it is preferable that the determination unit determines the control mode of the drive unit to stop the door's drive when the small area closest to the door surface on both sides of the door enters a detection state.

[0012] A control method for an automatic door system that solves the above problem is: Opening A hinged door that opens and closes door The system includes a storage step of storing combinations of small areas constituting a detection area provided within a certain range from a surface and control modes of drive units that drive the door set for each small area; a determination step of determining the control mode of the drive unit based on the combination of the small area that has entered a detection state and the control mode of the drive unit stored in the storage step; and a control step of controlling the drive unit according to the control mode determined in the determination step.

[0013] According to the above method, a control mode for the drive unit is set for each sub-area of ​​the detection area, and the drive unit is controlled according to the control mode set for the sub-area that has detected something. Therefore, compared to a configuration in which the drive unit is uniformly stopped for the detection area, the ease of use in an automatic door system for hinged doors can be improved.

[0014] The control program for an automatic door system that solves the above problem is: Opening A hinged door that opens and closes doorThe computer performs the following steps: a storage step of storing combinations of small areas constituting a detection area provided within a certain range from a surface and control modes of the drive unit that drives the door set for each small area; a determination step of determining the control mode of the drive unit based on the combination of the small area that has entered a detection state and the control mode of the drive unit stored in the storage step; and a control step of controlling the drive unit according to the control mode determined in the determination step.

[0015] According to the above program, a control mode for the drive unit is set for each sub-area of ​​the detection area, and the drive unit is controlled according to the control mode set for the sub-area that was detected. Therefore, compared to a configuration in which the drive unit is uniformly stopped for the detection area, the ease of use in an automatic door system for hinged doors can be improved.

[0016] The sensor for automatic door systems that solves the above problem is , open A hinged door that opens and closes no do A door A detection unit having a detection area consisting of multiple small areas provided within a certain range from the surface, and each of the small areas and the setting for each small area Door drive unit A storage unit that stores combinations with control modes, and the small area that has entered a detected state and the storage unit that stores the Drive unit Based on the combination with the control mode, Drive unit A determination unit that determines the control mode, and the control mode determined by the determination unit, Control unit that controls the drive unit It includes an output unit that outputs to a certain location.

[0017] According to the above configuration, a control mode for the automatic door device is set for each sub-area of ​​the detection area, and the door is driven according to the control mode set for the sub-area that has detected something. Therefore, compared to a configuration in which the drive unit is stopped uniformly for the detection area, the ease of use of the automatic door device for hinged doors can be improved.

[0018] Regarding the sensor for the automatic door device, it is preferable to include an acquisition unit that acquires the driving state of the door, and a modification unit that modifies the combination stored in the storage unit based on the driving state of the door acquired by the acquisition unit.

Advantages of the Invention

[0019] According to the present invention, the ease of use of the automatic door device for swing doors can be improved.

Brief Description of the Drawings

[0020] [Figure 1] Front view showing the schematic configuration of the first embodiment of the automatic door device. [Figure 2] Plan view showing the schematic configuration of the door of the automatic door device of the same embodiment. [Figure 3] Block diagram showing the electrical configuration of the automatic door device of the same embodiment. [Figure 4] (a) is a diagram showing the detection area of the left door of the automatic door device of the same embodiment, and (b) is a diagram showing the detection area of the right door of the automatic door device of the same embodiment. [Figure 5] (a) is a diagram showing the detection area of the left door when the automatic door device of the same embodiment closes, and (b) is a diagram showing the detection area of the right door when the automatic door device of the same embodiment closes. [Figure 6] (a) is a diagram showing the detection area of the left door when the automatic door device of the same embodiment opens, and (b) is a diagram showing the detection area of the right door when the automatic door device of the same embodiment opens. [Figure 7] Table showing the control mode during the closing operation of the automatic door device of the same embodiment. [Figure 8] Table showing the control mode during the opening operation of the automatic door device of the same embodiment. [Figure 9] Table showing the control mode during the opening operation of the automatic door device of the same embodiment. [Figure 10] Flowchart showing the drive control of the automatic door device of the same embodiment. [Figure 11] Diagram showing the detection area of the door of a modified example of the automatic door device. [Figure 12]A block diagram showing the electrical configuration of a second embodiment of the automatic door device. [Modes for carrying out the invention]

[0021] (First Embodiment) A first embodiment of the automatic door device will be described below with reference to Figures 1 to 10. The automatic door device is a double door that opens and closes its opening by rotating.

[0022] (Automatic door device 10) As shown in Figures 1 and 2, an automatic door device 10 is installed in the opening 1 of the building. The automatic door device 10 consists of two doors: a first door 11 and a second door 12. The first door 11 is located on the left side in the figure. The first door 11 rotates around a pivot axis PL located near the door end 11B. The first door 11 is left-handed, with the pivot axis PL on the left side 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 around a pivot axis PR located near the door end 12B. The second door 12 is right-handed, with the pivot axis PR on the right side when viewed from the side where the door opens inward. A transom 13 is provided above the first door 11 and the second door 12 of the opening 1. A door stop 14 is provided on the lower surface of the transom 13, which is the upper part of the opening 1, to restrict the door from opening inward. The door engine and door controller of the automatic door device 10 are installed on the transom 13.

[0023] 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 control method for the automatic door device 10. The control method for the automatic door device 10 includes a storage step, a decision step, and a control 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. The memory, i.e., computer-readable media, includes any available media that can be accessed by a general-purpose or dedicated computer. The programs stored in the computer-readable media include the control program for the automatic door device 10. The control program for the automatic door device 10 causes the computer to execute the storage step, the decision step, and the control step.

[0024] The automatic door system 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, causing it to rotate in the opening and closing direction. The first motor 31 is equipped with a first encoder 31A that detects rotation. The first encoder 31A outputs the detection result, including whether or not the first motor 31 is rotating and the direction of rotation, 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, causing it to rotate in the opening and closing direction. The second motor 41 is equipped with a second encoder 41A that detects rotation. The second encoder 41A outputs the detection result, including whether or not the second motor 41 is rotating and the direction of rotation, to the door controller 20. The first door engine 30 and the second door engine 40 correspond to the drive unit.

[0025] The automatic door device 10 includes an activation sensor 15, a protection sensor 16, a notification unit 28, and a communication unit 29. The door controller 20 is electrically connected to the activation sensor 15, the protection sensor 16, the notification unit 28, and the communication unit 29. The activation sensor 15 is a sensor that detects people or objects within a predetermined range of the automatic door device 10, and outputs a detection signal to the door controller 20 when it detects a person or object. When the activation sensor 15 detects something, the door controller 20 opens the first door 11 and the second door 12. The protection sensor 16 is a sensor that detects people or objects within the movement range of the first door 11 and the second door 12, and outputs a detection signal to the door controller 20 when it detects a person or object. The notification unit 28 is an LED that provides notification with light, a speaker that provides notification with sound, etc. The communication unit 29 communicates with an external communication terminal 50 of the automatic door device 10 using short-range wireless communication such as Bluetooth (registered trademark), inputting information from the communication terminal 50 to the door controller 20, and outputting information from the door controller 20 to the communication terminal 50. The protective sensor 16 corresponds to the detection unit.

[0026] (Communication terminal 50) The communication terminal 50 is a smartphone or tablet, and is operated by an operator by launching a dedicated application 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.

[0027] As shown in Figures 4(a) and 4(b), the protective sensor 16 has detection areas AS within a certain range from both sides of the first door 11 and the second door 12. The detection area AS consists of multiple sub-areas. The sub-areas are areas obtained by dividing the detection area AS based on the distance from the surfaces of the first door 11 and the second door 12. Specifically, the open detection area ASO on the open side of the first door 11 and the second door 12 has a first sub-area A1, a third sub-area A3, and a fifth sub-area A5. The closed detection area ASC on the closed side of the first door 11 and the second door 12 has a second sub-area A2, a fourth sub-area A4, and a sixth sub-area A6. The protective sensor 16 can be physically adjusted in distance from the surfaces of the first door 11 and the second door 12.

[0028] Furthermore, a priority order is set for the control modes of the first door engine 30 and the second door engine 40, which are configured for each sub-area. Priorities are set higher for sub-areas closer to the faces of the first door 11 and the second door 12. In addition, for sub-areas that are the same distance from the faces of the first door 11 and the second door 12, the priority of the open detection area ASO is set higher than the priority of the closed detection area ASC.

[0029] As shown in Figures 5(a) and 5(b), when the first door 11 and the second door 12 are closed, the protective sensor 16 has a detection area provided only in the closed detection area ASC on the closing side of the first door 11 and the second door 12. Also, as shown in Figures 6(a) and 6(b), when the first door 11 and the second door 12 are opened, the protective sensor 16 has detection areas provided in the open detection area ASO and the closed detection area ASC on both sides of the first door 11 and the second door 12.

[0030] (Door controller 20) As shown in Figure 3, the door controller 20 comprises a control unit 21, a storage unit 22, a determination unit 23, and a modification unit 24. 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. The storage unit 22 stores combinations of each small area and the control modes of the first door engine 30 and the second door engine 40 set for each small area. The control modes of the first door engine 30 and the second door engine 40 mean high-speed drive, low-speed drive, drive stop, and drive in the opposite direction. The control modes are set in the storage unit 22 from a communication terminal 50 or an external computer. The determination unit 23 determines the control modes of the first door engine 30 and the second door engine 40 based on the combination of the small area detected by the protection sensor 16 and the control modes of the first door engine 30 and the second door engine 40 stored in the storage unit 22. The determination unit 23, when detection occurs in multiple small areas, determines the control mode for the first door engine 30 and the second door engine 40 with the highest priority. The modification unit 24 changes the combination of the small area that has been detected and the control mode for the first door engine 30 and the second door engine 40 stored in the storage unit 22, based on the driving state of the first door engine 30 and the second door engine 40. The driving state includes the driving direction and driving speed of the first door engine 30 and the second door engine 40. When the protection sensor 16 is detected, the control unit 21 controls the first door engine 30 and the second door engine 40 according to the control mode determined by the determination unit 23. If the determination unit 23 has determined the control mode for the first door engine 30 and the second door engine 40 based on the combination of the small area and control mode changed by the modification unit 24, the control unit 21 controls the first door engine 30 and the second door engine 40 according to that control mode.

[0031] (Control mode) As shown in Figures 7 to 9, control modes for the first door engine 30 and the second door engine 40 are set for each sub-area. Figure 8 shows a control mode that prioritizes safety, and Figure 9 shows a control mode that prioritizes traversability.

[0032] Figure 7 shows the control mode during closing operation, which drives the first door 11 and the second door 12 in the closing direction. During closing operation, the second sub-area A2 is set to "low-speed opening," which indicates opening at a low speed, reversing from closing drive. Here, low speed refers to a speed lower than the preset drive speed. The fourth sub-area A4 is set to "drive stop," which indicates stopping the closing drive. The sixth sub-area A6 is set to "low-speed closing," which indicates closing drive at a low speed. Here, low speed refers to a speed lower than the preset drive speed. The priority order of the sub-areas in the closing detection area ASC is set in the order of second sub-area A2, fourth sub-area A4, and sixth sub-area A6.

[0033] Then, if a person or object is detected in multiple sub-areas, the decision unit 23 determines the control mode for the first door engine 30 and the second door engine 40 with the highest priority. For example, if a person or object is detected in the fourth sub-area A4 and the sixth sub-area A6, the decision unit 23 determines "drive stop" for the fourth sub-area A4, which has the higher priority. If a person or object is detected in the second sub-area A2 and the fourth sub-area A4, the decision unit 23 determines "low-speed opening" for the second sub-area A2, which has the higher priority.

[0034] Figures 8 and 9 show the control modes during opening operation, where the first door 11 and the second door 12 are driven in the opening direction. During opening operation, the first door 11 and the second door 12 are driven to open at high speed. Here, high speed refers to a preset drive speed. In opening operation, the first sub-area A1 is set to "low-speed closing," which indicates a reversal from opening drive to low-speed closing drive. Here, low speed refers to a speed lower than the preset drive speed. The third sub-area A3 is set to "drive stop," which indicates stopping the opening drive. The fifth sub-area A5 is set to "low-speed opening," which indicates opening drive at low speed. Here, low speed refers to a speed lower than the preset drive speed. The second sub-area A2 is set to "high-speed opening," which indicates opening drive at high speed. Here, high speed refers to a preset drive speed. The fourth sub-area A4 is set to "low-speed opening," which indicates opening drive at low speed. Here, low speed refers to a speed lower than the preset drive speed. In the sixth sub-area A6, "Drive Stop" is set to indicate the cessation of the open drive.

[0035] Here, the priority order for the open control mode, from highest to lowest, is "slow closing," "drive stop," and "slow opening." The priority order for the closed control mode, from highest to lowest, is "fast opening," "slow opening," and "drive stop."

[0036] Then, if a person or object is detected in multiple sub-areas within only one of the open detection area ASO and the closed detection area ASC, the decision unit 23 determines the control mode of the first door engine 30 and the second door engine 40 with the highest priority. For example, if a person or object is detected in the first sub-area A1 and the third sub-area A3 of the open detection area ASO, the decision unit 23 determines "slow closing" for the first sub-area A1, which has the highest priority. If a person or object is detected in the first sub-area A1 and the fifth sub-area A5 of the open detection area ASO, the decision unit 23 determines "slow closing" for the first sub-area A1, which has the highest priority. If a person or object is detected in the third sub-area A3 and the fifth sub-area A5 of the open detection area ASO, the decision unit 23 determines "drive stop" for the third sub-area A3, which has the highest priority. Furthermore, if a person or object is detected in the second sub-area A2 and the fourth sub-area A4 of the closed detection area ASC, the decision unit 23 will decide to "open quickly" the second sub-area A2, which has the higher priority. If a person or object is detected in the second sub-area A2 and the sixth sub-area A6 of the closed detection area ASC, the decision unit 23 will decide to "open quickly" the second sub-area A2, which has the higher priority. If a person or object is detected in the fourth sub-area A4 and the sixth sub-area A6 of the closed detection area ASC, the decision unit 23 will decide to "open slowly" the fourth sub-area A4, which has the higher priority.

[0037] Furthermore, if a person or object is detected in both the open detection area ASO and the closed detection area ASC (i.e., in a detection state), the determination unit 23 selects the control mode for the first door engine 30 and the second door engine 40 with the highest priority. Then, the determination unit 23 decides on a control mode for the first door engine 30 and the second door engine 40 with a lower priority than the selected control mode for the first door engine 30 and the second door engine 40. In addition, if a person or object is detected in both the open detection area ASO and the closed detection area ASC, and if detection occurs in multiple sub-areas within each detection area, the determination unit 23 first selects the sub-area with the highest priority within each detection area.

[0038] Figure 8 shows a safety-focused control mode in which the first door 11 and the second door 12 are actively stopped when a person or object is detected in both the open detection area ASO and the closed detection area ASC. For example, when a person or object is detected in both the fifth sub-area A5 on the open side and the second sub-area A2 on the closed side (when detection is in progress), the decision unit 23 selects "high-speed opening" for the second sub-area A2, which has a higher priority. Then, the decision unit 23 lowers the priority on the closed side from the selected "high-speed opening" control mode and decides on "low-speed opening".

[0039] When a person or object is detected in both the fifth sub-area A5 on the opening side and the fourth sub-area A4 on the closing side (when detection is in progress), the decision unit 23 determines "slow opening" because both the fifth sub-area A5 and the fourth sub-area A4, which have higher priority, have the same control mode.

[0040] If a person or object is detected in both the fifth small area A5 on the opening side and the sixth small area A6 on the closing side (when detection is in progress), the decision unit 23 selects "slow opening" for the fifth small area A5, which has the higher priority. Then, the decision unit 23 lowers the priority of the selected "slow opening" control mode and decides to "drive stop".

[0041] If a person or object is detected in both the third small area A3 on the opening side and the second small area A2 on the closing side (when detection is in progress), the decision unit 23 selects "high-speed opening" for the second small area A2, which has the higher priority. Then, the decision unit 23 lowers the priority on the closing side from the selected "high-speed opening" control mode and decides on "low-speed opening".

[0042] If a person or object is detected in both the open third sub-area A3 and the closed fourth sub-area A4 (when detection is in progress), the decision unit 23 selects "Stop Driving" for the third sub-area A3, which has the higher priority. If the decision unit 23 has selected "Stop Driving," it prioritizes safety and makes the decision to stop driving.

[0043] The decision unit 23 determines "drive stop" when a person or object is detected in both the open third sub-area A3 and the closed sixth sub-area A6 (when detection is in progress), because both the third sub-area A3 and the sixth sub-area A6 have the same control mode.

[0044] If a person or object is detected in both the first small area A1 on the open side and the second small area A2 on the closed side (when detection is in progress), the decision unit 23 selects "slow closing" for the first small area A1, which has the higher priority. Then, the decision unit 23 lowers the priority on the open side from the selected "slow closing" control mode and decides to "drive stop".

[0045] If a person or object is detected in both the first small area A1 on the open side and the fourth small area A4 on the closed side (when detection is in progress), the decision unit 23 selects "slow closing" for the first small area A1, which has the higher priority. Then, the decision unit 23 lowers the priority on the open side from the selected "slow closing" control mode and decides to "drive stop".

[0046] If a person or object is detected in both the first small area A1 on the open side and the sixth small area A6 on the closed side (when detection is in progress), the decision unit 23 selects "slow closing" for the first small area A1, which has the higher priority. Then, the decision unit 23 lowers the priority on the open side from the selected "slow closing" control mode and decides to "drive stop".

[0047] Figure 9 shows a control mode prioritizing convenience for driving the first door 11 and the second door 12 when a person or object is detected in both the open detection area ASO and the closed detection area ASC. For example, if a person or object is detected in both the fifth sub-area A5 on the open side and the second sub-area A2 on the closed side, the decision unit 23 selects "high-speed opening" for the second sub-area A2, which has a higher priority. Then, since the open side is the fifth sub-area A5, which has a lower priority, the decision unit 23 lowers the priority of the selected "high-speed opening" control mode and decides on "slow opening".

[0048] When a person or object is detected in both the fifth small area A5 on the open side and the fourth small area A4 on the closed side (when detection is in progress), the decision unit 23 determines "slow opening" because both the fifth small area A5 and the fourth small area A4 have the same control mode.

[0049] If a person or object is detected in both the fifth small area A5 on the opening side and the sixth small area A6 on the closing side (when detection is in progress), the decision unit 23 selects "slow opening" for the fifth small area A5, which has the higher priority. Then, the decision unit 23 lowers the priority of the selected "slow opening" control mode and decides to "drive stop".

[0050] If a person or object is detected in both the third small area A3 on the opening side and the second small area A2 on the closing side (when detection is in progress), the decision unit 23 selects "high-speed opening" for the second small area A2, which has the higher priority. Then, the decision unit 23 lowers the priority on the closing side from the selected "high-speed opening" control mode and decides on "low-speed opening".

[0051] If a person or object is detected in both the third small area A3 on the opening side and the fourth small area A4 on the closing side (when detection is in progress), the decision unit 23 selects "Stop Driving" for the third small area A3, which has the higher priority. Then, the decision unit 23 lowers the priority on the opening side from the selected "Stop Driving" control mode and decides on "Slow Opening".

[0052] The decision unit 23 determines "drive stop" when a person or object is detected in both the open third sub-area A3 and the closed sixth sub-area A6 (when detection is in progress), because both the third sub-area A3 and the sixth sub-area A6 have the same control mode.

[0053] If a person or object is detected in both the first small area A1 on the open side and the second small area A2 on the closed side (when detection is in progress), the decision unit 23 selects "slow closing" for the first small area A1, which has the higher priority. Then, the decision unit 23 lowers the priority on the open side from the selected "slow closing" control mode and decides to "drive stop".

[0054] If a person or object is detected in both the first small area A1 on the open side and the fourth small area A4 on the closed side (when detection is in progress), the decision unit 23 selects "slow closing" for the first small area A1, which has the higher priority. Then, the decision unit 23 lowers the priority on the open side from the selected "slow closing" control mode and decides to "drive stop".

[0055] If a person or object is detected in both the first small area A1 on the open side and the sixth small area A6 on the closed side (when detection is in progress), the decision unit 23 selects "slow closing" for the first small area A1, which has the higher priority. Then, the decision unit 23 lowers the priority on the open side from the selected "slow closing" control mode and decides to "drive stop".

[0056] (Drive control) Next, with reference to Figure 10, the drive control of the automatic door device 10 configured as described above will be explained. The processing when the protective sensor 16 detects an opening or closing operation of the automatic door device 10 will be explained. The memory unit 22 of the automatic door device 10 stores combinations of each small area and the control modes of the first door engine 30 and the second door engine 40 set for each small area (storage step).

[0057] (Opening action) First, as shown in Figure 10, the automatic door device 10 performs an opening and closing operation (step S11). That is, when the activation sensor 15 is detected, the control unit 21 drives the first door engine 30 and the second door engine 40 to open the first door 11 and the second door 12.

[0058] Next, the automatic door device 10 determines whether or not the protective sensor 16 detects anything during the opening operation of the first door 11 and the second door 12 (step S12). That is, the control unit 21 determines whether or not there is an input of a detection signal from the protective sensor 16. If the control unit 21 determines that there is no detection from the protective sensor 16 (step S12: NO), it terminates the process and returns to the start.

[0059] On the other hand, if the control unit 21 determines that there is detection from the protection sensor 16 (step S12: YES), it determines whether there is detection on both sides of the first door 11 and the second door 12 (step S13). That is, the control unit 21 determines whether there is input of detection signals from the protection sensors 16 on both sides of the first door 11 and the second door 12.

[0060] Then, if the control unit 21 determines that only one side of the protective sensor 16 of the first door 11 and the second door 12 is detected (step S13: NO), the automatic door device 10 operates according to the priority of the sub-areas of the protective sensor 16 on that side (step S15). That is, if detection is detected in one sub-area within the sub-areas of the protective sensor 16 on that side, the determination unit 23 determines the control mode of the first door engine 30 and the second door engine 40 assigned to that sub-area, and if detection is detected in multiple sub-areas, it determines the control mode of the first door engine 30 and the second door engine 40 with the highest priority. The control unit 21 then controls the first door engine 30 and the second door engine 40 according to the control mode determined by the determination unit 23. The modification unit 24 also changes the combination of the sub-areas and the control modes of the first door engine 30 and the second door engine 40 stored in the storage unit 22 based on the driving state of the first door engine 30 and the second door engine 40. Step S15 corresponds to the determination step and the control step.

[0061] On the other hand, if the control unit 21 determines that there is detection from the protective sensors 16 on both sides of the first door 11 and the second door 12 (step S13: YES), the automatic door device 10 performs an operation corresponding to the combination of small areas of the protective sensors 16 on both sides (step S14). That is, the determination unit 23 determines the control mode for the first door engine 30 and the second door engine 40 according to the combination shown in Figure 8 or Figure 9. Then, the control unit 21 controls the first door engine 30 and the second door engine 40 according to the control mode determined by the determination unit 23.

[0062] Then, when the protective sensors 16 on both sides no longer detect anything, the control unit 21 drives the first door engine 30 and the second door engine 40 to open. Alternatively, when the protective sensors 16 on both sides no longer detect anything, the control unit 21 may fully close the first door 11 and the second door 12 and then open them based on the detection of the start sensor 15.

[0063] (Closing operation) Then, after the activation sensor 15 detects and opens the first door 11 and the second door 12, the control unit 21 drives the first door engine 30 and the second door engine 40 to close the doors (step S11) after a predetermined time has elapsed.

[0064] Next, the automatic door device 10 determines whether or not the protective sensor 16 detects anything during the closing operation of the first door 11 and the second door 12 (step S12). That is, the control unit 21 determines whether or not there is an input of a detection signal from the protective sensor 16. If the control unit 21 determines that there is no detection from the protective sensor 16 (step S12: NO), it terminates the process and returns to the start.

[0065] On the other hand, if the control unit 21 determines that the protective sensor 16 has detected something (step S12: YES), the control unit 21 will only detect the protective sensor 16 on one side of the first door 11 and the second door 12 (step S13: NO), and the automatic door device 10 will perform operations according to priority (step S15). That is, if detection occurs in multiple small areas, the determination unit 23 will determine the control mode for the first door engine 30 and the second door engine 40 with the highest priority. The control unit 21 will then control the first door engine 30 and the second door engine 40 according to the control mode determined by the determination unit 23. If detection occurs in only one small area, the determination unit 23 will determine the control mode for the first door engine 30 and the second door engine 40 in the detected small area. The modification unit 24 will change the combination of the small area detected by the protective sensor 16 and the control mode for the first door engine 30 and the second door engine 40 stored in the storage unit 22, based on the driving state of the first door engine 30 and the second door engine 40. Step S15 corresponds to the decision step and the control step.

[0066] Then, when the protective sensors 16 on both sides no longer detect anything, the control unit 21 drives the first door engine 30 and the second door engine 40 to close. Alternatively, when the protective sensors 16 on both sides no longer detect anything, the control unit 21 may fully open the first door 11 and the second door 12 before closing them.

[0067] Next, the effects of the first embodiment will be described. (1-1) A control mode for the first door engine 30 and the second door engine 40 is set for each sub-area of ​​the detection area AS, and the first door engine 30 and the second door engine 40 are controlled according to the control mode set for the sub-area where detection occurs. Therefore, compared to a configuration in which the first door engine 30 and the second door engine 40 are uniformly stopped when a person or object is detected in the detection area, the ease of use of the automatic door device 10 for hinged doors can be improved.

[0068] (1-2) The possibility of contact with people or objects differs depending on the driving state of the first door engine 30 and the second door engine 40. Therefore, by changing the control mode of the first door engine 30 and the second door engine 40 based on the driving state of the first door engine 30 and the second door engine 40, it is possible to drive the first door 11 and the second door 12 in a more suitable manner.

[0069] (1-3) The detection area AS is provided on the opening side of the first door 11 and the second door 12. Therefore, when the first door 11 and the second door 12 are opened, people and objects located in the direction of travel of the first door 11 and the second door 12 can be detected, and contact with people and objects can be avoided.

[0070] (1-4) The detection area AS is provided on the closing side of the first door 11 and the second door 12. Therefore, when the first door 11 and the second door 12 are closed, people and objects located in the direction of travel of the first door 11 and the second door 12 can be detected, and contact with people and objects can be avoided.

[0071] (1-5) Since there is a possibility of detecting people or objects in multiple small areas, the control mode with the highest priority is determined when multiple small areas are in a detection state. This prevents the hinged door from stopping due to conflicts in the control modes set for the small areas of the internal and external detection units.

[0072] (1-6) The control modes of the first door engine 30 and the second door engine 40 are determined based on the control mode with the highest priority. If detection occurs in multiple small areas, the control mode for each of them may be undesirable. For this reason, contact with the first door 11 and the second door 12 can be avoided and the stopping of the doors can be further reduced.

[0073] (1-7) The small areas are each area obtained by dividing the detection area AS based on the distance from the surfaces of the first door 11 and the second door 12. Therefore, the control of the first door engine 30 and the second door engine 40 can be set according to the distance from the surfaces of the first door 11 and the second door 12, and contact between the first door 11 and the second door 12 and people or objects can be suppressed.

[0074] (1-8) Since detection occurs in the small area closest to the faces of the first door 11 and the second door 12 on both sides, there is a high probability of contact with a person regardless of whether the first door 11 or the second door 12 is moved to open or close. For this reason, contact can be avoided by stopping the first door 11 and the second door 12.

[0075] (Second Embodiment) A second embodiment of the sensor for an automatic door device will be described below with reference to Figure 12. This embodiment of the automatic door device differs from the first embodiment in that the area sensor determines the control mode of the drive unit. The following description will focus on the differences from the first embodiment.

[0076] (Protection sensor 60) As shown in Figure 12, the protective sensor 60 comprises a control unit 61, a storage unit 62, an acquisition unit 63, a determination unit 64, a modification unit 65, and an output unit 66. The control unit 61 controls the protective sensor 60. Specifically, when the automatic door device 10 is activated, the control unit 61 detects the detection areas AS of the first door 11 and the second door 12. The storage unit 62 stores combinations of each sub-area of ​​the detection area AS and the control modes of the first door engine 30 and the second door engine 40 set for each sub-area. The stored control modes are the same as in the first embodiment. The control modes of the first door engine 30 and the second door engine 40 mean high-speed drive, low-speed drive, drive stop, and drive in the opposite direction. The protective sensor 60 corresponds to the sensor for the automatic door device and has a detection unit.

[0077] The acquisition unit 63 acquires the drive status of the first door 11 and the second door 12 from the door controller 20. The determination unit 64 determines the control mode of the first door engine 30 and the second door engine 40 based on the combination of the small area detected by the protection sensor 16 and the control modes of the first door engine 30 and the second door engine 40 stored in the storage unit 22. If detection occurs in multiple small areas, the determination unit 64 determines the control mode of the first door engine 30 and the second door engine 40 with the highest priority. The modification unit 65 changes the combination of the small area detected by the protection sensor 16 and the control modes of the first door engine 30 and the second door engine 40 stored in the storage unit 22 based on the drive status of the first door engine 30 and the second door engine 40 when the protection sensor 16 detects something. The drive status includes the drive direction and drive speed of the first door engine 30 and the second door engine 40. The output unit 66 outputs the control mode determined by the determination unit 64 to the door controller 20.

[0078] When the protection sensor 16 detects something, the control unit 61 controls the first door engine 30 and the second door engine 40 according to the control mode determined by the determination unit 64. When the protection sensor 16 detects something and the modification unit 65 makes a change, the control unit 61 controls the first door engine 30 and the second door engine 40 according to the control mode changed by the modification unit 65.

[0079] Next, the effects of the second embodiment will be described. In addition to the effects (1-1) to (1-8) of the first embodiment, the following effects are also achieved. (2-1) The protective sensor 60 can determine the control mode of the first door engine 30 and the second door engine 40 according to the small area detected by the protective sensor 60. Therefore, by installing the protective sensor 60 in the automatic door device 10, the first door engine 30 and the second door engine 40 can be driven in a control mode corresponding to the small area that has been detected.

[0080] (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.

[0081] If detection occurs in the small area closest to the faces of the first door 11 and the second door 12 on both sides, the determination unit 23 decides to stop the first door 11 and the second door 12 from moving. However, if detection occurs in the small area closest to the faces of the first door 11 and the second door 12 on both sides, the determination unit 23 may decide to set the first door 11 and the second door 12 to a safe speed that minimizes the impact upon contact. In this way, stopping the first door 11 and the second door 12 can be avoided.

[0082] In each of the above embodiments, the detection area AS was divided to form sub-areas based on the distance from the surfaces of the first door 11 and the second door 12. In addition, as shown in Figure 11, the area may be divided perpendicular to the surfaces of the first door 11 and the second door 12.

[0083] Furthermore, as shown in Figure 11, the detection area on the tail end of the first door 11 and the second door 12 may be reduced as it moves further away from the surfaces of the first door 11 and the second door 12. In this way, when the first door 11 and the second door 12 are opened, detection of the wall of the opening 1 can be suppressed, and a person or object can be detected.

[0084] As shown in Figures 5(a) and 5(b), when the first door 11 and the second door 12 are closed, the protective sensors 16 and 60 have detection areas only in the closed detection area ASC on the closed side of the first door 11 and the second door 12. However, when the first door 11 and the second door 12 are closed, the protective sensors 16 and 60 may also have detection areas in the open detection area ASO and the closed detection area ASC on both sides of the first door 11 and the second door 12.

[0085] As shown in Figures 6(a) and 6(b), when the first door 11 and the second door 12 are opened, the protective sensors 16 and 60 provide detection areas in the open detection area ASO and the closed detection area ASC on both sides of the first door 11 and the second door 12. However, when the first door 11 and the second door 12 are opened, the protective sensors 16 and 60 may also provide a detection area only in the open detection area ASO on one side of the first door 11 and the second door 12.

[0086] In each of the above embodiments, the combination of each sub-area and control mode is such that at least one sub-area has a different control mode assigned to another sub-area, for example, drive stop. In other words, it is sufficient to exclude combinations where all sub-areas have the same control mode, for example, all sub-areas have drive stop.

[0087] In each of the above embodiments, the protective sensor 16 is installed on the first door 11 and the second door 12. However, the detection unit may be installed in a location other than the first door 11 and the second door 12, as long as the detection area of ​​the detection unit moves in conjunction with the opening and closing of the first door 11 and the second door 12.

[0088] In each of the above embodiments, if a person or object is detected in both the open detection area ASO and the closed detection area ASC, the control mode of the first door engine 30 and the second door engine 40 with the higher priority is selected, and the control mode of the first door engine 30 and the second door engine 40 is determined to be a lower priority than the selected control mode of the first door engine 30 and the second door engine 40. However, if priorities are set for each sub-area of ​​the open detection area ASO and the closed detection area ASC, and a person or object is detected in both the open detection area ASO and the closed detection area ASC, the control mode set for the sub-area with the higher priority among the sub-areas that are in a detected state may be determined as the control mode of the first door engine 30 and the second door engine 40.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] In each of the above embodiments, if multiple functions are provided in a distributed manner, some or all of those multiple functions may be consolidated and provided together. Conversely, if multiple functions are consolidated and provided together, some or all of those multiple functions may be distributed and provided together. Regardless of whether the functions are consolidated or distributed, it is sufficient that the invention's objective can be achieved. [Explanation of Symbols]

[0093] AS...Detection area ASC…Closed detection area ASO…Open detection area A1~A6...Small areas PL... Rotation axis PR... Rotation axis 1...Aperture 2… floor 10... Automatic door system 11…First Door 11B…Tojiri 12…2nd door 12B…Tojiri 13... No eyes 15…Startup sensor 16…Protective sensor 20... Door controller 21... Control Unit 22...Storage section 23…Decision Section 24…Changes 28… Hochi Department 29... 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 60…Protective sensor 61... Control Unit 62...Storage section 63…Acquisition part 64…Decision Section 65... Changes 66... ​​Output section

Claims

1. A hinged door that opens and closes by rotating, The detection unit is provided within a certain range from the door surface of the aforementioned door and has a detection area consisting of multiple small areas, A drive unit for driving the aforementioned door, A control unit that controls the drive unit, A storage unit that stores combinations of each of the aforementioned sub-areas and the control mode of the drive unit set for each sub-area, The system includes a determination unit that determines the control mode of the drive unit based on a combination of the small area that has entered a detection state and the control mode of the drive unit stored in the memory unit, The detection unit has an open detection area provided on the opening side of the door and a closed detection area provided on the closing side of the door. Priority is set for the control modes of the drive unit set for each of the aforementioned small areas. If both the small area of ​​the open detection area and the small area of ​​the closed detection area are in a detection state, the determination unit selects the control mode with the highest priority from among the control modes set for each small area in a detection state, and determines the control mode of the drive unit to be a control mode with a lower priority than the selected control mode. The control unit controls the drive unit according to the control mode determined by the determination unit. Automatic door system.

2. A hinged door that opens and closes by rotating, The detection unit is provided within a certain range from the door surface of the aforementioned door and has a detection area consisting of multiple small areas, A drive unit for driving the aforementioned door, A control unit that controls the drive unit, A storage unit that stores combinations of each of the aforementioned sub-areas and the control mode of the drive unit set for each sub-area, A determination unit that determines the control mode of the drive unit based on the combination of the small area that has entered a detection state and the control mode of the drive unit stored in the memory unit, The system includes a modification unit that modifies the combination itself stored in the storage unit based on the drive state, including the drive direction and drive speed of the drive unit, The control mode of the drive unit is set according to the combination of the aforementioned small areas. When multiple small areas are detected, the determination unit determines the control mode set according to the combination of small areas as the control mode of the drive unit. The control unit controls the drive unit according to the control mode determined by the determination unit. Automatic door system.

3. The detection unit has an open detection area provided on the opening side of the door and a closed detection area provided on the closing side of the door. When the multiple sub-areas are detected, this includes the case when both the open detection area and the closed detection area are detected. The automatic door device according to claim 2.

4. The system includes a modification unit that changes the combination of the small area stored in the storage unit and the control mode based on the driving state of the drive unit. The automatic door device according to claim 1.

5. When multiple small areas are detected, the determination unit determines the control mode of the drive unit based on the control mode with the highest priority. The automatic door device according to claim 1.

6. The aforementioned small areas are each area obtained by dividing the detection area based on its distance from the door surface. The automatic door device according to claim 1 or 2.

7. When the small area closest to the door surface on both sides of the door is detected, the determination unit determines the control mode of the drive unit to drive the door at a safe speed that minimizes the impact when it comes into contact with the door. The automatic door device according to claim 5.

8. The determination unit determines the control mode of the drive unit to stop the door's drive when the small area closest to the door surface on both sides of the door is detected. The automatic door device according to claim 5.

9. A storage step that stores a combination of a small area constituting a detection area provided within a certain range from the door surface of a hinged door that opens and closes by rotating, and a control mode of the drive unit that drives the door, set for each of the small areas, A determination step in which the control mode of the drive unit is determined based on the combination of the small area that has entered a detection state and the control mode of the drive unit stored in the storage step, The control step includes controlling the drive unit according to the control mode determined in the determination step, The detection area includes an open detection area provided on the opening side of the door and a closed detection area provided on the closing side of the door. Priority is set for the control modes of the drive unit set for each of the aforementioned small areas. In the determination step, if both the small area of ​​the open detection area and the small area of ​​the closed detection area are in a detection state, the control mode with the highest priority among the control modes set for each small area in a detection state is selected, and the control mode of the drive unit is determined to be a control mode with a lower priority than the selected control mode. A method for controlling an automatic door system.

10. A storage step in which a combination of a small area constituting a detection area provided within a certain range from the door surface of a hinged door that opens and closes by rotating, and a control mode of the drive unit that drives the door set for each of the small areas, is stored in a storage unit, A determination step in which the control mode of the drive unit is determined based on the combination of the small area that has entered a detection state and the control mode of the drive unit stored in the storage step, A modification step that modifies the combination itself stored in the storage unit based on the drive state including the drive direction and drive speed of the drive unit, A control step which includes controlling the drive unit according to the control mode determined in the determination step, The control mode of the drive unit is set according to the combination of the aforementioned small areas. In the determination step, if multiple sub-areas are detected, the control mode set according to the combination of sub-areas is determined as the control mode of the drive unit. A method for controlling an automatic door system.

11. The detection area includes an open detection area provided on the opening side of the door and a closed detection area provided on the closing side of the door. When the multiple sub-areas are detected, this includes the case when both the open detection area and the closed detection area are detected. A method for controlling an automatic door device according to claim 10.

12. A storage step that stores a combination of a small area constituting a detection area provided within a certain range from the door surface of a hinged door that opens and closes by rotating, and a control mode of the drive unit that drives the door, set for each of the small areas, A determination step in which the control mode of the drive unit is determined based on the combination of the small area that has entered a detection state and the control mode of the drive unit stored in the storage step, The computer performs a control step in which it controls the drive unit according to the control mode determined in the decision step, The detection area includes an open detection area provided on the opening side of the door and a closed detection area provided on the closing side of the door. Priority is set for the control modes of the drive unit set for each of the aforementioned small areas. In the determination step, if both the small area of ​​the open detection area and the small area of ​​the closed detection area are in a detection state, the control mode with the highest priority among the control modes set for each small area in a detection state is selected, and the control mode of the drive unit is determined to be a control mode with a lower priority than the selected control mode. Control program for an automatic door system.

13. A storage step in which a combination of a small area constituting a detection area provided within a certain range from the door surface of a hinged door that opens and closes by rotating, and a control mode of the drive unit that drives the door set for each of the small areas, is stored in a storage unit, A determination step in which the control mode of the drive unit is determined based on the combination of the small area that has entered a detection state and the control mode of the drive unit stored in the storage step, A modification step that modifies the combination itself stored in the storage unit based on the drive state including the drive direction and drive speed of the drive unit, The computer performs a control step in which it controls the drive unit according to the control mode determined in the decision step, The control mode of the drive unit is set according to the combination of the aforementioned small areas. In the determination step, if multiple sub-areas are detected, the control mode set according to the combination of sub-areas is determined as the control mode of the drive unit. Control program for an automatic door system.

14. The detection area includes an open detection area provided on the opening side of the door and a closed detection area provided on the closing side of the door. When the multiple sub-areas are detected, this includes the case when both the open detection area and the closed detection area are detected. A control program for an automatic door device according to claim 13.

15. A detection unit having a detection area consisting of multiple small areas, which is provided within a certain range from the door surface of a hinged door that opens and closes by rotating, A storage unit that stores combinations of each of the aforementioned sub-areas and the control mode of the drive unit that drives the door set for each sub-area, A determination unit that determines the control mode of the drive unit based on the combination of the small area that has entered a detection state and the control mode of the drive unit stored in the memory unit, The system includes an output unit that outputs the control mode determined by the determination unit to a control unit that controls the drive unit, The detection unit has an open detection area provided on the opening side of the door and a closed detection area provided on the closing side of the door. Priority is set for the control modes of the drive unit set for each of the aforementioned small areas. If both the small area of ​​the open detection area and the small area of ​​the closed detection area are in a detection state, the determination unit selects the control mode with the highest priority from among the control modes set for each small area in a detection state, and determines the control mode of the drive unit to be a control mode with a lower priority than the selected control mode. Sensor for automatic door systems.

16. A detection unit having a detection area consisting of multiple small areas, which is provided within a certain range from the door surface of a hinged door that opens and closes by rotating, A storage unit that stores combinations of each of the aforementioned sub-areas and the control mode of the drive unit that drives the door set for each sub-area, A determination unit that determines the control mode of the drive unit based on the combination of the small area that has entered a detection state and the control mode of the drive unit stored in the memory unit, A modification unit that modifies the combination itself stored in the storage unit based on the drive state including the drive direction and drive speed of the drive unit, The system includes an output unit that outputs the control mode determined by the determination unit to a control unit that controls the drive unit, The control mode of the drive unit is set according to the combination of the aforementioned small areas. When multiple small areas are detected, the determination unit determines the control mode set according to the combination of small areas to be the control mode of the drive unit. Sensor for automatic door systems.

17. The detection unit has an open detection area provided on the opening side of the door and a closed detection area provided on the closing side of the door. When the multiple sub-areas are detected, this includes the case when both the open detection area and the closed detection area are detected. Sensor for automatic door device according to claim 16.

18. An acquisition unit that acquires the drive state of the aforementioned door, The system includes a modification unit that modifies the combination stored in the storage unit based on the door drive state acquired by the acquisition unit. Sensor for automatic door device according to claim 15.

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