Door drive unit, method for controlling the door drive unit, and control program for the door drive unit

Abstract

Provided is a door drive apparatus, a control method for the door drive apparatus, and a control program for the door drive apparatus, which are for synchronizing actuation timings of a plurality of doors. A door drive apparatus 1 comprises: a first drive unit 20A and a second drive unit 20B that respectively drive a plurality of doors; a control unit 11 that controls the plurality of drive units by setting one of the first drive unit 20A and the second drive unit 20B to a reference drive unit and controlling the other drive unit on the basis of a drive parameter for controlling the reference drive unit; and an acquisition unit 12 that acquires the positions of the plurality of doors at a prescribed timing during the control of the plurality of drive units by the control unit 11; and a change unit 13 that, when the difference between the position of the door driven by the reference drive unit and acquired by the acquisition unit 12 and the position of the door driven by the other drive unit and acquired by the acquisition unit is equal to or greater than a threshold value, changes the drive parameter for controlling the other drive unit so that the position of the door driven by the other drive unit matches the position of the door driven by the reference drive unit.

Description

Technical Field

[0001] The present disclosure relates to a door drive device, a control method for the door drive device, and a control program for the door drive device.

Background Art

[0002] The door drive device described in Patent Document 1 opens and closes a pair of doors by rotating a belt wound between a pair of pulleys with a pair of electric motors. Each door is connected to the belt via a belt gripper. The rotation shaft of each electric motor is directly connected to the corresponding pulley. The door drive device synchronizes two electric motors.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] [[ID=3�]]By the way, in the door drive device described in Patent Document 1, a pair of pulleys with a belt are driven synchronously by a pair of electric motors to match the operation timings of the pair of doors. However, when a pair of doors are not connected to each other by a belt or the like, even with the same drive depending on the installation state of each door, motor characteristics, etc., the operation timings of those doors may deviate. For this reason, it is desired to match the operation timings between a pair of doors and between doors of different openings.

Means for Solving the Problems

[0005] A door drive device that solves the above problems comprises: a plurality of drive units that drive a plurality of doors, a control unit that controls the plurality of drive units by setting one of the plurality of drive units as a reference drive unit and controlling the other drive units based on drive parameters for controlling the reference drive unit; an acquisition unit that acquires the positions of the plurality of doors at a predetermined timing while the control unit is controlling the plurality of drive units; and a modification unit that changes the drive parameters for controlling the other drive units so that the position of the door driven by the other drive unit matches the position of the door driven by the reference drive unit when the difference between the position of the door driven by the reference drive unit and the position of the door driven by the other drive unit acquired by the acquisition unit is greater than or equal to a threshold.

[0006] According to the above configuration, when the difference between the position of the door driven by the reference drive unit and the position of the door driven by the other drive units exceeds a threshold, the modification unit changes the drive parameters of the other drive units so that the positions of those doors match. Therefore, by aligning the positions of each door, the operating timing of multiple doors can be synchronized.

[0007] Regarding the above-mentioned door drive device, the control unit may switch the control state of each of the plurality of drive units between an acceleration control state in which the drive speed of the door is accelerated to a first speed, a high-speed control state in which the drive speed is maintained at the first speed, a deceleration control state in which the drive speed is reduced to a second speed lower than the first speed, and a low-speed control state in which the drive speed is maintained at the second speed, and the acquisition unit may acquire the positions of the plurality of doors at at least one of the following timings: when the high-speed control starts, when the deceleration control starts, when the low-speed control starts, and when the low-speed control ends.

[0008] The above-mentioned door drive device may be equipped with a notification unit that notifies the outside when the difference is greater than or equal to a notification threshold which is greater than the threshold. A control method for a door drive device that solves the above problems comprises: a plurality of drive units for driving a plurality of doors; a control unit for controlling the plurality of drive units; an acquisition unit for acquiring the positions of the plurality of doors; and a modification unit for changing drive parameters for controlling the drive units based on the acquisition results by the acquisition unit, the method comprising: a setting step of setting one of the plurality of drive units as a reference drive unit, and setting drive parameters for controlling the reference drive unit and drive parameters for controlling other drive units based on the drive parameters for controlling the reference drive unit in the control unit; a driving step in which the control unit drives and controls the plurality of drive units; an acquisition step in which the acquisition unit acquires the positions of the plurality of doors at a predetermined timing while the control unit is controlling the plurality of drive units; and a modification step in which, when the difference between the position of the door driven by the reference drive unit and the position of the door driven by the other drive unit acquired in the acquisition step is greater than or equal to a threshold, the modification unit changes the drive parameters for controlling the other drive units so that the position of the door driven by the other drive unit matches the position of the door driven by the reference drive unit.

[0009] According to the above method, when the difference between the position of the door driven by the reference drive unit and the position of the door driven by other drive units exceeds a threshold, the modification unit changes the drive parameters of the other drive units so that the positions of those doors match. Therefore, by aligning the positions of each door, the operating timing of multiple doors can be synchronized.

[0010] A control program for a door drive device that solves the above problems comprises: a plurality of drive units for driving a plurality of doors; a control unit for controlling the plurality of drive units; an acquisition unit for acquiring the positions of the plurality of doors; and a modification unit for changing drive parameters for controlling the drive units based on the acquisition results by the acquisition unit. The control program is executed by a computer and includes: a setting step in which one of the plurality of drive units is set as a reference drive unit, and the control unit is set with drive parameters for controlling the reference drive unit and drive parameters for controlling the other drive units based on the drive parameters for controlling the reference drive unit; a driving step in which the control unit drives and controls the plurality of drive units; an acquisition step in which the acquisition unit acquires the positions of the plurality of doors at a predetermined timing while the control unit is controlling the plurality of drive units; and a modification step in which, when the difference between the position of the door driven by the reference drive unit and the position of the door driven by the other drive unit acquired in the acquisition step is greater than or equal to a threshold, the modification unit modifies the drive parameters for controlling the other drive units so that the position of the door driven by the other drive unit matches the position of the door driven by the reference drive unit.

[0011] According to the program described above, when the difference between the position of a door driven by a reference drive unit and the position of a door driven by another drive unit exceeds a threshold, the modification unit changes the drive parameters of the other drive units so that the positions of those doors match. Therefore, by aligning the positions of each door, the operating timing of multiple doors can be synchronized. [Effects of the Invention]

[0012] According to this disclosure, the operating timing of multiple doors can be synchronized. [Brief explanation of the drawing]

[0013] [Figure 1] This is a plan view showing a door drive device according to the first embodiment. [Figure 2] This is an electrical block diagram of the door drive device of the same embodiment. [Figure 3]This figure shows the drive control of the door drive device of the same embodiment. [Figure 4] This is a flowchart showing the drive control of the door drive device of the same embodiment. [Figure 5] This figure shows the drive control of the door drive device of the same embodiment. [Modes for carrying out the invention]

[0014] (First Embodiment) The first embodiment of the door drive device will be described below with reference to Figures 1 to 5. The door drive device is a device that drives double doors to open and close.

[0015] As shown in Figure 1, the door drive device 1 comprises a door control device 10, a first drive unit 20A and a second drive unit 20B, and a first drive mechanism 30A and a second drive mechanism 30B. The door control device 10 controls the first drive unit 20A and the second drive unit 20B to open and close the first door 3 and the second door 4. Each of the first drive unit 20A and the second drive unit 20B is, for example, a motor and outputs a driving force. The first drive mechanism 30A transmits the power of the first drive unit 20A to the first door 3. The second drive mechanism 30B transmits the power of the second drive unit 20B to the second door 4.

[0016] The first drive unit 20A comprises a first drive shaft 22A, a first drive arm 23A, a first regulating plate 24A, a first fully open stopper 27A, and a first fully closed stopper 28A. The first drive shaft 22A is rotated by the first drive unit 20A. The first drive arm 23A and the first regulating plate 24A are integrally mounted on the first drive shaft 22A. The first drive arm 23A extends from the first drive shaft 22A on both sides. The first regulating plate 24A comprises a first fully open regulating section 25A and a first fully closed regulating section 26A. The first fully open regulating section 25A contacts the first fully open stopper 27A, thereby restricting the rotation of the first drive shaft 22A to the fully open position of the first door 3. The first fully closed restricting section 26A contacts the first fully closed stopper 28A, thereby restricting the rotation of the first drive shaft 22A to the fully closed position of the first door 3. The first fully open stopper 27A and the first fully closed stopper 28A are, for example, bolts.

[0017] The first drive mechanism 30A comprises a first connecting rod 31A, a first rotating shaft 32A, and a first rotating arm 33A. One end of the first connecting rod 31A is connected to one end of the first drive arm 23A. The other end of the first connecting rod 31A is connected to the first rotating arm 33A. The first rotating arm 33A is fixed to the first rotating shaft 32A and rotates integrally with the first rotating shaft 32A. The first rotating shaft 32A is fixed to the first door 3 and rotates integrally with the first door 3. Therefore, the first rotating arm 33A, the first rotating shaft 32A, and the first door 3 rotate integrally.

[0018] The second drive unit 20B includes a second drive shaft 22B, a second drive arm 23B, a second regulating plate 24B, a second fully open stopper 27B, and a second fully closed stopper 28B. The second drive shaft 22B is rotated by the second drive unit 20B. The second drive shaft 22B is integrally provided with the second drive arm 23B and the second regulating plate 24B. The second drive arm 23B extends from the second drive shaft 22B to both sides. The second regulating plate 24B includes a second fully open regulating portion 25B and a second fully closed regulating portion 26B. When the second fully open regulating portion 25B contacts the second fully open stopper 27B, the second fully open stopper 27B regulates the rotation of the second drive shaft 22B at the fully open position of the second door 4. When the second fully closed regulating portion 26B contacts the second fully closed stopper 28B, the second fully closed stopper 28B regulates the rotation of the second drive shaft 22B at the fully closed position of the second door 4. The second fully open stopper 27B and the second fully closed stopper 28B are, for example, bolts.

[0019] The second drive mechanism 30B includes a second connecting rod 31B, a second rotating shaft 32B, and a second rotating arm 33B. One end of the second connecting rod 31B is connected to one end of the second drive arm 23B. The other end of the second connecting rod 31B is connected to the second rotating arm 33B. The second rotating arm 33B is fixed to the second rotating shaft 32B and rotates integrally with the second rotating shaft 32B. The second rotating shaft 32B is fixed to the second door 4 and rotates integrally with the second door 4. Therefore, the second rotating arm 33B, the second rotating shaft 32B, and the second door 4 rotate integrally.

[0020] Next, referring to FIG. 2, the electrical configuration of the door drive device 1 will be described. As shown in FIG. 2, the door control device 10 can be configured as one or more processors that execute various processes according to a computer program (software). The processes executed by the door control device 10, that is, the processor, include a control method. The control method includes a setting step, a driving step, an acquisition step, and a change step, which will be described later. Note that the door control device 10 may include one or more dedicated hardware circuits such as a specific application integrated circuit (ASIC) that execute at least some of the various processes. That is, the door control device 10 may be configured as a circuit (circuitry) including 1) one or more processors that execute various processes according to a computer program (software), 2) one or more dedicated hardware circuits that execute at least some of the various processes, or 3) a combination thereof. The processor includes a CPU and a memory such as a RAM and a ROM. The memory stores program codes or instructions configured to cause the CPU to execute processes. The memory, that is, the non-transitory computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The program stored in the computer-readable medium includes a control program. The control program causes the door control device 10 to execute a setting step, a driving step, an acquisition step, and a change step.

[0021] The door control device 10 includes a control unit 11, an acquisition unit 12, a change unit 13, a storage unit 14, and a notification unit 15. The control unit 11 controls the first drive unit 20A to open and close the first door 3 and controls the second drive unit 20B to open and close the second door 4. The acquisition unit 12 acquires the positions of the first door 3 and the second door 4 at a predetermined timing while the control unit 11 controls the plurality of drive units. The change unit 13 changes drive parameters for controlling the first drive unit 20A and the second drive unit 20B based on the acquisition result of the acquisition unit 12. The drive parameters are acceleration, speed, torque, distance, and the like. The storage unit 14 stores drive parameters and information related to the drive control performed by the control unit 11. The notification unit 15 notifies the outside of a failure or an abnormality using sound, light, display, or the like.

[0022] The door control device 10 is capable of communicating with the operation terminal 40, and the installer or other user can operate settings related to door control using the operation terminal 40. The installer or other user can check for reported malfunctions or abnormalities on the operation terminal 40. The installer or other user can set whether or not to enable the stop control described later using the operation terminal 40.

[0023] The first drive unit 20A includes a first detection unit 21A. The first detection unit 21A is, for example, an encoder that detects the amount of rotation of the first drive unit 20A, processes a pulse count, and outputs the drive speed of the first door 3 to the door control device 10. The second drive unit 20B includes a second detection unit 21B. The second detection unit 21B is, for example, an encoder that detects the amount of rotation of the second drive unit 20B, processes a pulse count, and outputs the drive speed of the second door 4 to the door control device 10. Alternatively, the first detection unit 21A and the second detection unit 21B may output detected values ​​such as pulse counts to the door control device 10, and the door control device 10 may calculate the drive speeds of the first door 3 and the second door 4. The acquisition unit 12 calculates the position of the first door 3 based on the drive speed of the first door 3 output from the first detection unit 21A. The acquisition unit 12 calculates the position of the second door 4 based on the drive speed of the second door 4 output from the second detection unit 21B.

[0024] (Opening and closing drive) Next, with reference to Figure 3, the opening and closing drive by the door drive device 1 will be explained. As shown in Figure 3, the control unit 11 switches the control state of the first drive unit 20A and the second drive unit 20B in the following order: acceleration control state, high-speed control state, deceleration control state, low-speed control state, and stop control state. The control unit 11 drives the first drive unit 20A and the second drive unit 20B in the same way for both opening and closing drives.

[0025] The acceleration control state is a control state in which the vehicle is accelerated from a standstill to a first speed V1. The time when the drive speed reaches the first speed V1 and the time when high-speed control begins is defined as the first time T1. The high-speed control state is a control state in which the drive speed is maintained at the first speed V1. The time when deceleration control begins is defined as the second time T2. The deceleration control state is a control state in which the drive speed is reduced from the first speed V1 to the second speed V2. The time when the drive speed reaches the second speed V2 and the time when low-speed control begins is defined as the third time T3. The low-speed control state is a control state in which the drive speed is maintained at the second speed V2. The time when stop control begins is defined as the fourth time T4. The period from the third time T3 to the fourth time T4, during which low-speed control is performed, is defined as the cushion region. The stop control state is a control state in which the drive speed is reduced from the second speed V2 and the vehicle comes to a stop.

[0026] The control unit 11 controls the first drive unit 20A and the second drive unit 20B so that their control states are synchronized. The control unit 11 drives the first drive unit 20A and the second drive unit 20B with the same drive parameters. However, the operating timing may be misaligned due to the stopper's installation position, motor characteristics, drive mechanism assembly, etc. Therefore, the control unit 11 sets one of the first drive unit 20A and the second drive unit 20B as a reference drive unit. That is, the control unit 11 selects one of the first drive unit 20A and the second drive unit 20B as the reference drive unit. The control unit 11 then controls multiple drive units by controlling the other drive units based on the drive parameters for controlling the reference drive unit (drive parameters for the reference drive unit). For example, the drive parameters for the reference drive unit are copied and stored in the storage unit 14 as drive parameters for controlling the other drive units (drive parameters for the other drive units). The modification unit 13 modifies the drive parameters of other drive units so that the positions of the doors match when the difference between the position of the door driven by the reference drive unit and the position of the door driven by the other drive unit, as acquired by the acquisition unit 12, is greater than or equal to a first threshold. The drive parameter changes are made between the end of the current drive unit control and the start of the next drive control. Here, the drive parameter changes may be made only during construction or inspection, or during normal drive control. The installer or other user can select the reference drive unit using the operation terminal 40.

[0027] The acquisition unit 12 acquires the positions of the first door 3 and the second door 4 at at least one of the following timings: the start of high-speed control (T1), the start of deceleration control (T2), the start of low-speed control (T3), and the end of low-speed control (T4). The notification unit 15 notifies the outside using sound, light, display, etc., when the difference between the positions of the first door 3 and the second door 4 is greater than or equal to a second threshold, which is greater than a first threshold. The second threshold corresponds to the notification threshold.

[0028] (Drive control) Next, with reference to Figure 4, the drive control of the door drive unit 1 in the change mode will be explained. When changing the drive amount, the installer operates the operation terminal 40 to switch the door drive unit 1 from normal mode to change mode.

[0029] First, the door control device 10 sets a reference drive unit (step S1). That is, the control unit 11 sets one of the multiple drive units as the reference drive unit and sets the drive parameters of the reference drive unit and the drive parameters of the other drive units based on the drive parameters of the reference drive unit in the control unit 11. For example, the installer or the like operates the operation terminal 40 to select the drive unit to be set as the reference drive unit. The control unit 11 may also arbitrarily select the drive unit to be set as the reference drive unit. Once the control unit 11 has set the reference drive unit, it copies the drive parameters of the reference drive unit and stores them in the storage unit 14 as the drive parameters of the other drive units. Step S1 corresponds to the setting step.

[0030] Next, the door control device 10 performs an opening or closing drive (step S2). That is, the control unit 11 controls the first drive unit 20A and the second drive unit 20B to drive with the same drive parameters. Step S2 corresponds to the drive step.

[0031] Next, the door control device 10 acquires the position of each door being driven, that is, the position of the door along the path from the fully open position to the fully closed position (or from the fully closed position to the fully open position) (step S3). That is, the acquisition unit 12 acquires the positions of the first door 3 and the second door 4 at at least one of the following timings: the start of high-speed control, the start of deceleration control, the start of low-speed control, and the end of low-speed control. For example, in Figure 5, the position of the door driven by the reference drive unit is shown by a solid line, and the position of the doors driven by the other drive units is shown by a dashed line. From the start of drive control (i.e., the start of acceleration control at time zero) to the first time T1, which is the start of high-speed control, the speed of the doors driven by the other drive units is greater than the speed of the door driven by the reference drive unit. Therefore, at the first time T1, the position of the doors driven by the other drive units is ahead of the position of the door driven by the reference drive unit. Step S3 corresponds to the acquisition step.

[0032] The door control device 10 acquires the difference in door positions (step S4). That is, the acquisition unit 12 acquires the difference between the position of the first door 3 and the position of the second door 4 at the same driving timing acquired in step S3.

[0033] The door control device 10 compares the difference in door positions with a threshold (step S5). That is, the acquisition unit 12 compares the difference between the position of the first door 3 and the position of the second door 4 acquired in step S4 with the first threshold and the second threshold.

[0034] The door control device 10 determines whether the difference in door positions is greater than or equal to a second threshold (step S6). That is, the control unit 11 checks whether the difference in door positions is too large and whether there is a possibility of an abnormality. If the door control device 10 determines that the difference in door positions is greater than or equal to a second threshold (step S6: YES), it notifies the abnormality (step S7). That is, the notification unit 15 notifies the abnormality to the outside.

[0035] If the door control device 10 determines that the difference in door positions is less than the second threshold (step S6: NO), it determines whether the difference in door positions is greater than or equal to the first threshold (step S8). In other words, the control unit 11 checks whether the difference in door positions is within the range that requires adjustment.

[0036] Then, if the door control device 10 determines that the difference in door position is smaller than the first threshold (step S8: NO), it determines that the difference in door position is within the acceptable range, that is, no adjustment of the door position is necessary, and terminates the process without changing the drive parameters.

[0037] On the other hand, if the door control device 10 determines that the difference in door positions is greater than or equal to the first threshold and less than the second threshold (step S8: YES), it changes the drive parameters (step S9). That is, the modification unit 13 changes the drive parameters of other drive units that are the same as the drive parameters of the reference drive unit so that the position of the door driven by the reference drive unit matches the position of the door driven by the other drive unit. For example, in Figure 5, the torque in acceleration control is reduced. The control unit 11 controls the drive unit with the changed drive parameters from the next drive onwards. Step S9 corresponds to the modification step.

[0038] Next, the effects of the first embodiment will be described. (1-1) When the difference between the position of the door driven by the reference drive unit and the position of the door driven by the other drive units is greater than or equal to a threshold, the modification unit 13 modifies the drive parameters of the other drive units so that the positions of those doors match. In this way, the operating timing of multiple doors can be synchronized by aligning the positions of each door.

[0039] (1-2) By comparing the difference in the positions of the first door 3 and the second door 4 at the start of either control state, the timing difference of the operation of those doors can be detected and adjusted.

[0040] (1-3) If the difference in position between the first door 3 and the second door 4 is greater than or equal to the second threshold (which is greater than the first threshold), there is a possibility of an abnormality. Therefore, when the difference in position between the first door 3 and the second door 4 is greater than or equal to the second threshold, the notification unit 15 notifies the outside. In this way, abnormalities can be notified.

[0041] (Second Embodiment) The second embodiment of the door drive device will be described below with reference to Figure 2. This embodiment of the door drive device differs from the first embodiment in that the detection unit directly detects the position of the door. The differences from the first embodiment will be described below.

[0042] As shown in Figure 2, the door drive device 1 includes a third detection unit 34A and a fourth detection unit 34B. The third detection unit 34A detects the position of the first door 3 for at least a portion of the movement of the first door 3 and outputs it to the door control device 10. The fourth detection unit 34B detects the position of the second door 4 for at least a portion of the movement of the second door 4 and outputs it to the door control device 10. The third detection unit 34A and the fourth detection unit 34B are, for example, a laser sensor, a magnetic sensor, a capacitance sensor, or a rotary sensor.

[0043] The acquisition unit 12 acquires the position of the first door 3 by acquiring the detection result of the third detection unit 34A. Similarly, the acquisition unit 12 acquires the position of the second door 4 by acquiring the detection result of the fourth detection unit 34B. The modification unit 13 modifies the drive parameters of the other drive units so that the positions of those doors match when the difference between the position of the door driven by the reference drive unit acquired by the acquisition unit 12 and the position of the door driven by the other drive units is greater than or equal to a threshold. Since the drive parameters are modified based on the position of the door actually driven by the driving force transmitted from the drive units, the door operation timing can be further synchronized.

[0044] The drive control in the modified mode of the second embodiment is the same as the drive control of the first embodiment, except that the door position is detected by the third detection unit 34A and the fourth detection unit 34B, so its explanation will be omitted.

[0045] Next, the effects of the second embodiment will be described. In addition to the effects (1-1) to (1-3) of the first embodiment, the following effects are also achieved. (2-1) The actual position of each door is detected, and when the difference in the detected door positions is greater than or equal to a first threshold, the modification unit 13 changes the drive parameters of the other drive units so that the positions of those doors match. In this way, the operating timing of multiple doors can be further synchronized by further aligning the positions of each door.

[0046] (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.

[0047] In each of the above embodiments, the notification unit 15 may be omitted. In each of the above embodiments, the operating terminal 40 may be omitted. In each of the above embodiments, the drive parameters of other drive units may be changed based on the difference in the door position over multiple drives, rather than the difference in the door position over a single drive.

[0048] In each of the above embodiments, the acquisition unit 12 acquired the door position at the timing of the switching of the control state of the drive unit by the control unit 11. However, the acquisition unit 12 may acquire the door position at regular intervals.

[0049] In each of the above embodiments, one control unit 11 controlled the driving of two first drive units 20A and second drive units 20B. However, a control unit may be provided for each drive unit, and each control unit may control the driving of that drive unit. In this case, the driving parameters of the control unit that controls the drive unit set as the reference drive unit are copied as the driving parameters of the control units that control the other drive units. Therefore, even when two single-leaf doors are installed in other control units and used as a double-leaf door, the operating timing of each can be synchronized.

[0050] In each of the above embodiments, the drive unit performed both opening and closing drives. However, the drive unit may perform only one of either opening or closing drives. In each of the above embodiments, the drive parameters were modified in the door drive device that drives double doors to open and close in order to synchronize the operating timing of the doors. However, the drive parameters may also be modified in the door drive device that drives folding doors to open and close in order to synchronize the operating timing of the doors. Furthermore, in a plurality of door drive devices that drive doors of different openings to open and close, one of the plurality of drive units of any one opening may be designated as the reference drive unit, and the drive parameters of the other drive units of that opening and the drive units of the doors of the other openings may be modified to synchronize the operating timing of the doors of each opening.

[0051] In each of the above embodiments, the acquisition unit used was either an encoder provided in the drive unit or a detection unit that directly detects the position of the door. However, the start sensor of the door drive device may also be used as the detection unit. In this case, the detection unit may be, for example, an infrared sensor or an image sensor.

[0052] In each of the embodiments described above, if the object is composed of multiple objects, those multiple objects may be integrated, and conversely, if the object is composed of a single object, it may be divided into multiple objects. Whether or not they are integrated, it is sufficient that the object can be configured to achieve the purpose of this disclosure.

[0053] 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. Regardless of whether the functions are consolidated or distributed, the configuration should be such that the objectives of this disclosure can be achieved. [Explanation of symbols]

[0054] 1…Door drive mechanism 2…case 3…First Door 4…2nd door 10... Door control device 11…Control Unit 12…Acquisition part 13…Changes 14...Storage section 15… Hochi Department 20A...First drive unit 20B...Second drive unit 21A...First detection unit 21B...Second detection unit 22A…First drive shaft 22B...Second drive shaft 23A...First drive arm 23B...Second drive arm 24A…1st regulation plate 24B…Second regulation plate 25A...First full-open restriction section 25B...Second full-throttle restriction section 26A…1st fully closed regulation section 26B…Second fully closed regulation section 27A...First full-open stopper 27B...Second full-throttle stopper 28A...First fully closed stopper 28B...Second fully closed stopper 30A...First drive mechanism 30B...Second drive mechanism 31A…1st connecting rod 31B…Second connecting rod 32A...First rotation axis 32B...Second rotation axis 33A...First Rotating Arm 33B... Second rotating arm 34A...Third detection unit 34B...4th detection unit 40…Operating terminal

Claims

1. Multiple drive units that drive multiple doors, A control unit controls the plurality of drive units by setting one of the plurality of drive units as a reference drive unit and controlling the other drive units based on drive parameters for controlling the reference drive unit, An acquisition unit that acquires the positions of the plurality of doors at a predetermined timing while the control unit is controlling the plurality of drive units, The system includes a modification unit that modifies drive parameters for controlling the other drive unit so that the position of the door driven by the other drive unit matches the position of the door driven by the reference drive unit when the difference between the position of the door driven by the reference drive unit and the position of the door driven by the other drive unit, acquired by the acquisition unit, is greater than or equal to a threshold. Door drive mechanism.

2. The control unit switches the control state of each of the plurality of drive units between an acceleration control state in which the drive speed of the door is accelerated to a first speed, a high-speed control state in which the drive speed is maintained at the first speed, a deceleration control state in which the drive speed is reduced to a second speed lower than the first speed, and a low-speed control state in which the drive speed is maintained at the second speed. The acquisition unit acquires the positions of the multiple doors at at least one of the following timings: when the high-speed control state begins, when the deceleration control state begins, when the low-speed control state begins, and when the low-speed control state ends. The door drive device according to claim 1.

3. The system includes a notification unit that notifies the outside when the aforementioned difference is greater than or equal to a notification threshold which is greater than the aforementioned threshold. The door drive device according to claim 1 or 2.

4. Multiple drive units that drive multiple doors, A control unit that controls the plurality of drive units, An acquisition unit that acquires the positions of the aforementioned multiple doors, A control method for a door drive device, comprising a modification unit that modifies drive parameters for controlling the drive unit based on the acquisition results obtained by the acquisition unit, Setting step: Set one of the plurality of drive units as a reference drive unit, set drive parameters for controlling the reference drive unit and drive parameters for controlling other drive units based on the drive parameters for controlling the reference drive unit in the control unit. The control unit performs a drive step in which it drives the plurality of drive units, An acquisition step in which the acquisition unit acquires the positions of the plurality of doors at a predetermined timing while the control unit is controlling the plurality of drive units, The modification step includes, when the difference between the position of the door driven by the reference drive unit and the position of the door driven by the other drive unit, obtained in the acquisition step, is greater than or equal to a threshold, the modification unit modifies the drive parameters for controlling the other drive unit so that the position of the door driven by the other drive unit matches the position of the door driven by the reference drive unit. A method for controlling a door drive mechanism.

5. Multiple drive units that drive multiple doors, A control unit that controls the plurality of drive units, An acquisition unit that acquires the positions of the aforementioned multiple doors, A control program for a door drive device comprising a modification unit that modifies drive parameters for controlling the drive unit based on the acquisition results obtained by the acquisition unit, Setting step: Set one of the plurality of drive units as a reference drive unit, set drive parameters for controlling the reference drive unit and drive parameters for controlling other drive units based on the drive parameters for controlling the reference drive unit in the control unit. The control unit performs a drive step in which it drives the plurality of drive units, An acquisition step in which the acquisition unit acquires the positions of the plurality of doors at a predetermined timing while the control unit is controlling the plurality of drive units, If the difference between the position of the door driven by the reference drive unit and the position of the door driven by the other drive unit, obtained in the acquisition step, is greater than or equal to a threshold, the computer executes a modification step in which the modification unit modifies the drive parameters for controlling the other drive unit so that the position of the door driven by the other drive unit matches the position of the door driven by the reference drive unit. Control program for the door drive mechanism.

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