JPH04319191A - Controller of automatic opening and shutting door - Google Patents

Abstract

PURPOSE:To detect speedily a human body, etc., caught in an automatic opening and shutting door to be directly driven to immediately release. CONSTITUTION:The operation speed of an automatic opening and shutting door is detected with a speed detector 4, and the speed detection signal is differentiated with a differentiator 5 to input into a comparator 6. The comparator 6 outputs a signal when a speed differentiation signal is in excess of a set value. An output command circuit 9 commands the output of a door opening operation signal to the control circuit 2 mentioned above with any signal of an AND signal of an output signal from the comparator 6 and a door shutting operation signal from the control circuit 2, an AND signal of an opening operation directional signal for the automatic opening and shutting door outputted from an operation directional discriminator 12 and a door shutting operation signal from the control circuit 2 mentioned above and a human body detection signal.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an automatic opening/closing door that is directly driven by a linear motor, and is particularly designed to be able to quickly respond to the situation where a human body or the like is caught during the closing operation.

0002

2. Description of the Related Art In automatic door opening/closing devices such as automatic doors and one-touch electric sunroofs for vehicles, a human body may become trapped due to failure of the human body detection sensor, when the human body enters the blind spot of the sensor, or due to erroneous operation. In order to deal with such a case, the pinching is detected by the method described below. Motor lock is detected by the motor current, and if the motor lock is detected at a position other than the position indicated by a limit switch (generally the closed end position), it is determined that a human body has been caught. There is.

0003

[Problem to be Solved by the Invention] However, in the above method, since the motor lock due to the pinching is detected, a large locking torque is transmitted, and in some cases, there is a problem that not only the person caught in the pinch but also the door etc. may be damaged. . The present invention has been made in order to solve the above-mentioned problems, and it promptly detects the pinching of a human body, etc. in an automatic opening/closing door that is directly driven by a linear motor, and immediately opens the door to prevent the human body, etc. from being caught. The object of the present invention is to provide a control device for an automatic opening/closing door that can ensure safety by reducing the influence of

0004

[Apparatus for solving the problem] As a first concrete means for achieving the above object, a series of opening and closing operations of an automatic opening/closing door that is directly driven by a linear motor is performed based on the detection signal of a human body detection sensor. An automatic opening/closing door control device equipped with a control circuit includes a speed detector that detects the operating speed of the automatic opening/closing door, a differentiator that differentiates the speed detection signal, and an output when the speed differential signal exceeds a set value. a comparator that outputs a door open operation signal to the control circuit based on the AND signal of the output signal of the comparator and the door close operation signal from the control circuit, and the detection signal of the human body detection sensor. There is provided a control device for an automatic opening/closing door characterized by comprising an output command means for commanding an output.

[0005] As a second specific means for achieving the above object, a control circuit is provided which controls a series of opening and closing operations of an automatic opening/closing door that is directly driven by a linear motor based on a detection signal from a human body detection sensor. In the automatic opening/closing door control device, the automatic opening/closing door control device includes an operation direction discriminator for determining the opening/closing direction of the automatic opening/closing door, and an opening operation direction determination signal of the operation direction discriminator and a door closing operation signal from the control circuit. A control device for an automatic opening/closing door, comprising an output command means for commanding the control circuit to output a door opening operation signal using either a logical product signal and a detection signal of the human body detection sensor. provided.

Furthermore, as a third specific means for achieving the above object, a control circuit is provided which controls a series of opening and closing operations of an automatic opening/closing door that is directly driven by a linear motor based on a detection signal from a human body detection sensor. A control device for an automatic opening/closing door comprising: a speed detector for detecting the operating speed of the automatic opening/closing door; a differentiator for differentiating the speed detection signal;
A comparator that outputs when the speed differential signal exceeds the set value,
an operation direction discriminator for determining the opening/closing operation direction of the automatic opening/closing door, an AND signal of the output signal of the comparator and the door closing operation signal from the control circuit, and an opening operation direction determination signal of the operation direction discriminator; and output command means for instructing the control circuit to output a door opening operation signal using either a logical product signal with a door closing operation signal from the control circuit and a detection signal from the human body detection sensor. A control device for an automatic opening/closing door is provided.

[0007]

[Operation] According to the automatic opening/closing door control device described as the first specific means above, the operating speed of the automatic opening/closing door is detected by the speed detector, and the differentiator differentiates and compares the speed detection signal. input into the device. The comparator outputs a signal when the speed differential signal exceeds the set value, and the output command means is activated by the AND signal of the output signal and the door closing operation signal from the control circuit and the human body detection signal. Instructs the control circuit to output a door opening operation signal.

According to the automatic opening/closing door control device described as the second specific means, the automatic opening/closing door opening direction signal outputted from the operation direction discriminator and the door closing operation signal from the control circuit are combined. The output command means commands the control circuit to output a door opening operation signal based on either the logical product signal or the human body detection signal.

According to the automatic opening/closing door control device described as the third specific means, the AND signal of the output signal from the comparator and the door closing operation signal from the control circuit and the operation direction determination The output command means sends a door opening operation signal to the control circuit based on the AND signal of the opening direction signal of the automatic opening/closing door outputted by the device and the door closing operation signal from the control circuit and the human body detection signal. Command output.

0010

Embodiments Examples of the present invention will be explained in detail with reference to the drawings. (First Embodiment) FIG. 1 is a schematic block diagram of an apparatus according to a first embodiment. The linear motor 1 directly opens and closes an automatic door (not shown) based on a control signal output from a control circuit 2. The control circuit 2 includes a CPU, RAM, and R
It is composed of memory such as OM and various interfaces, etc., and performs pre-programmed door opening/closing control based on various feedback signals. The human body detection sensor 3 detects not only a human body but also an object using a photoelectric switch, a mat switch, an infrared sensor, or the like.

The operating speed of the linear motor 1 is detected by a speed detector 4. The linear motor 1 is provided with a Hall element (not shown) that outputs a signal for switching polarity of conduction to a coil (not shown) in accordance with the polarity of a magnetic circuit. By measuring the time during which the output signal of the Hall element changes, it is possible to detect the speed of the movable element (not shown) of the linear motor 1, that is, the speed of the automatic door. The speed detection signal is input to the control circuit 2 and the differentiator 5, and is time-differentiated by the differentiator 5. The velocity differential signal is then input to the comparator 6. The comparator 6 outputs a speed differential signal when it exceeds a preset comparison value, and the output signal is input to an AND circuit 7. Further, an automatic door closing operation signal from the control circuit 2 is input to the AND circuit 7.

A logical product signal of the output signal of the comparator 6 outputted by the AND circuit 7 and the automatic door closing operation signal from the control circuit 2 is inputted to the OR circuit 8 . Further, a detection signal from the human body detection sensor 3 is input to the OR circuit 8 . Then, either one of the logical product signal outputted by the OR circuit 8 and the detection signal of the human body detection sensor 3 is output to an output command circuit 9.
is input to. The output command circuit 9 corresponds to the output command means of the present invention, and is configured to instruct the control circuit 2 to output a control signal to the linear motor 1 for opening the automatic door in the closing operation or in the closed state. , it can also be incorporated into the opening/closing control program in the control circuit 2 and configured as software.

The operation of the first embodiment of the apparatus having the above configuration will be explained with reference to the time chart shown in FIG. The [A] part in the time chart indicates normal operation, and the human body detection sensor 3
The detection signal is inputted to the output command circuit 9 via the OR circuit 8, and the control circuit 2 thereby controls the linear motor 1 according to the control program to perform a series of opening/closing operations: door opening operation → standstill → door closing operation → standstill. Control behavior. Part [B] shows a case where a human body or the like is caught during the closing operation of the door, and the speed detection signal of the linear motor 1 changes rapidly as shown by the dotted circle b.

Therefore, the speed differential signal increases impulsively and exceeds the comparison value, and the comparison signal is output from the comparator 6 to the AND circuit 7. At this time, since the door is in the closing operation, a closing operation signal is output from the control circuit 2 to the AND circuit 7. Therefore, a logical product signal is output from the AND circuit 7 and inputted to the output command circuit 9 via the OR circuit 8, whereby the control circuit 2 causes the linear motor 1 to open according to the control program.

As described above, the first embodiment detects the entrapment of a human body or the like based on the rapid speed change of the linear motor 1 that directly drives the door, so the occurrence of entrapment can be detected promptly. At the same time, the door can be immediately changed to an opening operation, thereby increasing safety for human bodies and the like.

(Second Embodiment) FIG. 3 is a schematic block diagram of an apparatus according to a second embodiment. As shown in FIG. 3, the second embodiment is
The difference is that a position detector 11, a motion direction discriminator 12, and an AND circuit 13 are provided in place of the speed detector 4, differentiator 5, comparator 6, and AND circuit 7 of the first embodiment. The configuration is similar to that of the first embodiment. The position detector 11 detects the position of the movable element (door position) (not shown) by integrating the output signals of the Hall elements provided in the linear motor 1 from the start of the closing operation or the start of the opening operation, and detects the position of the movable element (door position), which is not shown, and 2 and output to the motion direction discriminator 12. The motion direction discriminator 12 determines whether the door is in the opening or closing direction based on the change in position detected by the position detector 11, and outputs a discrimination signal only when the door is in the opening direction. The output signal is input to the AND circuit 13. The AND circuit 13 also includes the control circuit 2.
An automatic door closing operation signal is input from.

A logical product signal of the output signal of the operation direction discriminator 12 and the door closing operation signal from the control circuit 2, which is output by the AND circuit 13, is input to the OR circuit 8. Also, OR
A detection signal from the human body detection sensor 3 is input to the circuit 8 . Then, either the logical product signal outputted by the OR circuit 8 or the detection signal of the human body detection sensor 3 is inputted to the output command circuit 9, which instructs the control circuit 2 to indicate whether the closing operation is in progress or the closed state. A control signal for opening the automatic door is output to the linear motor 1.

The operation of the second embodiment of the apparatus having the above configuration will be explained with reference to the time chart shown in FIG. Part [A] in the time chart indicates normal operation, which is the same as in the first embodiment. Part [C] shows the case where a human body or the like is caught during the closing operation of the door.If the door bounces off the human body or is pushed back and moves in the direction of the opening operation as shown by the dotted circle c, the door will not open. A discrimination signal is output from the direction discriminator 12 to an AND circuit 13. At this time, since the door is in the closing operation, a closing operation signal is output from the control circuit 2 to the AND circuit 13. Therefore, a logical product signal is output from the AND circuit 13 and inputted to the output command circuit 9 via the OR circuit 8, whereby the control circuit 2 causes the linear motor 1 to open according to the control program.

The opening/closing device that directly drives the door with the linear motor 1 has very low sliding resistance, so
By adjusting the servo gain and responsiveness of the control, it is possible to make the door easily bounce back when a human body or the like occurs. Therefore, according to the second embodiment, the pinching can be quickly detected and the influence on the pinched human body etc. can be minimized as much as possible.

(Third Embodiment) FIG. 5 is a schematic block diagram of an apparatus according to a third embodiment. As shown in FIG. 5, the third embodiment is
The configuration is a combination of the configurations of the first and second embodiments, and detailed explanation thereof will be omitted. Moreover, its operation is as shown in the time chart of FIG.
] portions show normal operation, and portions [D] and [E] show cases where pinching occurs. Since the door is operating at a relatively high speed in the intermediate region of the door closing operation, a change in the direction of movement due to rebound when jamming occurs is unlikely to occur, but on the other hand, the speed change becomes large. Furthermore, since the door operating speed is relatively low near the closed end of the door, a change in the operating direction is likely to occur although the speed change is small. Therefore, according to the device of the third embodiment, in the high-speed operation range of the door, the jamming is detected by the component parts corresponding to the first embodiment, as shown by the dotted circle d in the part [D] in FIG. In the region, as shown by the dotted circle e in the [E] portion of FIG. 6, pinching is detected in the component corresponding to the second embodiment.

It should be noted that the configuration of each of the apparatuses of the above embodiments can be integrated into an electronic control unit using a microcomputer, thereby reducing costs.

[0022]

[Effects of the Invention] As explained above, since the present invention has the above-mentioned configuration, it can quickly detect the pinching of a human body or the like in the automatic opening/closing door that is directly driven by a linear motor, and immediately open the door, thereby preventing the human body, etc. This has the effect of providing a control device for automatic opening/closing doors that can ensure safety by reducing the influence of

[Brief explanation of the drawing]

FIG. 1 is a schematic block diagram of a first embodiment device.

FIG. 2 is a time chart of the device of the first embodiment.

FIG. 3 is a schematic block diagram of a second embodiment device.

FIG. 4 is a time chart of the device of the second embodiment.

FIG. 5 is a schematic block diagram of a device according to a third embodiment.

FIG. 6 is a time chart of the device of the third embodiment.

[Explanation of symbols]

1. ．． ．． Linear motor, 2. ．． ．． control circuit, 3
．． ．． ．． Human body detection sensor, 4. ．． ．． speed detector,
5. ．． ．． Differentiator, 6. ．． ．． Comparator, 7,13.
．． ．． AND circuit, 9. ．． ．． Output command circuit, 12
．． ．． ．． Operation direction determination circuit.

Claims (3)

[Claims] Claim 1. An automatic opening/closing door control device comprising a control circuit that controls a series of opening/closing operations of an automatic opening/closing door directly driven by a linear motor based on a detection signal from a human body detection sensor. A speed detector that detects the operating speed, a differentiator that differentiates the speed detection signal, a comparator that outputs when the speed differential signal exceeds a set value, and an output signal of the comparator and a door closing signal from the control circuit. An automatic opening/closing door characterized by comprising an output command means for instructing the control circuit to output a door opening operation signal using either a logical product signal with an operation signal and a detection signal of the human body detection sensor. control device. 2. An automatic opening/closing door control device comprising a control circuit that controls a series of opening/closing operations of an automatic opening/closing door directly driven by a linear motor based on a detection signal from a human body detection sensor. an operation direction discriminator for determining an opening/closing operation direction, an AND signal of an opening operation direction determination signal of the operation direction discriminator, a door closing operation signal from the control circuit, and a detection signal of the human body detection sensor; A control device for an automatic opening/closing door, comprising: output command means for commanding the control circuit to output a door opening operation signal in response to a signal. 3. An automatic opening/closing door control device comprising a control circuit that controls a series of opening/closing operations of an automatic opening/closing door directly driven by a linear motor based on a detection signal from a human body detection sensor. A speed detector that detects the operating speed, a differentiator that differentiates the speed detection signal, a comparator that outputs when the speed differential signal exceeds a set value, and an operating direction discriminator that determines the opening/closing direction of the automatic door. and,
an AND signal of the output signal of the comparator and the door closing operation signal from the control circuit; an AND signal of the opening direction determination signal of the operation direction discriminator and the door closing operation signal from the control circuit; A control device for an automatic opening/closing door, comprising: output command means for commanding the control circuit to output a door opening operation signal in response to any one of the detection signals of a human body detection sensor.