JPH1037587A - Automatic door opening and closing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To minimize the section of a second moving speed which is a minute speed, prevent the vigorous collision with a door stopper, and dispense with regulation of decelerating position by changing the decelerating position on the basis of change data related to the door movement until it reaches a first moving speed. SOLUTION: The accelerating time of the control instruction from a control part 2, the actual accelerating time of a door and the steady carried current to an electric motor 6 at first moving speed are inputted to a decelerating position arithmetic part 11, and the correction quantity of decelerating position for changing the decelerating position is calculated, added to a decelerating position signal S3-1, and outputted to a speed arithmetic part 3. After a door 14 reaches a prescribed first moving speed by acceleration from starting, this speed is held and reduced to a second moving speed from the decelerating position determined on the basis of change data related to the door movement for reaching the first moving speed. The weight of the door 14 and the fluctuation of frictional force are quickly reflected to the decelerating position, the vigorous collision of the door 14 with a door stopper is prevented while the section of a second moving speed which is a minute speed is minimized, and the decelerating position can be regulated in opening and closing operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic door opening / closing device, and more particularly to an automatic door opening / closing control device for changing a control position for speed control from a high speed to a very low speed in a door opening / closing operation.

[0002]

2. Description of the Related Art Conventionally, an automatic door opening / closing device detects that a human body has entered a human body detection area near a door in a door closed state, for example, from an infrared human body detection switch as a detection switch installed at an entrance or the like. In response to this detection signal, the door is opened for opening, the speed of the door movement is accelerated, and the door is opened. Then, after the speed of the door movement reaches the predetermined first moving speed, the door is moved at a speed equal to the first moving speed, and when the door moves to the predetermined deceleration position, the door is decelerated, temporarily stopped, and thereafter. The door is moved at the second moving speed, which is a very slow speed, to end the door opening and open the door. At this time, the moving distance of the door from the deceleration position to a temporary stop varies depending on conditions such as the inertia force due to the weight of the door, the moving speed of the door, or the wind pressure applied to the door. Therefore, this moving distance cannot be uniquely set, and has been adjusted according to the experience and intuition of the worker performing the construction work.

A number of countermeasures have been studied as an automatic door opening / closing control device, for example, Japanese Patent Application Laid-Open No. 62-10719.
In the automatic door brake point control method described in Japanese Patent Publication No. 0, the deceleration position is corrected so that the setting of the position where the vehicle temporarily stops and the actual value match. In addition, Japanese Patent Publication No. 1-2131
In the automatic door opening and closing device described in No. 1, the learning control of one door opening and closing is performed after the power is turned on, and the door weight is estimated from the acceleration of the door movement at this time so that the deceleration position becomes the set value. Drive control.

[0004]

In the above-mentioned countermeasure for correcting the deceleration position in consideration of the temporarily stopped position, it is assumed that the weight of the door is large. In this state, it is necessary to reliably obtain a position where the door temporarily stops from the deceleration position without colliding with the door stop. Therefore, the distance between the setting of the stop position and the deceleration position is set to be large in order to match the position where the vehicle temporarily stops with the actual position. As a result, it took a long time to open and close the door. In addition, in the case of the above-mentioned countermeasure for performing learning control of door opening and closing once after turning on the power supply and performing drive control of the door, assuming a case where the weight of the door is large,
Also at this time, it was necessary to perform drive control without the door hitting the door stop in the fully opened state. And
Even in the case where the door is light in weight and the moving speed is high, in order to perform drive control in response to fluctuations in the deceleration section, the distance between the temporary stop position and the deceleration position is set to be large as described above. It took a long time to open and close.

The present invention has been made in view of the above circumstances, and an object of the present invention is to reduce the section of the second moving speed, which is a very slow speed, to prevent a door from crashing into a door stop. An object of the present invention is to provide an automatic door opening / closing device that does not require a deceleration position adjusting operation.

[0006]

In order to achieve the above object, an automatic door opening and closing apparatus according to claim 1 controls the moving speed of the door based on a preset control procedure to open and close the door. In the opening / closing device, the door opening / closing is activated by a detection signal from a detection switch installed at the entrance to accelerate the speed of the door movement, and after reaching a predetermined first moving speed, the speed is equal to the first moving speed thereafter. Move,
When the door moves to a predetermined deceleration position, the speed is reduced to a predetermined second movement speed, and thereafter, the door speed control means is opened and closed by moving the door at the second movement speed. The means changes the deceleration position based on change data relating to the door movement until the means reaches the first movement speed. Thereby, the door opening / closing is started by the detection signal from the detection switch installed at the entrance, the speed of the door movement is accelerated, and the predetermined first
After reaching the moving speed, the door is moved at a speed equal to the first moving speed, and when the door moves to a predetermined deceleration position, the speed is reduced to a predetermined second moving speed. There is provided a door speed control means which is opened and closed by moving at a moving speed, and the door speed control means changes the deceleration position based on change data relating to the door movement until the first moving speed is reached.

The automatic door opening and closing device according to claim 2 is
The door speed control means according to claim 1 includes a door moving speed detecting means, and the change data is a door moving speed. Thereby, the change data becomes the door moving speed.

The automatic door opening and closing device according to claim 3 is
The door speed control means according to claim 2 includes time detecting means for detecting a time until the door reaches the first moving speed, and the change data is this time. Thereby, the door speed control means has the time detecting means for detecting the time until the door reaches the first moving speed, and the change data is this time.

The automatic door opening and closing device according to claim 4 is
The door speed control means according to claim 2 includes a movement distance detection means for detecting a movement distance until the door reaches the first movement speed, and the change data is the movement distance. Thereby, the door speed control means has the movement distance detection means for detecting the movement distance until the door reaches the first movement speed, and the change data is the movement distance.

The automatic door opening and closing device according to claim 5 is
The door speed control means according to claim 2 includes speed deviation detecting means for detecting a deviation between the first moving speed and the moving speed of the door during a predetermined acceleration time, and the change data is used as the speed deviation. . Thus, the door speed control means has speed deviation detecting means for detecting a deviation between the first moving speed and the moving speed of the door during the predetermined acceleration time, and the change data is the speed deviation.

The automatic door opening and closing device according to claim 6 is
The door speed control unit according to claim 2, further comprising a steady current detection unit that detects a steady current supplied to a motor as a power source of the door movement at the first movement speed.
The deceleration position is changed based on the steady current data and the change data of the door moving speed. Thereby, the door speed control means has a steady current detection means for detecting a steady energizing current to the electric motor as a power source of the door movement at the first movement speed, and converts the steady current data and the change data of the door movement speed to each other. The deceleration position is changed based on the deceleration position.

The automatic door opening and closing device according to claim 7 is
The door speed control means according to claim 1 includes current detection means for detecting a current supplied to an electric motor as a power source of the door movement, and the change data is a current supplied. As a result, the change data becomes a current flowing through the motor.

The automatic door opening and closing device according to claim 8 is
The door speed control means according to claim 7 has a maximum current detection means for detecting a maximum value of the energizing current, and the change data is the maximum current. Thereby, the door speed control means has the maximum current detecting means for detecting the maximum value of the energizing current, and the change data becomes the maximum current.

The automatic door opening and closing device according to claim 9 is
The door speed control means according to claim 7 includes a time detecting means for detecting a time until the supplied current reaches a maximum current, and the change data is set to this time. Thus, the door speed control means has a time detecting means for detecting a time until the supplied current reaches the maximum current, and the change data is this time.

According to a tenth aspect of the present invention, there is provided an automatic door opening and closing device, wherein the door speed control means has a moving distance detecting means for detecting a moving distance of the door until the current supplied reaches a maximum current. It is assumed that the change data is the moving distance. Thereby, the door speed control means has the movement distance detection means for detecting the movement distance of the door until the energizing current reaches the maximum current, and the change data is this movement distance.

According to an eleventh aspect of the present invention, there is provided an automatic door opening and closing device, wherein the door speed control means according to the seventh to tenth aspects detects a steady energizing current to a motor as a power source of the door movement at the first moving speed. The deceleration position is changed based on the steady current data and the change data of the supplied current.
Thereby, the door speed control means has the steady current detection means for detecting the steady current flowing to the electric motor as the power source of the door movement at the first moving speed, and based on the steady current data and the change data of the current flow, To change the deceleration position.

According to a twelfth aspect of the present invention, there is provided an automatic door opening and closing device, wherein the door speed control means detects a maximum voltage applied to a motor as a power source of the door movement. And the change data is the maximum voltage. As a result, the change data becomes the maximum voltage applied to the electric motor.

According to a thirteenth aspect of the present invention, there is provided an automatic door opening and closing device, wherein the door speed control means detects a steady energizing current to a motor as a power source of the door movement at the first moving speed. Having current detection means,
The deceleration position is changed based on the steady-state current data and the maximum voltage data. This allows
The door speed control means includes a steady current detection means for detecting a steady energizing current to the electric motor as a power source of the door movement at the first moving speed, and the deceleration position is determined based on the steady current data and the maximum voltage data. Change.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of an automatic door opening and closing device according to the present invention will be described with reference to FIGS. 1 to 7, and a second embodiment will be described with reference to FIG. The fourth embodiment is based on FIGS. 9 to 12, the fourth embodiment is based on FIG. 13, the fifth embodiment is based on FIGS. 14 to 17, and the sixth embodiment is illustrated in FIG. 4 and FIGS. 18 to 2
The seventh embodiment will be described with reference to FIGS. 21 to 24 based on FIG.

[First Embodiment] FIG. 1 is a block diagram of an automatic door opening / closing device according to a first embodiment. FIG. 2 shows FIG.
It is operation | movement explanatory drawing of the automatic door opening / closing apparatus shown in FIG. 3A and 3B are explanatory diagrams showing a relationship between a control command and a door weight of the automatic door opening and closing device shown in FIG. 1, wherein FIG. 3A shows a door moving speed, and FIG. 3B shows a motor current. 4A and 4B are explanatory diagrams illustrating a relationship between a frictional load and a control command at the time of opening / closing operation of the automatic door opening / closing device illustrated in FIG. 1, wherein FIG. 4A illustrates a door moving speed, and FIG. FIG. 5 is a diagram showing a relationship between each operation state of the automatic door opening and closing apparatus shown in FIG. 1 and a deceleration position correction amount. FIG. 6 is a data table of a deceleration position calculation unit of the automatic door opening and closing device shown in FIG. FIG. 7 is an explanatory diagram of a deceleration position correcting operation of the automatic door opening and closing device shown in FIG.

The automatic door opening and closing apparatus 1 includes a control unit 2, a speed calculation unit 3, a control speed calculation unit 4, a power conversion unit 5,
The motor 6, a position detector 7, a speed detector 8, an acceleration time calculator 9, a steady current detector 10, a deceleration position calculator 11, and a current detector 12 are configured.
Then, the control unit 2, the speed calculation unit 3, the control speed calculation unit 4,
Speed detector 8, acceleration time calculator 9, steady-state current detector 10
And a deceleration position calculation unit 11 to form a door speed control means.
The opening and closing of the door is started, and the speed of the door movement is accelerated, and when the door reaches a predetermined first moving speed, the door is moved at a speed equal to the first moving speed. The speed is reduced to a predetermined second moving speed, and thereafter the moving is performed at the second moving speed to open and close.

The control unit 2 starts and controls the opening and closing of the door 14 in response to a detection signal from the human body detection switch 13. The control unit 2 detects the detection signal from the human body detection switch 13 and the motor speed from the speed detection unit 8 described later. The detection signal is input, and a control command for driving the door 14 in the opening or closing direction is output to the speed calculation unit 3.

The speed calculation unit 3 receives a control command from the control unit 2 and a speed detection signal from the speed detection unit 8 and a deceleration position calculation result from the deceleration position calculation unit 11, which will be described later. 4 and the acceleration time calculator 9
A control command S1 corresponding to the opening position of the door is sent to the acceleration time calculation unit 9 and the steady-state current detection unit 10 as a control command as an operation state signal S2 indicating stop, acceleration, deceleration, and constant speed states.
Is reduced to a position (deceleration position) S3-1 at which the speed is reduced toward the deceleration position calculation unit 11, and a time period from a stop state as a control command to a predetermined first moving speed which is the maximum speed (a control command). (Acceleration time) S3-2 and the first moving speed S3-3 are output.

The control speed calculation unit 4 receives the control command S1 from the speed calculation unit 3 corresponding to the opening position of the door and the detection signal of the motor speed from the speed detection unit 8, which will be described later, to control the motor 5. A control speed at which the speed of the control command S1 and the actual moving speed of the door coincide with each other is calculated. Then, it outputs a speed signal (voltage command signal), which is a calculation result, to power conversion unit 5.

The power converter 5 receives the speed signal (voltage command signal) from the control speed calculator 4 and adjusts the motor drive power to be supplied to the motor 6. In this device, the PWM (Pulse Width) is used. Modul
), amplifies the signal, amplifies it, and applies it to the electric motor 5. The power conversion unit 5 may be, for example, a DC voltage control or the like in addition to the PWM.

The electric motor 6 drives the door 14, and is, for example, a DC motor, which opens and closes the door 14 via power transmission means such as a speed reducer and a timing belt.

The position detecting section 7 is for detecting the operating state of the output shaft of the electric motor 6, and is, for example, an encoder, which is an electric High corresponding to the rotational position of the output shaft of the electric motor 6.
/ Low signal is output.

The speed detecting unit 8 is a door moving speed detecting means for calculating and outputting the moving speed of the door 14.
After calculating the frequency by inputting the High / Low signal from the controller and calculating the rotation speed of the output shaft of the electric motor 6, it is converted into the door moving speed by a constant determined by the power transmission means of the electric motor 6. Then, the signal is output to the control unit 2, the control speed calculation unit 4, and an acceleration time calculation unit 9 described later.

The acceleration time calculating section 9 is a time detecting means for detecting a time required for the door 14 to reach the first moving speed. The moving speed of the door 14 from the speed detecting section 8 and the control command S1
Based on the operation state signal S2 and the operation state signal S2, a time period from when the door is stopped to when the door reaches the first moving speed is calculated, and the result is output to a deceleration position calculation unit 11, which will be described later.

The steady-state current detector 10 is a steady-state current detector for detecting a steady-state current flowing to the electric motor 6 as a power source for moving the door at the first moving speed. An energization current signal of the electric motor 14 detected by the motor 12 is input, and a steady energization current, which is an energization current of the electric motor 14 at the first moving speed, is stored and output to a deceleration position calculation unit 11 described later.

The deceleration position calculating section 11 inputs the acceleration time of the control command, the actual acceleration time of the door 14 and the steady-state current of the electric motor 14 at a constant speed state, that is, at a predetermined first moving speed. Is calculated and added to the deceleration position signal S3-1, and the corrected deceleration position signal is output to the speed calculation unit 3.

The current detecting section 12 is a current detecting means for detecting a current flowing through the electric motor 6, and is formed by, for example, a current transformer. Then, an energization current signal of the electric motor 14 is output to the steady-state current detection unit 10.

Next, the operation of the automatic door opening and closing device 1 described above will be described. This automatic door opening and closing device 1 is shown in FIG.
The moving speed of the door 14 is controlled and the door 14 is opened and closed based on a control procedure shown in the operation explanatory diagram showing the relationship between the door moving position and the control command.

First, when the human body detection switch 13 such as an infrared type human body detection switch as a detection switch installed at the entrance detects that a human body has entered the human body detection area near the door, the control unit 2 An activation signal is output to the speed calculation unit 3 so as to open the door 14. Then
The speed calculation unit 3 increases the door moving speed based on the acceleration time T1 set in advance by the control command S1 to open the door 14. After reaching a predetermined first moving speed that is a predetermined moving speed, the door is moved at a speed equal to the first moving speed. And door 1
When the position No. 4 moves to the deceleration position BP calculated by the deceleration position calculation unit 11, the door moving speed is reduced according to a control command according to a predetermined deceleration time T2, and is temporarily stopped. And immediately after the stop, increase the door moving speed,
After reaching a predetermined second moving speed, which is a minute speed at which the door 14 hits the door stop, the door 14 is moved at the second moving speed. The control unit 2 stops supplying power to the motor 6 when detecting that the door 14 is in contact with the door stop and does not operate, that is, that the motor speed is zero, and after a lapse of a preset opening time. Then, the door 14 is closed again by the same door movement in the closing direction opposite to the above.

Hereinafter, in the operation of the automatic door opening and closing apparatus 1 described above, the deceleration position calculating section 11 changes the deceleration position BP based on the door moving speed which is change data of the door movement until the first moving speed is reached. The processing operation will be described.

According to the control characteristics of a general speed controller, for example, proportional / integral / differential control (PID control), the control command C for the door weight and the door moving speed,
As shown in the relationship between the motor current and the door speed,
Of the motor, that is, the inertia of the load of the motor. 3, the horizontal axis indicates the elapsed time when the door 14 moves, the vertical axis (a) indicates the moving speed of the door 14, and (b) indicates the current flowing through the motor 6. L1 where the weight of the door 14 is large requires a large thrust or torque to accelerate or decelerate to the moving speed of the control command as compared to L2 where the weight is small.
As a result, the acceleration time T1 and the deceleration time T2 until the door speed follows the control command C are respectively (T11> T1
2), (T21> T22), which is longer.

Focusing on the power control, if the speed deviation between the speed of the control command and the actual speed of the door 14 is large, the control speed calculation unit 4 attempts to make the door speed follow the control command quickly, The power control value given to the converter 5 is increased. As a result, the maximum value of the energizing current of the motor becomes larger. This is because when the speed deviation becomes substantially maximum, the acceleration time T1 until the door speed follows C which is the control command. Similarly to the deceleration time T2, the longer the door weight, the longer the door. When the moving speed of the door is constant, no thrust is theoretically necessary. Therefore, in a DC motor in which the torque, which is the output of the motor, and the current flowing through the motor are in a proportional relationship, as shown in FIG. Become.

On the other hand, the above-described proportional / integral / differential control (PI
In the control characteristic of D control), as shown in the relationship between the control command for the friction load during the opening / closing operation, the door moving speed, and the motor current, as shown in FIG. It is also greatly affected by changes in frictional force due to friction loss and the like. In FIG. 4, the horizontal axis indicates the elapsed time when the door 14 moves,
On the vertical axis, (a) indicates the moving speed of the door 14 and (b) indicates the current flowing through the electric motor 6. In L3 having a large frictional force on the door 14, a large thrust or torque is required to accelerate or decelerate to the moving speed of the control command as compared to L4 having a small frictional force. As a result, the acceleration time T1 until the door speed follows the control command C becomes longer (T11> T12). Conversely, in the case of deceleration, the frictional force acts as a part of the braking force required for deceleration, so that the deceleration time T2 before following the speed command is (T2
1 <T22). In addition, when the door speed is constant, the torque that is the output of the electric motor is only the torque necessary to eliminate the frictional force, and thus the steady-state current has a proportional relationship with the magnitude of the frictional force.

For the above reasons, focusing on the fact that the deceleration time T2, ie, the amount of movement of the door required for deceleration, has a correlation with the acceleration time T1 and the steady-state current I, the deceleration position calculation unit 11 performs each operation. The deceleration position is corrected according to. 5A shows the door moving speed, FIG. 5B shows the acceleration time of the control command, and FIG. 5C shows the difference between the acceleration time of the control command and the acceleration time of the door when the steady current changes. ΔT1) and the deceleration position correction amount (Δx) are shown. FIG. 6 shows a data table of the deceleration position calculation unit 11, and FIG. 7 shows a deceleration position correction operation explanatory diagram.

Generally, the deceleration position correction amount increases as the acceleration time difference (ΔT1) increases. Then, as shown in FIG. 5A, when the moving speed is low, the ratio of the deceleration position correction amount to the acceleration time difference (ΔT1) increases, and conversely, when the moving speed is high, the acceleration time difference (ΔT1) , The ratio of the deceleration position correction amount becomes smaller. This is because when the moving speed is high, the rate of change of the control command is large, and the influence on the acceleration time difference (ΔT1) of the door weight becomes large. Further, as shown in FIG. 5B, when the acceleration time of the control command is long, the ratio of the deceleration position correction amount to the acceleration time difference (ΔT1) increases. This is because when the acceleration time of the control command is short, the influence of the door weight on the acceleration time difference (ΔT1) increases. As shown in FIG. 5C, when the steady current is large, the ratio of the deceleration position correction amount to the acceleration time difference (ΔT1) becomes small. This is because when the steady current is large, the deceleration time becomes short because the frictional force is large.

The deceleration position calculating section 11 adds the deceleration position correction amount Δx obtained as described above to the initial set value of the deceleration position, and calculates an appropriate deceleration position correction value. This operation is
In this embodiment, the difference between the acceleration time and the door acceleration time, that is, the acceleration time difference (ΔT1) and the deceleration in various operation states determined by the control conditions of the control speed calculation unit 4, the driving characteristics of the electric motor, the power transmission means, and the like. The relationship with the position correction amount is obtained by an experiment in advance, stored as a data table shown in FIG. 6, and the acceleration time according to the control command, the actual acceleration time of the door, and the deceleration position corrected by the steady current at the first moving speed, Output to the speed calculation unit 3. In addition,
This calculation is not limited to the one based on the data table described above, but may be a calculation in which the relationship between the acceleration time difference and the deceleration position correction amount shown in FIG.

According to the automatic door opening and closing device 1 described above,
In response to a detection signal from the human body detection switch 13 installed at the entrance, the opening and closing of the door 14 is started to accelerate the speed of the door movement, and after reaching a predetermined first movement speed, the speed is equal to the first movement speed. Door speed control means for moving the door 14 when the door 14 moves to a predetermined deceleration position, reducing the speed to a predetermined second movement speed, and thereafter moving and opening and closing the door 14 at the second movement speed; Since the door speed control means changes the deceleration position based on change data relating to the door movement until the first movement speed is reached, the change in the door weight and frictional force is immediately reflected in the deceleration position. Even if the section of the second moving speed, which is a very slow speed, is reduced, the door can be prevented from crashing into the door stop, and the deceleration position is adjusted during the opening / closing operation so that the adjustment operation of the deceleration position is not performed. To become. Further, since the change data is the time required to reach the door moving speed and the first moving speed, the change data is obtained by calculation from the rotational position of the electric motor, and the calculated data is obtained by a simple configuration. In addition, the vehicle has a steady-state current detection unit 10 for detecting a steady-state current flowing through the motor 6, and the deceleration position is changed based on the steady-state current data and the change data of the door moving speed. Even if it fluctuates, the deceleration position can be appropriately corrected.

In the description of the above embodiment,
Although the acceleration time has been described as being calculated from the door speed,
The present invention is not limited to only the measurement itself, and may be measured by, for example, a timer. In addition, although the present invention has been described as having a steady-state current detecting means for detecting a steady-state current flowing to the electric motor as a power source of the door movement at the first moving speed, the present invention is not limited to this. There may be no correction by the detecting means.

[Second Embodiment] FIG. 8 is a configuration diagram of an automatic door opening and closing device according to a second embodiment.

This automatic door opening / closing device includes an acceleration time calculating section 9
Only the configuration of a portion that outputs a signal to the first embodiment is different from that of the first embodiment, and each component is the same as that of the first embodiment.

The acceleration time calculating section 9 serving as a time detecting means includes a current detecting section 12 serving as a current detecting means for detecting a current flowing through the electric motor 14 as a power source for moving the door 14.
The time until the door 14 reaches the first moving speed is detected based on the current supplied from the control unit. Then, the operation state signal S
2, the time from when the door is stopped to when the door reaches the first moving speed is calculated, and the result is output to the deceleration position calculation unit 11, which will be described later.

According to the automatic door opening and closing device 1 described above,
Since the change data is an energizing current of the electric motor 6, it is obtained by calculation from an output value from an energizing current detecting part for monitoring an abnormal operation of the electric motor 6, without adding a new part for deceleration position correction. Desired change data is obtained. Further, since the acceleration time calculating section 9 as the time detecting means detects the time until the energizing current reaches the maximum current and the change data becomes this time, it is easier than in the first embodiment. And the time to reach the first moving speed can be obtained.

[Third Embodiment] FIG. 9 is a configuration diagram of an automatic door opening / closing device according to a third embodiment. FIGS. 10A and 10B are explanatory diagrams of a relationship between a control command and a door weight of the automatic door opening / closing device shown in FIG. 9, wherein FIG. 10A illustrates a door moving speed, and FIG. FIG. 11 is a diagram showing a relationship between each operation state of the automatic door opening and closing apparatus shown in FIG. 9 and a deceleration position correction amount. FIG.
9 is a data table of a deceleration position calculation unit of the automatic door opening and closing apparatus shown in FIG.

This automatic door opening / closing apparatus 1 differs from the first embodiment only in the configuration of a portion for outputting a signal to the deceleration position calculating section 11, and the other components are the same as those in the first embodiment. Is the same as The control unit 2, the speed calculation unit 3, the control speed calculation unit 4, the power conversion unit 5, the electric motor 6, the position detection unit 7, the speed detection unit 8, the acceleration movement amount calculation unit 15, It is composed of a steady-state current detector 10, a deceleration position calculator 11, and a current detector 12.

The speed calculator 3 of this embodiment has the same control commands as those of the first embodiment, the control command from the controller 2, the High / Low signal from the position detector 7, and the deceleration position calculator 1.
The deceleration position calculation result from 1 is input and the control speed calculation unit 4
And a control command S1 corresponding to the opening position of the door toward the acceleration movement amount calculation unit 15, and a stop, acceleration, deceleration and constant speed state as a control instruction toward the acceleration movement amount calculation unit 15 and the steady current detection unit 10. The position (deceleration position) S at which the speed is reduced toward the deceleration position calculation unit 11
3-1. A distance (accelerated moving amount of the speed command) S3-2 and a first moving speed S that the door moves from a stop state as a control command to reach a predetermined first moving speed which is the highest speed.
3-3 are output.

The acceleration moving amount calculating section 15 is a moving distance detecting means for detecting a moving distance until the door 14 reaches the first moving speed, and the moving speed of the door 14 from the speed detecting section 8 and the control command S1, operation state signal S2, and position detector 7
By counting the pulses of the High / Low signal from the door, as shown in FIG. 10, the movement amount of the door from the stop state to the first movement speed (the acceleration movement amount D
1) is calculated, and the result is output to the same deceleration position calculation unit 11 as that of the first embodiment.

Next, the operation of the automatic door opening and closing device 1 described above will be described. This automatic door opening / closing apparatus 1 controls the moving speed of the door 14 based on the control procedure shown in FIG. 2 to open and close the door 14 similarly to the first embodiment.

In the operation of the above automatic door opening and closing apparatus, the deceleration position is changed by the deceleration position calculation unit 11 based on the change data of the movement distance which is the change data of the door movement until the first movement speed is reached. The processing operation to be performed will be described.

In the control characteristics of the proportional / integral / differential control (PID control), the door weight or frictional force and the amount of movement of the door until the door movement speed reaches the first movement speed (command acceleration movement amount D1) The difference between the movement amount until the door actually reaches the opening / closing speed (acceleration movement amount difference) is shown in FIG. 3 and FIG. , There is a correlation similar to the relationship between the motor conduction current and the elapsed time.

In FIG. 10, the horizontal axis indicates the door position when the door 14 moves, the vertical axis (a) indicates the moving speed of the door 14, and (b) indicates the current flowing through the motor 6, but the weight of the door 14 is small. Large L1
Requires a larger thrust or torque to accelerate or decelerate to the movement speed of the control command as compared with L2 having a smaller weight. As a result, similarly to the first embodiment, the acceleration movement amount D1 until the door position follows the movement speed of the control command C
And the deceleration movement amount D2 are (D11> D12), respectively.
(D21> D22).

The deceleration movement amount D2, that is, the movement amount of the door required for deceleration is determined by the acceleration movement amount D1 and the steady current I
And deceleration position calculation unit 11
Corrects the deceleration position according to each operation. Specifically, as shown in FIG. 11, (a) shows the door moving speed,
(B) is the acceleration movement amount in the control command, and (c) is the difference between the acceleration movement amount of the control command and the actual acceleration movement amount of the door when the steady current changes, that is, the acceleration movement amount difference (ΔD1).
And the relationship between the deceleration position correction amount (Δx). FIG.
Shows a data table of the deceleration position calculation unit 11.

Generally, the deceleration position correction amount increases as the acceleration movement amount difference (ΔD1) increases. Then, as shown in FIG. 11 (a), when the moving speed is low, the ratio of the deceleration position correction amount to the acceleration moving amount difference (ΔD1) increases, and conversely, when the moving speed is high, the acceleration moving amount The ratio of the deceleration position correction amount to the difference (ΔD1) becomes smaller. This is because when the moving speed is low, the acceleration time is long, and the influence of the door weight on the acceleration moving amount difference (ΔD1) increases. Further, as shown in FIG. 11B, when the acceleration time of the control command is long, the ratio of the deceleration position correction amount to the acceleration movement amount difference (ΔD1) increases. This is because when the acceleration time of the control command is short, the influence of the door weight on the difference in acceleration movement amount (ΔD1) increases. Further, as shown in FIG. 11C, when the steady current is large, the ratio of the deceleration position correction amount to the acceleration movement amount difference (ΔD1) decreases. This is because when the steady current is large, the deceleration time becomes short because the frictional force is large.

The deceleration position calculating section 11 calculates the correction value of the deceleration position by adding the deceleration position correction amount Δx obtained as described above to the initial value of the deceleration position. As in the first embodiment, the relationship between the acceleration movement amount difference (ΔD1) and the deceleration position correction amount is obtained by an experiment in advance, stored as a data table as shown in FIG. The deceleration position corrected by the time, the actual acceleration time of the door, and the steady current at the first moving speed is output to the speed calculation unit 3.

According to the automatic door opening and closing device 1 described above,
Since the change data is the door moving speed and the moving distance until reaching the first moving speed, similarly to the first embodiment, the change data is obtained by calculation from the rotational position of the electric motor and the calculation data is obtained by a simple configuration. Becomes In addition, the vehicle has a steady-state current detection unit 10 for detecting a steady-state current flowing through the motor 6, and the deceleration position is changed based on the steady-state current data and the change data of the door moving speed. Even if it fluctuates, the deceleration position can be appropriately corrected.

Although the present embodiment has been described as having the steady-state current detecting means for detecting the steady-state current flowing to the electric motor as the power source of the door movement at the first moving speed, the present invention is not limited to this. There may be no correction by the steady-state current detecting means.

[Fourth Embodiment] FIG. 13 is a block diagram of an automatic door opening / closing device according to a fourth embodiment.

This automatic door opening / closing device differs from the third embodiment only in the configuration of a portion for outputting a signal to the acceleration movement amount calculating section 15, and each component is the same as that of the third embodiment. It is the same as the one.

The acceleration moving amount calculating section 15 is a moving distance detecting means for detecting the moving distance of the door 14 until the current reaches the maximum current. An energizing current signal is input from a current detecting section 12 which is a current detecting means for detecting the current. Then, based on the operation state signal S2, the door 14 is moved to the first state.
The moving distance of the door 14 until the moving speed is reached is calculated, and the result is output to the deceleration position calculating unit 11 described later.

According to the automatic door opening and closing device 1 described above,
Since the change data is the current flowing through the motor 6, the second
As in the case of the embodiment, the desired change data obtained by calculation from the output value from the conduction current detecting component for monitoring the abnormal operation of the motor 6 without adding a new component for deceleration position correction can be obtained. Gain. Further, the above-mentioned acceleration movement amount calculation unit 1 which is a movement distance detecting means
5 detects the moving distance from the time until the energizing current reaches the maximum current, and the change data becomes the moving distance. Therefore, it takes more time to reach the first moving speed than in the third embodiment. You can get the moving distance.

[Fifth Embodiment] FIG. 14 is a structural view of an automatic door opening and closing apparatus according to a fifth embodiment. FIG.
It is explanatory drawing of the relationship with the control command with respect to the door weight of the automatic door opening / closing apparatus shown in FIG. 14, (a) is a door moving speed, (b) is motor electric current. FIG. 16 is a diagram showing a relationship between each operation state of the automatic door opening and closing apparatus shown in FIG. 14 and the deceleration position correction amount.
FIG. 17 is a data table of a deceleration position calculation unit of the automatic door opening and closing apparatus shown in FIG.

This automatic door opening / closing apparatus 1 differs from the first embodiment only in the configuration of a portion for outputting a signal to the deceleration position calculating section 11, and the other components are the same as those in the first embodiment. Is the same as The control unit 2, the speed calculation unit 3, the control speed calculation unit 4, the power conversion unit 5, the electric motor 6, the position detection unit 7, the speed detection unit 8, the speed deviation calculation unit 16, Current detector 10 and deceleration position calculator 1
1 and a current detection unit 12.

The speed calculating section 3 of this embodiment is the same as that of the first embodiment in that the control command from the control section 2, the High / Low signal from the position detecting section 7, and the deceleration position calculating section 1
The deceleration position calculation result from 1 is input and the control speed calculation unit 4
And the control command S1 corresponding to the opening position of the door toward the speed deviation calculation unit 16 and the stop, acceleration, deceleration and constant speed states as control commands toward the speed deviation calculation unit 16 and the steady-state current detection unit 10. The operation state signal S2 is sent to the deceleration position calculating section 11 to reduce the speed (deceleration position) S3-
1. A distance (accelerated moving amount of the speed command) S3-2 and a first moving speed S3-3 that the door moves from a stop state as a control command to reach a predetermined first moving speed which is the highest speed.
Are output.

The speed deviation calculating unit 16 is a speed deviation detecting means for detecting a deviation between the first moving speed of the door 14 and the moving speed during a predetermined acceleration time. , The control command S1, the operation state signal S
2, a predetermined acceleration time (T1) for increasing the moving speed by the control command until the door 14 reaches the first moving speed from the stopped state and reaching the first moving speed as shown in FIG.
Is calculated by subtracting the moving speed of the door from the first moving speed in (1), and outputs the result to the same deceleration position calculating unit 11 as that of the first embodiment. .

Next, the operation of the automatic door opening and closing device 1 described above will be described. This automatic door opening / closing apparatus 1 controls the moving speed of the door 14 based on the control procedure shown in FIG. 2 to open and close the door 14 similarly to the first embodiment.

Hereinafter, in the operation of the automatic door opening and closing device, the deceleration position is calculated by the deceleration position calculating unit 11 based on the change data of the speed deviation between the first moving speed and the moving speed of the door during a predetermined acceleration time. The changing processing operation will be described.

In the control characteristics of the proportional / integral / differential control (PID control), the relationship between the door weight or frictional force and the acceleration time until the door moving speed reaches the first moving speed is determined by the first type. As described in the embodiment section,
There is a correlation similar to the relationship between the control command, the door moving speed, the motor current, and the elapsed time with respect to the door weight or frictional force.

Therefore, as shown in FIG. 15, a graph in which the horizontal axis represents the elapsed time when the door 14 moves and the vertical axis represents the moving speed of the door 14, the weight L 1 of the door 14 is large and the weight L 2 of the door 14 is small. The difference between the first moving speed of C whose door speed is the control command and the moving speed of the door at a predetermined acceleration time (T1) and the moving speed of the door, that is, the speed deviation (Δs) becomes (DF1> DF2). growing. This is because, as described in the first embodiment, the thrust or the thrust required to accelerate or decelerate to the moving speed of the control command in L1 where the weight of the door 14 is large as compared with L2 where the weight of the door 14 is small. This is because the torque increases. At this time, similarly to the first embodiment, when the speed deviation between the speed of the control command and the actual speed of the door 14 is large, the control speed calculation unit 4 attempts to cause the door speed to quickly follow the control command. . And
The power control value given to the power conversion unit 5 is increased, and as a result, the maximum value of the current supplied to the motor becomes large.

The deceleration position calculating section 11 corrects the deceleration position according to each operation by focusing on the fact that the deceleration position has a correlation with the speed deviation (Δs) and the steady-state current I. Specifically, as shown in FIG. 16, (a) shows the door moving speed, (b) shows the acceleration moving amount in the control command, and (c)
Shows the relationship between the difference between the control command moving speed and the actual door moving speed, that is, the speed deviation (Δs), and the deceleration position correction amount (Δx) when the steady current changes. FIG. 17 shows a data table of the deceleration position calculation unit 11.

Generally, the deceleration position correction amount increases as the speed deviation (Δs) increases. And FIG.
As shown in FIG. 6A, when the moving speed is low, the ratio of the deceleration position correction amount to the speed deviation (Δs) increases, and conversely, when the moving speed is high, the deceleration position correction for the speed deviation (Δs) increases. The proportion of the quantity is smaller. This is because if the moving speed is slow, the acceleration time is long, and the influence on the speed deviation (Δs) of the door weight increases. Also,
As shown in FIG. 16B, when the acceleration time of the control command is long, the ratio of the deceleration position correction amount to the speed deviation (Δs) increases. This is because when the acceleration time of the speed command is short, the influence of the door weight on the speed deviation (Δs) increases. Further, as shown in FIG. 16C, when the steady current is large, the ratio of the deceleration position correction amount to the speed deviation (Δs) becomes small. This is because when the steady current is large, the deceleration time is short because the frictional force is large.

The deceleration position calculating section 11 calculates the correction value of the deceleration position by adding the deceleration position correction amount Δx obtained as described above to the initial setting value of the deceleration position. As in the case of the first embodiment, the relationship between the speed deviation (Δs) and the deceleration position correction amount is obtained by an experiment in advance, stored as a data table as shown in FIG. The deceleration position corrected by the actual acceleration time of the door and the steady current at the first moving speed is output to the speed calculation unit 3.

According to the automatic door opening and closing device 1 described above,
Since the change data is a speed deviation from the moving speed of the door during the predetermined acceleration time, it can be directly calculated by counting the High / Low signal, which is the detection of the operation state of the output shaft of the electric motor 6 by the position detection unit 7. Accordingly, the operation data is obtained at a higher speed than that of the first embodiment, and the accuracy of the position correction is improved. Further, it has a steady-state current detection unit 10 for detecting a steady-state current flowing to the electric motor 6,
Since the deceleration position is changed based on the steady-state current data and the change data of the door moving speed, the deceleration position can be appropriately corrected even if the door weight or the friction load changes.

Although the present embodiment has been described as having the steady-state current detecting means for detecting the steady-state current flowing to the electric motor as the power source of the door movement at the first moving speed, the present invention is not limited to this. There may be no correction by the steady-state current detecting means.

[Sixth Embodiment] FIG. 18 is a configuration diagram of an automatic door opening / closing device according to a sixth embodiment. FIG.
It is explanatory drawing of the relationship with the control command with respect to the door weight of the automatic door opening / closing apparatus shown in FIG. 18, (a) is a door moving speed, (b) is motor electric current. FIG. 20 is a data table of a deceleration position calculation unit of the automatic door opening and closing apparatus shown in FIG.

This automatic door opening / closing apparatus 1 is different from the first embodiment only in the configuration of a portion for outputting a signal to the deceleration position calculating section 11, and the other components are the same as those in the first embodiment. Is the same as Then, the control unit 2, the speed calculation unit 3, the control speed calculation unit 4, the power conversion unit 5, the electric motor 6, the position detection unit 7, the speed detection unit 8, the maximum current detection unit 17, the deceleration And a position calculation unit 11.

The speed calculator 3 of this embodiment includes the same control commands as those of the first embodiment, a control command from the controller 2, a High / Low signal from the position detector 7, and a deceleration position calculator 1.
The deceleration position calculation result from 1 is input and the control speed calculation unit 4
The control command S1 corresponding to the opening position of the door is directed to the maximum current detecting unit 17 as stop commands, acceleration,
A position (deceleration position) at which the operation state signal S2 indicating the deceleration and constant speed state is decelerated toward the deceleration position calculation unit 11
S3-1, a distance (acceleration movement amount of the speed command) S3-2 and a first movement speed S that the door moves from a stop state as a control command to reach a predetermined first movement speed which is the maximum speed.
3-3 are output.

The maximum current detecting section 17 is a maximum current detecting means for detecting a maximum value of a current supplied to the electric motor 6 as a power source for moving the door at the first moving speed. And the energizing current signal of the electric motor 14 detected by the unit 12 is input, and as shown in FIG. 3, the moving speed is increased by the control command until the door 14 reaches the first moving speed from the stopped state. The maximum current in the vicinity of a predetermined acceleration elapsed time when the acceleration reaches the deceleration position calculation unit 1 which is the same as that of the first embodiment is detected.
Output to 1

Next, the operation of the automatic door opening and closing apparatus 1 described above will be described. This automatic door opening / closing apparatus 1 controls the moving speed of the door 14 based on the control procedure shown in FIG. 2 to open and close the door 14 similarly to the first embodiment.

Hereinafter, in the operation of the above automatic door opening and closing apparatus, the processing operation of changing the deceleration position by the deceleration position calculation unit 11 based on the change data of the maximum value of the supplied current will be described.

In the control characteristics of the proportional / integral / differential control (PID control), the relationship between the door weight or the frictional force and the maximum value of the energizing current related to the door movement is described in the first embodiment. There is a correlation as described. Therefore, the deceleration position calculation unit 11 calculates the maximum current (Imax)
The deceleration position is corrected according to. Specifically, as shown in FIG. 19, (a) is the door moving speed, (b) is the amount of acceleration movement in the control command, and (c) is the maximum current (Imax) of the control command when the steady-state current changes. And the deceleration position correction amount (Δx). FIG. 20 shows a data table of the deceleration position calculation unit 11.

Generally, as the maximum current (Imax) increases, the deceleration position correction amount increases. Then, as shown in FIG. 19 (a), when the moving speed is low, the ratio of the deceleration position correction amount to the maximum current (Imax) becomes large, and conversely, when the moving speed is high, the deceleration position with respect to the maximum current is increased. The ratio of the correction amount decreases. This is because when the moving speed is low, the current value is large, and the influence on the speed deviation of the door weight becomes large. Further, as shown in FIG. 19B, when the acceleration time of the control command is long, the ratio of the deceleration position correction amount to the maximum current (Imax) increases. This is because when the acceleration time of the speed command is short, the influence of the door weight on the maximum current (Imax) increases. As shown in FIG. 19C, when the steady current is large, the maximum current (Ima
The ratio of the deceleration position correction amount to x) becomes smaller. This is because when the steady-state current is large, the above-described frictional force is large, so that the change in the supplied current is small.

The deceleration position calculating section 11 calculates the correction value of the deceleration position by adding the deceleration position correction amount Δx obtained as described above to the initial value of the deceleration position. As in the case of the first embodiment, the relationship between the maximum current (Imax) and the deceleration position correction amount is obtained by an experiment in advance, stored as a data table as shown in FIG. The deceleration position corrected by the actual acceleration time of the door and the steady current at the first moving speed is output to the speed calculation unit 3.

According to the automatic door opening and closing device 1 described above,
Since the change data is the maximum current detected by the maximum current detecting unit 17, the monitoring of the abnormal operation of the electric motor 6 can be performed without adding a new part for deceleration position correction, as in the second embodiment. For this purpose, it is obtained by calculation from the output value from the conducting current detecting component, and further, the calculation data is obtained by a simple configuration. In addition, the vehicle has a steady-state current detection unit 10 for detecting a steady-state current flowing through the motor 6, and the deceleration position is changed based on the steady-state current data and the change data of the door moving speed. Even if it fluctuates, the deceleration position can be appropriately corrected.

Although the present embodiment has been described as having the steady-state current detecting means for detecting the steady-state current flowing to the electric motor as the power source for the door movement at the first moving speed, the present invention is not limited to this. There may be no correction by the steady-state current detecting means.

[Seventh Embodiment] FIG. 21 is a configuration diagram of an automatic door opening / closing device according to a seventh embodiment. FIG.
22A and 22B are explanatory diagrams illustrating a relationship between a control command and a door weight of the automatic door opening / closing device illustrated in FIG. 21, wherein FIG. FIG. 23 is an explanatory diagram of a deceleration position correcting operation of the automatic door opening and closing device shown in FIG. FIG. 24 corresponds to FIG.
6 is a data table of a deceleration position calculation unit of the automatic door opening and closing device shown in FIG.

This automatic door opening / closing apparatus 1 is different from the first embodiment only in the configuration of a portion for outputting a signal to the deceleration position calculating section 11, and the other components are the same as those in the first embodiment. Is the same as Then, the control unit 2, the speed calculation unit 3, the control speed calculation unit 4, the power conversion unit 5, the electric motor 6, the position detection unit 7, the speed detection unit 8, the maximum voltage detection unit 18, Current detector 10 and deceleration position calculator 1
1 and a current detection unit 12.

The speed calculation unit 3 includes a control command from the control unit 2, a High / Low signal from the position detection unit 7, and a deceleration position calculation unit 1 as in the first embodiment.
The deceleration position calculation result from 1 is input and the control speed calculation unit 4
A control command S1 corresponding to the opening position of the door toward the maximum voltage detecting unit 18 and a steady state detecting unit 10 as a control command as an operation state signal S2 indicating stop, acceleration, deceleration, and constant speed states, A position (deceleration position) S3-1 at which the speed is reduced toward the deceleration position calculation unit 11, a distance (speed command) at which the door moves from a stop state as a control command to a predetermined first moving speed which is a maximum speed. Acceleration movement amount) S3
-2 and the first moving speed S3-3 are output.

The maximum voltage detecting section 18 is a maximum voltage detecting means for detecting the maximum value of the voltage applied to the electric motor 6 as a power source for moving the door 14, and receives the operation state signal S2 as shown in FIG. As shown, the moving speed is increased by the control command until the door 14 reaches the first moving speed from the stop state, and the maximum applied voltage near the predetermined acceleration elapsed time at which the door 14 reaches the first moving speed is detected. The signal is output to the same deceleration position calculation unit 11 as that of the first embodiment.

Next, the operation of the automatic door opening and closing device 1 described above will be described. This automatic door opening / closing apparatus 1 controls the moving speed of the door 14 based on the control procedure shown in FIG. 2 to open and close the door 14 similarly to the first embodiment.

In the operation of the automatic door opening / closing device, the deceleration position is calculated by the deceleration position calculating section 11 based on the change data of the speed deviation between the first moving speed and the moving speed of the door during a predetermined acceleration time. The changing processing operation will be described.

In the control characteristics of the proportional / integral / differential control (PID control), the relationship between the door weight or frictional force and the maximum applied voltage until the door moving speed reaches the first moving speed is determined by the first type. As described in the first embodiment, there is a correlation similar to the relationship between the control command, the door moving speed, the motor current, and the elapsed time with respect to the door weight or the frictional force.

In FIG. 22, the horizontal axis indicates the door position when the door 14 moves, the vertical axis (a) indicates the moving speed of the door 14, and (b) indicates the voltage applied to the motor 6. Is large L
1 requires a larger thrust or torque to accelerate or decelerate to the moving speed of the control command as compared to L2 having a smaller weight. As a result, as in the first embodiment, the acceleration time T1 and the deceleration time T2 until the door speed follows the control command C are (T11> T12) and (T21), respectively.
> T22). At this time, if the speed deviation between the speed of the control command and the actual speed of the door 14 is large, the control speed calculation unit 4 attempts to cause the door speed to quickly follow the control command. Then, the value of the applied voltage applied to the power converter 5 is increased, and as a result, the maximum value of the current supplied to the electric motor is also increased. When the voltage applied to the electric motor 6 becomes maximum, the speed deviation becomes substantially maximum, and the acceleration time T1 and the deceleration time T2 until the door speed follows C which is the control command. Similarly, the larger the door weight, the longer the door. When the moving speed of the door is constant, thrust is unnecessary in theory. In a DC motor or the like in which the torque, which is the output of the motor, and the current flowing through the motor are in a proportional relationship, the voltage applied to the motor at a constant door speed is a constant value as shown in (b).

Focusing on the fact that the deceleration time T2, that is, the amount of movement of the door required for deceleration, has a correlation with the acceleration time T1, the maximum applied voltage, and the steady-state current I, the deceleration position calculating unit 11 The deceleration position is corrected according to the operation. Specifically, as shown in FIG. 23, (a) is the door moving speed, (b) is the acceleration moving amount in the control command, and (c)
Shows the relationship between the maximum applied voltage (Vmax) of the control command and the deceleration position correction amount (Δx) when the steady current changes. FIG. 24 shows a data table of the deceleration position calculation unit 11.

Generally, the deceleration position correction amount increases as the maximum applied voltage (Vmax) increases. Then, as shown in FIG. 23 (a), when the moving speed is low, the ratio of the deceleration position correction amount to the maximum applied voltage (Vmax) increases. Conversely, when the moving speed is high, the maximum applied voltage ( The ratio of the deceleration position correction amount to Vmax) becomes smaller. This is because when the moving speed is slow, the acceleration time is long, and the influence of the door weight on the maximum applied voltage becomes large. Also, as shown in FIG.
When the acceleration time of the control command is long, the maximum applied voltage (Vma
The ratio of the deceleration position correction amount to x) increases. This is because when the acceleration time of the speed command is short, the influence of the door weight on the maximum applied voltage (Vmax) increases. Further, as shown in FIG. 23C, when the steady current is large, the ratio of the deceleration position correction amount to the maximum applied voltage becomes small. This is because when the steady current is large, the deceleration time is short because the frictional force is large.

The deceleration position calculator 11 adds the deceleration position correction amount Δx obtained as described above to the initial setting value of the deceleration position, and calculates a correction value of the deceleration position. As in the case of the first embodiment, the relationship between the maximum applied voltage (Vmax) and the deceleration position correction amount is obtained by an experiment in advance, and FIG.
The acceleration time according to the control command, the actual acceleration time of the door, and the deceleration position corrected by the steady current at the first moving speed are output to the speed calculation unit 3.

According to the automatic door opening and closing apparatus 1 described above,
Since the change data is the maximum voltage applied to the electric motor 6, the change data can be obtained from a simple circuit configuration. In addition, the vehicle has a steady-state current detection unit 10 for detecting a steady-state current flowing through the motor 6, and the deceleration position is changed based on the steady-state current data and the change data of the door moving speed. Even if it fluctuates, the deceleration position can be appropriately corrected.

Although the present embodiment has been described as having the steady-state current detecting means for detecting the steady-state current flowing to the electric motor as a power source for moving the door at the first moving speed, the present invention is not limited to this. There may be no correction by the steady-state current detecting means. Further, in all of the above embodiments, the door speed control means has been described as having a hardware configuration. However, the present invention is not limited to this, and is realized by a software configuration using a microcomputer. There may be.

[0102]

According to the first aspect of the present invention, the automatic door opening / closing device starts the door opening / closing by the detection signal from the detection switch provided at the entrance, accelerates the door moving speed, and reaches the predetermined first moving speed. After that, the door is moved at the same speed as the first moving speed, and when the door moves to the predetermined deceleration position, the speed is reduced to the predetermined second moving speed, and thereafter, the door is moved at the second moving speed. Door speed control means for opening and closing the door, and the door speed control means changes the deceleration position based on change data relating to the door movement until the first movement speed is reached. Even when the section of the second moving speed, which is a very slow speed, is reflected immediately in the deceleration position due to the change in force, the door can be prevented from crashing into the door stop, and the deceleration position cannot be adjusted during the opening / closing operation. Adjusting operation of the deceleration position is not required to be.

The automatic door opening and closing device according to claim 2 is
In addition to the effect of the first aspect, since the change data is the door moving speed, the change data is obtained by calculation from the rotational position of the electric motor, and the calculation data is obtained by a simple configuration.

The automatic door opening and closing device according to claim 3 is
In addition to the effect of the second aspect, the door speed control means has time detecting means for detecting a time until the door reaches the first moving speed, and the change data is this time, so that the first moving can be easily performed. You can get time to reach speed.

The automatic door opening and closing device according to claim 4 is
In addition to the effect of the second aspect, the door speed control means has a moving distance detecting means for detecting a moving distance until the door reaches the first moving speed, and the change data is the moving distance. The calculation data is obtained by a simple configuration obtained by calculation from the rotational position.

The automatic door opening and closing device according to claim 5 is
In addition to the effect of the second aspect, the door speed control means has speed deviation detecting means for detecting a deviation between the first moving speed and the moving speed of the door during a predetermined acceleration time, and the change data indicates the speed deviation and the speed deviation. Therefore, the calculation can be directly performed by counting the High / Low signal which is the detection of the operation state of the output shaft of the electric motor by the position detection unit. Therefore, calculation data can be obtained at higher speed, and the accuracy of position correction is improved.

The automatic door opening and closing device according to claim 6 is
In addition to the effects of claims 2 to 5, the door speed control means has a steady current detection means for detecting a steady current supplied to the electric motor as a power source of the door movement at the first moving speed, and the steady current data Since the deceleration position is changed based on the change data of the door moving speed, the deceleration position can be appropriately corrected even if the door weight and the friction load change.

The automatic door opening and closing device according to claim 7 is
In addition to the effect of the first aspect, the change data is a current supplied to the motor, so that the change data is obtained by calculation from an output value from a current detection component for monitoring abnormal operation of the motor, and is used for correcting a deceleration position. Desired change data can be obtained without adding a new part.

The automatic door opening and closing device according to claim 8 is
In addition to the effect of claim 7, the door speed control means has a maximum current detection means for detecting the maximum value of the energizing current, and the change data becomes the maximum current. It is obtained by calculation from the output value from the conducting current detection component for monitoring the abnormal operation of the motor without adding a component, and the calculation data is obtained by a simple configuration.

The automatic door opening and closing device according to claim 9 is
In addition to the effect of the seventh aspect, the door speed control means has a time detecting means for detecting a time until the energizing current reaches the maximum current, and the change data is this time, so the first embodiment The time required to reach the first moving speed can be easily obtained as compared with the embodiment.

According to a tenth aspect of the present invention, in addition to the effect of the seventh aspect, the door speed control means detects the moving distance of the door until the energizing current reaches the maximum current. Since the change data has this moving distance, the acceleration time calculation section 9 as the time detecting means detects the time until the energizing current reaches the maximum current, and the change data becomes this time. Thus, the moving distance required to reach the first moving speed can be easily obtained.

The automatic door opening / closing device according to the eleventh aspect has the effect of the seventh to tenth aspects. In addition, the door speed control means constantly supplies power to the electric motor as a power source for the door movement at the first moving speed. It has a steady current detecting means for detecting a current, and the deceleration position is changed based on the steady current data and the change data of the energizing current. Gain.

Further, in the automatic door opening and closing apparatus according to the twelfth aspect, in addition to the effect of the first aspect, the change data is the maximum voltage of the voltage applied to the motor, so that the change data can be obtained from a simple circuit configuration. Gain.

According to a thirteenth aspect of the present invention, in addition to the effect of the twelfth aspect, the automatic door opening and closing device is characterized in that the door speed control means controls a steady energizing current to the motor as a power source of the door movement at the first moving speed. It is assumed that the deceleration position is changed based on the steady current data and the maximum voltage data, so that the deceleration position can be appropriately corrected even if the door weight or the friction load changes. Become.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an automatic door opening and closing device according to a first embodiment of the present invention.

FIG. 2 is an operation explanatory view of the automatic door opening and closing device shown in FIG. 1;

3A and 3B are explanatory diagrams illustrating a relationship between a control command and a door weight of the automatic door opening / closing device illustrated in FIG. 1, wherein FIG.
(B) is the motor current.

4A and 4B are explanatory diagrams illustrating a relationship between a frictional load and a control command at the time of an opening / closing operation of the automatic door opening / closing device illustrated in FIG. 1, wherein FIG. 4A illustrates a door moving speed, and FIG.

5 is a diagram showing a relationship between each operation state of the automatic door opening and closing apparatus shown in FIG. 1 and a deceleration position correction amount.

FIG. 6 is a data table of a deceleration position calculation unit of the automatic door opening and closing device shown in FIG. 1;

7 is an explanatory diagram of a deceleration position correcting operation of the automatic door opening and closing device shown in FIG.

FIG. 8 is a configuration diagram of an automatic door opening and closing device according to a second embodiment.

FIG. 9 is a configuration diagram of an automatic door opening and closing device according to a third embodiment.

10A and 10B are explanatory diagrams illustrating a relationship between a control command and a door weight of the automatic door opening / closing device illustrated in FIG. 9, wherein FIG.
(B) is the motor current.

11 is a diagram showing a relationship between each operation state of the automatic door opening and closing device shown in FIG. 9 and a deceleration position correction amount.

FIG. 12 is a data table of a deceleration position calculation unit of the automatic door opening and closing apparatus shown in FIG. 9;

FIG. 13 is a configuration diagram of an automatic door opening and closing device according to a fourth embodiment.

FIG. 14 is a configuration diagram of an automatic door opening / closing device according to a fifth embodiment.

15A and 15B are explanatory diagrams showing a relationship between a control command and a door weight of the automatic door opening / closing device shown in FIG. 14, wherein FIG.
(B) is the motor current.

FIG. 16 is a diagram illustrating a relationship between each operation state of the automatic door opening and closing device illustrated in FIG. 14 and a deceleration position correction amount.

FIG. 17 is a data table of a deceleration position calculation unit of the automatic door opening and closing device shown in FIG. 14;

FIG. 18 is a configuration diagram of an automatic door opening / closing device according to a sixth embodiment.

19A and 19B are explanatory diagrams illustrating a relationship between a control command and a door weight of the automatic door opening / closing device illustrated in FIG. 18, wherein FIG.
(B) is the motor current.

20 is a data table of a deceleration position calculation unit of the automatic door opening and closing device shown in FIG. 18;

FIG. 21 is a configuration diagram of an automatic door opening / closing device according to a seventh embodiment.

22A and 22B are explanatory diagrams illustrating a relationship between a control command and a door weight of the automatic door opening / closing device illustrated in FIG. 21. FIG.
(B) relates to the applied voltage.

23 is an explanatory diagram of a deceleration position correcting operation of the automatic door opening and closing device shown in FIG. 21.

24 is a data table of a deceleration position calculation unit of the automatic door opening and closing device shown in FIG. 21.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 automatic door opening and closing device 8 speed detecting unit (door moving speed detecting unit) 9 acceleration time calculating unit (time detecting unit) 10 steady current detecting unit (steady current detecting unit) 15 acceleration moving amount detecting unit (moving distance detecting unit) 16 Speed deviation calculator (speed deviation detector) 17 Maximum current detector (maximum current detector) 18 Maximum voltage detector (maximum voltage detector) 13 Human body detection switch (detection switch) 14 Door BP Deceleration position

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[Procedure amendment]

[Submission date] August 4, 1997

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] Fig. 8

[Correction method] Change

[Correction contents]

FIG. 8

Claims (13)

[Claims] An automatic door opening / closing device for controlling a moving speed of a door based on a preset control procedure to open and close the door, wherein the door is opened and closed by a detection signal from a detection switch installed at an entrance. When the speed of the movement is accelerated and the predetermined first moving speed is reached, the moving is performed at a speed equal to the first moving speed, and when the door moves to the predetermined deceleration position, the speed is changed to the predetermined second moving speed. Door speed control means for opening and closing by moving at a second moving speed after that, and based on change data relating to the door movement until the door moving speed reaches the first moving speed. An automatic door opening / closing device, wherein the deceleration position is changed. 2. The automatic door opening and closing apparatus according to claim 1, wherein said door speed control means has a door moving speed detecting means, and said change data is a door moving speed. 3. The apparatus according to claim 2, wherein said door speed control means includes time detecting means for detecting a time until the door reaches said first moving speed, and said change data is this time. Item 3. The automatic door opening and closing device according to Item 2. 4. The method according to claim 1, wherein the door speed control means includes a moving distance detecting means for detecting a moving distance until the door reaches the first moving speed, and the change data is this moving distance. The automatic door opening / closing device according to claim 2. 5. The door speed control means includes speed deviation detecting means for detecting a deviation between the first moving speed and the moving speed of the door during a predetermined acceleration time, and the change data is used as the speed deviation. The automatic door opening and closing device according to claim 2, wherein 6. The door speed control means includes a steady current detection means for detecting a steady current supplied to a motor as a power source of the door movement at the first moving speed, wherein the steady current data and the door current are detected. 6. The automatic door opening / closing device according to claim 2, wherein the deceleration position is changed based on movement speed change data. 7. The apparatus according to claim 1, wherein said door speed control means includes current detection means for detecting a current supplied to an electric motor as a power source for moving said door, and said change data is a current supplied. Automatic door opening and closing device. 8. The door speed control means includes a maximum current detection means for detecting a maximum value of the energizing current,
8. The automatic door opening and closing device according to claim 7, wherein the change data is the maximum current. 9. The apparatus according to claim 7, wherein said door speed control means has time detecting means for detecting a time until said energizing current reaches a maximum current, and said change data is this time. Automatic door opening and closing device as described. 10. The method according to claim 1, wherein the door speed control means includes a moving distance detecting means for detecting a moving distance of the door until the energizing current reaches a maximum current, and the change data is this moving distance. The automatic door opening and closing device according to claim 7, wherein 11. The apparatus according to claim 11, wherein the door speed control means includes a steady current detection means for detecting a steady current supplied to a motor as a power source of the door movement at the first moving speed.
11. The automatic door opening / closing device according to claim 7, wherein the deceleration position is changed based on the steady-state current data and the change data of the energizing current. 12. The door speed control means has a maximum voltage detecting means for detecting a maximum value of a voltage applied to a motor as a power source of the door movement, and the change data is set to the maximum voltage. The automatic door opening and closing device according to claim 1, wherein 13. The system according to claim 13, wherein the door speed control means includes a steady current detection means for detecting a steady current supplied to a motor as a power source of the door movement at the first moving speed.
13. The automatic door opening / closing device according to claim 12, wherein the deceleration position is changed based on the steady-state current data and the maximum voltage data.