JPH1193520A - Opening/closing control of automatic door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To dispense with a teaching process when a switch is to be put on by renewing a stored position to a new one as a halt position in a further opening or closing motion after a usual motion to a preceding closed end or a preceding opened end, at every opening or closing motion. SOLUTION: When an electric source is connected or a memory is reset, the present position of a door 1 is stored in first and second RAMs as the closing or opening end of the door 1. A usual closing motion of the door is started and it is judged whether a detection signal from a human body sensor 8 is input or not. If the signal has been input, a usual opening motion is started and if the signal has not been input, it is judged whether the present position of the door 1 is equal to the closing position stored in the first RAM. When the electric source is connected, the door is moved to the closing position at a low speed and presence of an input detection signal of human bodies is judged. When there is no such signal input, the door is moved to a stop position and a stored position is renewed to the stop position in the first RAM. In this way, this control system does not need any teaching when the electric source is put on.

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 control method.

[0002]

2. Description of the Related Art Normally, an automatic door is controlled so as to perform a slow start and a slow stop based on a closed end position, an open end position stored in a memory, and a door opening / closing stroke value obtained therefrom. For this reason, when power is turned on or when the memory is reset, teaching is performed in which the door is opened and closed at a low speed to measure the opening and closing stroke.

[0003]

However, since the teaching must be performed when the power is turned on or when the memory is reset, it takes a long time to return to the normal operation, which is inconvenient for the user. Also, if teaching is performed with the door sandwiching the obstacle, even if the obstacle is removed during the subsequent normal opening and closing operation,
The door cannot be opened and closed with the regular opening and closing stroke. For this reason, teaching must be repeated. An object of the present invention is to provide an automatic door opening / closing control method that does not require teaching when power is turned on or when memory is reset.

[0004]

According to a first aspect of the present invention, there is provided an automatic door opening / closing control method for opening / closing a door based on a closed end position and an open end position stored in a memory. In the automatic door to be controlled, the door normally moves to the closed end position or the open end position that could be moved last time at each opening and closing operation, and then operates at a low speed in the closing direction for the closing operation and in the opening direction for the opening operation and stops. The stored value is updated as a new closed end position or an open end position.

According to a second aspect of the present invention, in the automatic door opening / closing control method according to the first aspect, when the door is stopped during the normal closing operation, the door position at that time is renewed. The stored value of the memory is updated as a proper closed end position, and the door is inverted.

According to a third aspect of the present invention, in the automatic door opening / closing control method according to the first aspect, when a human body detection signal is input during a low-speed closing operation of the door, the door at that time is input. The stored value of the memory is updated with the position as a new closed end position, and the door is normally opened.

According to a fourth aspect of the present invention, in the automatic door opening / closing control method according to the first aspect, when the door stops during the normal opening operation, the door position at that time is set to a new open end. The storage value of the memory is updated as the position.

[0008]

According to the automatic door opening / closing control method of the present invention as described in the first aspect, normal operation is performed up to the previously closed or open end position that could be moved at the time of each opening / closing operation. When the actuator is closed, it moves in the closing direction in the closing direction. No need to do. That is, when the power is turned on or when the memory is reset, the current door position is stored in the memory as the closed end position and the open end position, so that the automatic door can be used in a normal use immediately after the power is turned on or the memory is reset. In addition, even when the door is caught by an obstacle or the like when the power is turned on or when the memory is reset, by removing the obstacle or the like, it is possible to naturally shift to the opening and closing operation with a regular opening and closing stroke.

According to the automatic door opening / closing control method of the present invention, when the door collides with an obstacle or the like during the normal closing operation and stops, the door position at that time is renewed. Since the value stored in the memory is updated as a proper closed end position and the door is inverted, it is possible to avoid repeated collision of the door.

According to the automatic door opening / closing control method of the present invention, when a human body detection signal is input during the low-speed closing operation of the door, the door position at that time is set to a new closed end position. Since the stored value of the memory is updated and the door is normally opened, it is possible to shift to the opening / closing operation with the regular opening / closing stroke without feeling uncomfortable.

According to the automatic door opening and closing control method of the present invention, when the door collides with an obstacle or the like during the normal opening operation and stops, the door position at that time is set to a new open end. Since the stored value of the memory is updated as the position, the door can be prevented from repeatedly colliding with the obstacle or the like, as in the case where the door collides with the obstacle or the like during the normal closing operation and stops.

[0012]

Embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a block diagram showing a schematic configuration of an automatic door opening / closing control device driven by a linear motor. The door 1 is opened and closed by being pulled by a mover 2 of a linear motor. The magnetic detection sensor 3 arranged on the mover 2 detects specific magnetic poles of a plurality of stator magnets arranged such that magnetic poles are alternately different in the longitudinal direction. The magnetic detection signal is input to the position counter 4 and the speed / position pulse generator 5. The pulse generated by the speed / position pulse generator 5 based on the magnetic detection signal is divided into a position counter 4 and a speed detector 6.
Is input to The count signal of the position counter 4 and the door speed detected by the speed detector 6 are determined by the central processing unit (C).
PU) 7. Further, a detection signal of the human body detection sensor 8 is input to the central processing unit 7.

The central processing unit 7 outputs a transistor switching control signal to the motor driving transistor circuit 9 in accordance with a predetermined control program based on each of the input signals, and outputs a door switching signal based on the count of the position counter 4. 1 is calculated. The motor driving transistor circuit 9 controls the mover 2 based on the transistor switching control signal.
The direction of energization to a coil (not shown) is switched to move the movable element 2 in a fixed direction to open and close the door 1 to be pulled. The calculated closed end position of the door 1 is stored in the first readable and writable RAM, and the open end position of the door 1 is stored in the second readable and writable RAM.

FIGS. 2 and 3 are flowcharts showing the outline of the opening / closing control processing of the door 1. As shown in FIG. In the opening / closing control of the door 1, so-called slow start and slow stop controls are executed, but the description of this portion will be omitted in the following description. The power is turned on or the memory (first
RAM and the second RAM) are reset, step S
At 10, the current position of the door 1 is stored as the closed end position and the open end position in the first RAM and the second RAM, respectively. Then, the process proceeds to step S12 to start the normal closing operation. In step S14, it is determined whether or not the human body detection signal is input.
If there is an input, a normal opening operation from step S34 described below is started. If there is no input of the human body detection signal, the process proceeds to step S16.

In step S16, it is determined whether or not the current position of the door 1 is equal to the closed end position stored in the first RAM. When the power is turned on or the memory is reset, the current position of the door 1 is equal to the closed end position, so that the process proceeds to step S18 to start the low-speed closing operation. In step S20, the presence or absence of the input of the human body detection signal is determined. If there is no input of the human body detection signal in step S20, the process proceeds to step S22 and the low speed closing operation is continued until the door 1 stops. When the door 1 stops, the stop position of the door 1 is stored in the first RAM as a new closed end position in step S24, and the first RA
Update the value stored in M. Then, step S30
The following processing is performed. If a human body detection signal is input during the low speed closing operation, the process proceeds to step S28, where the current position of the door 1 at the time of input of the human body detection signal is stored as a new closed end position in the first RAM, and the first RAM is used. Update the value stored in. Then, the normal opening operation starting from step S34 described below is started.

In step S30, the door 1 enters a standby state for the opening operation. In step S32, the door 1 stands by at the closed end position until a human body detection signal is input. When the human body detection signal is input,
In step S34, the normal opening operation is started. In a succeeding step S36, it is determined whether or not the current position of the door 1 is equal to the open end position stored in the second RAM. Until it is determined that the current position of the door 1 = the open end position stored in the second RAM, the normal opening operation is continued unless the stop of the door 1 is determined in step S48. In the first opening operation after the power is turned on or after the memory is reset, the open end position stored in the second RAM is the door 1 position when the power is turned on or the memory is reset. Then, before the door 1 reaches the open end position stored in the second RAM, or before the door 1 reaches the open end position, step S48 is performed.
If it is determined that the door 1 is stopped, the low-speed opening operation is started in step S38.

The low-speed opening operation in step S38 is continued until the stop of the door 1 is determined in step S40. When the door 1 stops, the stop position of the door 1 is stored in the second RAM as a new open end position in step S42, and the second R
Update the value stored in the AM. Then, step S4
In step S46, when it is determined in step S46 that the waiting time of several seconds has elapsed, the process proceeds to step S12.
The following normal closing operation is performed.

In the normal closing operation in step S12,
If there is no input of the human body detection signal in step S14, the current position of the door 1 is stored in the first RAM in step S16 (step S24 or step S2).
8 has been updated. ) Until it is equal to
The normal closing operation is continued unless the stop of the door 1 is determined in step S26. If it is determined in step S16 that the current position of the door 1 is the closed end position stored in the first RAM, the processing in step S18 and thereafter is executed. If the stop of the door 1 is determined in step S26 before the door 1 reaches the closed end position stored in the first RAM, the stop position of the door 1 at that time is set to a new closed end position in step S28. In the first RAM, and the first RAM
Update the value stored in. Then, the normal opening operation from step S34 is started.

As described above, after the power is turned on or after the memory is reset, the door is opened and closed in the following manner: low-speed closing operation → normal opening operation → low-speed opening operation shown in FIG. No need. Also,
As shown in FIG. 4 (b), when the door is stopped due to a pinch or the like during the normal closing operation, the stop position is set to the closed end position, and the door is immediately inverted and normally opened, so that the door is obstructed. There is no repeated collision. And
By removing the obstacle, a low-speed closing operation can be performed after the normal closing operation, and the operation can naturally shift to an opening and closing operation with a regular opening and closing stroke.

Further, when a human body detection signal is input during the low speed closing operation, the door position at the time of inputting the human body detection signal is stored as a new closed end position, and the door is immediately opened normally, so that there is no discomfort. The operation can be shifted to the opening / closing operation with the regular opening / closing stroke. Note that the description of FIG. 4A is based on the case where no human body detection signal is input when the power is turned on or when the memory is reset. The operation after the power is turned on (reset) starts from the low-speed closing operation. If the human body detection signal is input at the time of turning on or resetting the memory, it is obvious that the operation starts from the low speed opening operation.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of an automatic door opening / closing control device.

FIG. 2 is a flowchart showing steps S10 to S28 showing an outline of a door 1 opening / closing control process.

FIG. 3 is a flowchart showing steps S30 to S48.

FIG. 4 is an explanatory diagram showing an opening and closing operation of the door 1.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Door 2 ... Mover 3 ... Magnetic detection sensor 4 ... Position counter 5 ... Pulse generator for speed / position 6 ... Speed detector 7 ... Central processing unit 8 ... Human body detection sensor 9 ... Motor drive transistor circuit

Claims (4)

[Claims] 1. An automatic door for controlling opening and closing of a door based on a closed end position and an open end position stored in a memory, wherein the automatic door normally operates up to a closed end position or an open end position which can be moved last time in each opening and closing operation, and thereafter, Automatic door opening / closing control characterized by updating the stored value in the memory as a new closed end position or an open end position by operating at a low speed in the closing direction for the closing operation and in the opening direction for the opening operation as a new closed end position or open end position. Method. 2. The method according to claim 1, wherein when the door stops during the normal closing operation, the value stored in the memory is updated with the door position at that time as a new closing position, and the door is inverted. Automatic door opening and closing control method according to the above. 3. When a human body detection signal is input during a low-speed closing operation of the door, the stored value in the memory is updated with the door position at that time as a new closing position, and the door is normally opened. The method for controlling the opening and closing of an automatic door according to claim 1. 4. The automatic door opening and closing according to claim 1, wherein when the door stops during the normal opening operation, the value stored in the memory is updated with the door position at that time as a new open end position. Control method.