JP3545244B2 - Automatic door opening and closing control device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a device for controlling the opening and closing of a door based on a predetermined parameter, and more particularly to an automatic door opening and closing control device suitable for facilitating a setting operation of a predetermined parameter required for door opening and closing control.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as an automatic door opening / closing control device, there has been a device in which predetermined parameters such as a door opening / closing acceleration and a speed control gain are set in advance and the door opening / closing is controlled based on such predetermined parameters.
[0003]
[Problems to be solved by the invention]
However, in the conventional automatic door opening / closing control device, many of the predetermined parameters are set according to the installation environment such as the door weight, the door size, the door opening width, and the time for which the door is kept open. Needed. For this reason, when installing an automatic door, it was necessary to set individually according to the installation environment, and the setting operation was not easy, and the setting operation required a considerable time.
[0004]
Accordingly, the present invention has been made in view of such unresolved problems of the conventional technology, and is an automatic method suitable for facilitating the work of setting predetermined parameters required for door opening / closing control. An object of the present invention is to provide a door opening / closing control device.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, an automatic door opening / closing control device according to claim 1 of the present invention comprises:An apparatus for controlling opening and closing of a door based on a predetermined parameter, comprising: a motor for opening and closing the door; driving means for driving the motor to open or close the door at a predetermined speed; and a load applied to the motor. Detecting means for detecting a current value, and calculating means for calculating the predetermined parameter based on a load current value from the detecting means detected when the driving means is driving the motor; and The means calculates a weight of the door based on a load current value from the detection means detected when the driving means is driving the motor, and calculates the predetermined parameter based on the calculated weight of the door. Is calculated.
[0008]
With such a configuration, while the motor is driven by the driving means to open or close the door at a predetermined speed, the detection means detects the load current value applied to the motor, and the calculation means Based on the load current value from the detecting means detected when the driving means is driving the motor.The door weight is calculated and based on the calculated door weightA predetermined parameter is calculated. Then, the opening and closing of the door is controlled based on the predetermined parameters calculated in this way.
[0009]
Here, there may be one or a plurality of predetermined parameters, and when there are a plurality of predetermined parameters, the calculating means may calculate at least one of the parameters without calculating all the parameters..
[0010]
SaClaims according to the present invention2The automatic door opening / closing control device described in claim1In the automatic door opening and closing control device according to the above aspect, the calculation unit acquires a load current value from the detection unit detected when the driving unit is driving the motor, and calculates an average value of the acquired load current values. Is calculated, and the weight of the door is calculated by a predetermined formula using the calculated average load current value.
[0011]
With such a configuration, the calculating unit obtains a load current value from the detecting unit detected when the driving unit is driving the motor, and obtains an average load that is an average value of the obtained load current values. The current value is calculated, and the weight of the door is calculated by a predetermined arithmetic expression using the calculated average load current value.
Here, the weight of the door is calculated by a predetermined arithmetic expression.2In addition to the configuration described above, a configuration is conceivable in which the weight of the door is calculated using a table.
[0012]
That is, the claims1The automatic door opening / closing control device according to claim 1, further comprising a storage unit that stores a table in which a weight of the door is associated with a load current value applied to the motor, wherein the calculation unit includes Obtain a load current value from the detection means detected while driving, calculate an average load current value which is an average value of the obtained load current values, the table based on the calculated average load current value To retrieve the weight of the door.
[0013]
With such a configuration, the calculating unit obtains a load current value from the detecting unit detected when the driving unit is driving the motor, and obtains an average load that is an average value of the obtained load current values. The current value is calculated, and the weight of the corresponding door is extracted from the table based on the calculated average load current value.
Claims according to the present invention3The automatic door opening / closing control device described in claim2In the automatic door opening and closing control device according to the above aspect, the calculation unit outputs a predetermined warning without calculating the weight of the door when the average load current value is out of a predetermined numerical range. I have.
[0014]
With such a configuration, when the calculated average load current value is out of the predetermined numerical range, the weight of the door is not calculated and a predetermined warning is output. Here, examples of the predetermined warning include generating a warning sound and displaying a warning message.
Claims according to the present invention4The automatic door opening / closing control device described in claim1 to 3In the automatic door opening and closing control device according to any one of the above, the predetermined parameter is a door opening / closing acceleration, a door opening / closing deceleration, a time for holding the opening / closing acceleration, a time for holding the opening / closing deceleration, or a door opening / closing deceleration. This is a speed control gain required to perform speed control.
[0015]
With such a configuration, the calculation unit calculates the door opening / closing acceleration, the door opening / closing deceleration, and the opening / closing acceleration based on the load current value from the detection unit detected when the driving unit is driving the motor. , The time for maintaining the opening / closing deceleration, or the speed control gain required for controlling the speed of the door.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 4 are views showing an embodiment of an automatic door opening / closing control device according to the present invention.
In the present embodiment, the automatic door opening / closing control device according to the present invention uses a device that controls the opening and closing of a door based on a predetermined parameter to calculate a weight parameter indicating a door weight required for calculating the predetermined parameter. It is applied to.
[0017]
First, the configuration of the entire system of the automatic door opening / closing control device according to the present invention will be described with reference to FIGS. FIG. 1 is a front view of the automatic door, and FIG. 2 is a side view of the automatic door.
In these figures, a door 1 is a sliding door type in which both doors slide, and an object detection sensor 5 for detecting the presence of a moving body such as a human body is provided outside the upper part of the door 1 and substantially at the center of the indoor side. 6 are provided, and object detection sensors 7 for detecting the presence of a moving body such as a human body are provided on both sides of the door 1 in the same manner.
[0018]
Each of the object detection sensors 5 and 6 is, for example, a light reflection type optical sensor. As shown in FIG. 2, each of the object detection sensors 5 and 6 irradiates a light beam to a place slightly away from the door 1, and the moving body enters the light beam. When it is detected, the presence or absence is detected by outputting an internal / external signal.
The object detection sensor 7 is, for example, an optical sensor, and includes a light emitting diode provided on the right side of the door 1 and a photodiode provided on the left side of the door 1 so as to be able to receive a photo beam from the light emitting diode. When the moving object passes between these while constantly receiving the photo beam from the light emitting diode by the photodiode, the photo beam from the light emitting diode is blocked. Is to be detected. When a mobile object is detected, a photo beam signal is output.
[0019]
On the other hand, in FIG. 1, a belt 13 is wound around a driving pulley 11 and a driven pulley 12, and the door 1 is connected to the belt 13. The drive pulley 11 is rotated forward and backward by a motor 15 to open and close the door 1 over a closed end and an open end. The drive of the motor 15 is controlled via a motor drive circuit by a drive signal from a controller 20, which will be described later, and the encoder outputs the motor rotation speed to the controller 20 as a Hall IC signal.
[0020]
Next, the configuration of the controller 20 will be described with reference to FIG. FIG. 3 is a block diagram showing the configuration of the controller 20.
The controller 20 is provided, for example, at the center of the upper part of the door 1, and receives a power of a single-phase AC 100 [V] or 200 [V] to perform rectification and the like, and a switching transformer 30. And a control unit 50 that is driven by the input power from the power supply unit 40 and controls the opening and closing of the door 1.
[0021]
The power supply unit 40 includes a noise filter 41 that removes noise from the power supply and external noise, a rectifier circuit unit 42 that performs full-wave rectification of the current from the power supply input via the noise filter 41, and A switching unit 43 that performs switching at a frequency (for example, 100 [KHz]); a high / low voltage detection circuit unit 44 that detects whether the output voltage of the rectification circuit unit 42 is at a predetermined voltage level; And a power failure detection circuit section 45 for monitoring whether or not a power failure has occurred by monitoring the output voltage.
[0022]
The high / low voltage detection circuit unit 44 detects that the output voltage of the rectification circuit unit 42 has become equal to or higher than a predetermined voltage (for example, 183 [V]) for 1 second or more (high voltage detection), and When it is detected that the output voltage of the unit 42 has become equal to or lower than a predetermined voltage (for example, 98 [V]) for more than one second (low voltage detection), it is determined that the power supply voltage is abnormal, and a buzzer or the like is output. Warning sound is output.
[0023]
The power failure detection circuit unit 45 monitors the output voltage of the rectification circuit unit 42 with a photocoupler or the like and, when detecting that the power failure has occurred, drives a battery supply circuit described later to replace the power supply. .
The switching transformer 30 changes the output voltage of the rectifier circuit section 42 to a predetermined voltage by switching of the switching section 43.
[0024]
The control unit 50 includes rectifier circuit units 51 and 52 for rectifying the current from the switching transformer 30, a regulator 54 for converting the output voltage of the rectifier circuit unit 52 to a predetermined voltage (for example, 5V), a microcomputer 70, and a microcomputer 70. A power module 53 for driving the motor 15 under the control of the computer 70, a battery charging circuit unit 55, a light receiving unit 56 for receiving an infrared signal from an external remote controller 90, and a modulation / demodulation circuit for modulating / demodulating the light receiving signal from the light receiving unit 56. A signal line that can communicate with a remote controller 90 via a signal line, and an RS232C level conversion circuit unit 58 that can be connected to the remote controller 90, and a driver 59 that drives the solenoid driving unit 100 under the control of the microcomputer 70. .
[0025]
The rectifier circuit unit 51 rectifies the current transformed to a first predetermined voltage (for example, 140 [V]) by the switching transformer 30 and feeds back a part of the rectified current via the motor 15. In addition, the rectifier circuit unit 52 rectifies the current transformed to the second predetermined voltage (for example, 24 [V]) by the switching transformer 30.
[0026]
The power module 53 is driven by the electric power from the rectifier circuit unit 51 and controls the current supplied to the motor 15 under the control of the microcomputer 70 to drive the motor 15. The power module 53 is provided with a current detector 61 for detecting a load current value applied to the motor 15, and the current detector 61 transmits the detected load current value to the microcomputer 70 via a buffer 60b. Output.
[0027]
The battery charging circuit unit 55 charges the externally provided NiCa battery 80 with electric power from the regulator 54 during a non-power failure when the power failure detection circuit unit 45 does not detect the power failure, and the power failure detection circuit unit 45 fails. When a power failure is detected, the electric power stored in the NiCa battery 80 is supplied to the microcomputer 70.
[0028]
When the door 1 is in the closed state, the solenoid drive unit 100 drives a lock mechanism for locking the door 1 in that state. The driver 59 drives the solenoid drive unit 100 under the control of the microcomputer 70. Then, the door 1 is locked or unlocked.
The microcomputer 70 is driven by the electric power from the regulator 54, controls the arithmetic and the entire system based on a predetermined control program, a ROM 74 in which a control program of the CPU 72 is stored in a predetermined area in advance, An EEPROM 75 for storing predetermined parameters required for drive control of the CPU, a RAM 76 for storing data read from the ROM 74 and the like, and a calculation result required in a calculation process of the CPU 72, and an input / output of data with an external device. And an I / F 78, which are connected to each other via a bus 79, which is a signal line for transferring data, so as to be able to exchange data.
[0029]
The I / F 78 includes, as external devices, a power module 53, a current detector 61, an encoder built in the motor 15, a battery charging circuit unit 55, a modulation circuit unit 57, and an RS232C level conversion circuit unit 58. , The driver 59 and the object detection sensors 5 to 7 are connected. However, the object detection sensors 5 to 7 are connected to the I / F 78 via the buffer 60a.
[0030]
The CPU 72 includes a microprocessing unit MPU and the like, reads predetermined parameters such as a door opening / closing acceleration and a speed control gain from the EEPROM 75, controls the driving of the motor 15 based on the read predetermined parameters, and activates, for example, the controller 20 for the first time. When all the predetermined parameters required for drive control are not stored in the EEPROM 75, for example, when the control program is stored, the control program stored in a predetermined area of the ROM 74 is started, and the parameter calculation process shown in the flowchart of FIG. It is supposed to. FIG. 4 is a flowchart illustrating the parameter calculation process.
[0031]
The parameter calculation process is executed in response to an interrupt signal of the CPU 72 that is generated at predetermined intervals. The parameter calculation process captures a load current value applied to the motor 15 for each execution and obtains a predetermined time (for example, 1 [s The weight parameter of the door 1 is calculated based on the average value of the load current values taken in []).
When the parameter calculation process is executed in the CPU 72, as shown in FIG. 4, the process proceeds to step S100, where it is determined whether or not the automatic door weight determination mode is set, that is, the weight parameter of the door 1 is stored in the EEPROM 75. If it is determined that the weight parameter of the door 1 is not stored (No), the process proceeds to step S102. In this determination, for example, when “0” is stored in the area of the EEPROM 75 in which the weight parameter of the door 1 is to be stored, it is determined that the weight parameter of the door 1 is not stored, and the weight parameter of the door 1 is changed. If a value other than “0” is stored in the area of the EEPROM 75 to be stored, it is determined that the weight parameter of the door 1 is stored.
[0032]
In step S102, the motor 15 is driven to open or close the door 1 at a predetermined speed (speed command value) by setting the speed command value to, for example, 60 [mm / s] and outputting the speed command value to the power module 53. The motor drive process is executed, and the process proceeds to step S104 to determine whether 2 [ms] has elapsed since the interrupt signal was generated and the execution of the process was started, and it was determined that 2 [ms] had elapsed. If yes (Yes), the process proceeds to step S106, in which the load current value applied to the motor 15 is fetched from the current detector 61, sequentially stored in a predetermined area of the RAM 76, and then proceeds to step S108.
[0033]
In step S108, "1" is added to a counter for counting the time for taking in the load current value, and the process shifts to step S110 to determine whether or not the count value of the counter is 500 or more. If it is determined that the value is 500 or more (Yes), the process proceeds to step S112 to calculate an average load current value that is an average value of the loaded load current values, and then proceeds to step S114. Note that this counter is initialized to “0” when power is supplied to the microcomputer 70 for the first time.
[0034]
In step S114, it is determined whether the calculated average load current value is 200 or more and 1000 or less. If it is determined that the average load current value is 200 or more and 1000 or less (Yes), the process proceeds to step S114. In S116, the weight parameter W of the door 1 is calculated by the following equation (1) using the calculated average load current value, and stored in a predetermined area of the RAM 76. In the following formula (1), I_rIs the average load current value.
[0035]
W = (I_r−200) /1.73… (1)
Then, the process proceeds to step S117, using the calculated weight parameter W of the door 1, as the predetermined parameters, the door opening / closing acceleration, the door opening / closing deceleration, the time for holding the opening / closing acceleration, and the time for holding the opening / closing deceleration. , And a speed control gain necessary for controlling the speed of the door is calculated, the calculated predetermined parameters are stored in a predetermined area of the EEPROM 75, and a series of processing is terminated to return to the original processing.
[0036]
On the other hand, when it is determined in step S114 that the calculated average load current value is not less than 200 and not more than 1000 (No), the process shifts to step S118 to indicate that the weight parameter of the door 1 cannot be calculated. A warning sound such as a buzzer is output, and a series of processing is ended to return to the original processing.
On the other hand, when it is determined in step S110 that the count value of the counter is not 500 or more (No), 2 [ms] has elapsed since the interrupt signal was generated and the execution of the process was started in step S104. When it is determined that there is no automatic door weight determination mode (No) in step S100 and when it is determined that the mode is not the automatic door weight determination mode (No), a series of processes are terminated and the process returns to the original process.
[0037]
Next, the operation of the above embodiment will be described.
First, when power is supplied to the controller 20, power is supplied to the power module 53 via the noise filter 41, the rectifier circuit unit 42, the switching transformer 30, and the rectifier circuit unit 51, and the noise filter 41, the rectifier circuit unit Power is supplied to the microcomputer 70 via the switching transformer 30, the rectifier circuit 52, and the regulator 54.
[0038]
When power is supplied to the microcomputer 70, the control program is read from the ROM 74 by the CPU 72, and the opening and closing control of the door 1 is started based on the control program. At this time, if “0” is stored in the area of the EEPROM 75 in which the weight parameter of the door 1 is to be stored, the speed command value is output to the power module 53 in step S102. As a result, the motor 15 is driven by the power module 53 so that the door 1 opens or closes at a predetermined speed.
[0039]
When the door 1 starts opening or closing in this way, the load current value is taken in from the current detector 61 every 2 [ms] through steps S104 and S106. When such taking-in is performed for one second, in step S112, An average load current value is calculated from the loaded load current value. At this time, if the average load current value is 200 or more and 1000 or less, the weight parameter W of the door 1 is calculated by the above equation (1) using the average load current value, and the weight parameter W of the door 1 is calculated. The predetermined parameter is calculated, and the weight parameter and the predetermined parameter of the door 1 are stored in the EEPROM 75. Thereafter, the opening and closing of the door 1 is controlled based on these predetermined parameters.
[0040]
On the other hand, for example, when the weight of the door 1 is extremely large or extremely small, the average load current value becomes less than 200 or more than 1000. In such a case, the weight parameter W of the door 1 is not calculated. A warning sound is output. Thereafter, since the predetermined parameter cannot be calculated, the opening / closing control of the door 1 is not performed unless the predetermined parameter is manually set using the remote controller 90 or the like.
[0041]
As described above, in the present embodiment, the motor 15 that opens and closes the door 1, the power module 53 that drives the motor 15 to open and close the door 1 at a predetermined speed, and the load current value of the motor 15 are detected. A current detector 61 for detecting the load current value when the power module 53 is driving the motor 15, calculating a weight parameter W of the door 1 based on the load current value obtained, and calculating the calculated door value. The predetermined parameter is calculated using the weight parameter W of No. 1.
[0042]
For this reason, when the controller 20 is turned on, the predetermined parameters calculated based on the weight parameter W of the door 1 are automatically set. There is no need to individually set the predetermined parameters, and therefore, the setting operation of the predetermined parameters can be easily performed as compared with the related art.
[0043]
Further, in the present embodiment, an average load current value which is an average value of the load current values is calculated, and the weight parameter W of the door 1 is calculated by the above equation (1) using the calculated average load current value. did. For this reason, even if the load current value fluctuates due to a defective installation of the door 1 or a defective operation of the motor 15, the weight parameter W of the door 1 can be calculated relatively accurately.
[0044]
Further, in the present embodiment, when the calculated average load current value is out of the predetermined numerical range, the warning sound is output without calculating the weight parameter W of the door 1. If the weight parameter W of the door 1 cannot be calculated effectively due to the installation failure of the door 1 or the operation failure of the motor 15, the fact is output as a warning sound, so whether the weight parameter W of the door 1 could be calculated effectively. Can be accurately grasped.
[0045]
Further, in the present embodiment, using the weight parameter W of the door 1, as the predetermined parameters, the door opening / closing acceleration, the door opening / closing deceleration, the time for holding the opening / closing acceleration, the time for holding the opening / closing deceleration, and the door The speed control gain required to perform the speed control is calculated. For this reason, when the controller 20 is powered on, these parameters are automatically set, and when installing an automatic door, it is not necessary to individually set these parameters according to the installation environment.
[0046]
Further, in the present embodiment, a load current value during a period from the start of opening or closing of the door 1 by driving the motor 15 to the lapse of one second is taken in, and the load of the door 1 is determined based on the load current value. The weight parameter W was calculated. Therefore, the load current value after a predetermined period of time has elapsed since the opening or closing of the door 1 is started, and the weight parameter W of the door 1 is calculated based on the load current value. The parameter W can be calculated accurately.
[0047]
In the above embodiment, the load current value of the motor 15 when the door 1 is opened or closed at a predetermined speed is fetched, and the weight parameter W of the door 1 is calculated based on the fetched load current value. However, the present invention is not limited to this, and the speed of the door 1 when the motor 15 is driven so that the load current is constant is captured, and the weight of the door 1 is calculated using the captured speed of the door 1. It is also possible to configure. Even with such a configuration, an effect equivalent to that of the above embodiment can be obtained.
[0048]
In the above embodiment, the load current value of the motor 15 when the door 1 is opened or closed at a predetermined speed is fetched, and the weight parameter W of the door 1 is calculated based on the fetched load current value. However, the present invention is not limited to this, and the load of the motor 15 when the door 1 is opened or closed at a predetermined speed is measured, and the weight parameter W of the door 1 is calculated based on the measured load. May be.
[0049]
Further, in the above embodiment, the case where the control program stored in the ROM 74 is executed in executing the processing shown in the flowchart of FIG. 4 has been described. However, the present invention is not limited to this. The program may be read from the storage medium storing the program into the RAM 76 and executed.
[0050]
Here, the storage medium is a semiconductor storage medium such as RAM or ROM, a magnetic storage type storage medium such as FD or HD, an optical reading type storage medium such as CD, CDV, LD, or DVD, or a magnetic storage type such as MO. / Optical reading type storage medium, which includes any storage medium that can be read by a computer regardless of an electronic, magnetic, optical, or other reading method.
[0051]
In the above embodiment, the power module 531The current detector 61 corresponds to the driving means described in the claims.1The CPU 72 corresponds to the detecting means described in the claims.1 to 3It corresponds to the calculation means described.
[0052]
【The invention's effect】
As described above, the claims according to the present invention1 to 4According to the automatic door opening / closing control device described above, the predetermined parameters calculated based on the weight of the door are automatically set. Therefore, when installing the automatic door, the predetermined parameters are individually set according to the installation environment. Therefore, there is an effect that the setting operation of the predetermined parameter can be easily performed as compared with the related art.
[0053]
Claims according to the present invention2According to the automatic door opening / closing control device described above, even if the load current value fluctuates, it is possible to obtain an effect that a relatively accurate door weight can be calculated.
Claims according to the present invention3According to the automatic door opening / closing control device described above, when the weight of the door cannot be calculated effectively, the fact is output as a predetermined warning, so that it is accurately grasped whether or not the weight of the door has been calculated effectively. The effect of being able to do so is also obtained.
[0054]
Claims according to the present invention4According to the automatic door opening / closing control device described above, when installing the automatic door, the door opening / closing acceleration, the door opening / closing deceleration, the time for holding the opening / closing acceleration, and the opening / closing deceleration are maintained according to the installation environment. There is also an advantage that it is not necessary to individually set the time required to perform the speed control and the speed control gain required for controlling the speed of the door.
[Brief description of the drawings]
FIG. 1 is a front view of an automatic door.
FIG. 2 is a side view of the automatic door.
FIG. 3 is a block diagram showing a configuration of a controller 20.
FIG. 4 is a flowchart illustrating a parameter calculation process.
[Explanation of symbols]
1 door
5,6,7 Object detection sensor
15 Motor
20 Controller
30 Switching transformer
40 Power supply section
50 control unit
53 Power Module
70 Microcomputer
72 CPU
74 ROM
75 EEPROM
76 RAM

Claims (3)

An apparatus for controlling opening and closing of a door based on a predetermined parameter,
A motor that opens and closes a door, a driving unit that drives the motor so as to open or close the door at a predetermined speed, a detection unit that detects a load current value applied to the motor, and the driving unit controls the motor. Calculating means for calculating the predetermined parameter based on a load current value from the detecting means detected during driving,
The calculating means calculates a weight of the door based on a load current value from the detecting means detected when the driving means drives the motor, and calculates the predetermined weight based on the calculated weight of the door. Is calculated, and when the load current value is out of a predetermined numerical range, a predetermined warning is output without calculating the weight of the door. Automatic door opening and closing control device. In claim 1,
The calculating means obtains a load current value from the detecting means detected when the driving means is driving the motor, calculates an average load current value which is an average value of the obtained load current values, The weight of the door is calculated by a predetermined arithmetic expression using the calculated average load current value, and it is determined whether or not the weight is outside the predetermined numerical range by using the detected average load current value. Wherein a predetermined warning is output without calculating the weight of the door. In claim 1 or 2,
The predetermined parameter is a door opening / closing acceleration, a door opening / closing deceleration, a time for holding the opening / closing acceleration, a time for holding the opening / closing deceleration, or a speed control gain required to perform door speed control. Automatic door opening and closing control device.

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