JP7793335B2 - Automatic door system, control method for automatic door system, and control program for automatic door system - Google Patents

Description

The present invention relates to an automatic door system, a control method for an automatic door system, and a control program for an automatic door system.

The automatic door system described in Patent Document 1 is a hinged door installed at an opening in a building. The door of the hinged door rotates around a rotation axis. The hinged door opens and closes the opening in the building by rotating the door.

Japanese Patent Application Publication No. 8-28136

However, because the moment of inertia of a swing door is greater than that of a sliding door, swing doors are more likely to flap when decelerating than sliding doors. As a result, when installing swing doors, automatic door systems must be adjusted to prevent the door from flapping after they are installed in the building's opening. Furthermore, because the state of automatic door systems changes, adjusting the door to prevent it from flapping every time an adjusted door flutters due to changes does not suit the actual situation of automatic doors. For this reason, there is a demand for doors to be able to open and close with stable operation.

An automatic door system that solves the above problem includes a swinging or folding door installed in an opening, a drive unit that drives the door, a control unit that controls the drive unit, a rotation information acquisition unit that acquires rotation information related to the rotation of the drive unit, a determination unit that determines based on the rotation information whether fluttering has occurred, in which the door moves in the direction opposite to the drive direction of the door after the drive unit has been controlled to slow down, and a modification unit that, when the determination unit determines that fluttering has occurred, modifies the control parameters of the control unit that control the drive unit so that fluttering does not occur.

With the above configuration, the determination unit determines whether the door has fluttered, and when it determines that the door has fluttered, the modification unit modifies the control parameters of the control unit so that the door does not flutter. This makes it possible to suppress the occurrence of door flutter, resulting in stable opening and closing of the door.

The above automatic door system preferably includes a speed calculation unit that calculates the movement speed of the door from the rotation information acquired by the rotation information acquisition unit, and the determination unit determines that a no-cushion state has occurred, in which the door collides with a stopper and bounces off at the fully open or fully closed position, when the movement speed of the door calculated by the speed calculation unit is equal to or greater than a threshold value near the fully open or fully closed position of the door, and the change unit changes the control parameters when the determination unit determines that a no-cushion state has occurred so that the no-cushion state does not occur.

In the above-mentioned automatic door system, when the determination unit determines that flapping has occurred, it is preferable that the change unit perform at least one of the following: change the deceleration rate when controlling the deceleration of the door to a value lower than the control parameter; start the deceleration control of the door earlier than the control parameter; or change the drive speed of the door to a value lower than the control parameter.

In the above automatic door system, when the determination unit determines that the no-cushion condition has occurred, it is preferable that the change unit performs at least one of the following: change the deceleration rate when controlling the deceleration of the door to a rate higher than the control parameter; start the deceleration control of the door earlier than the control parameter; or change the drive speed of the door to a rate lower than the control parameter.

It is preferable that the above-mentioned automatic door system further comprises a memory unit that stores the control parameters used by the control unit to control the drive unit and the judgment results of the judgment unit for those control parameters, and that the change unit changes the control parameters that control the drive unit based on the control parameters and the judgment results stored in the memory unit.

It is preferable that the above-mentioned automatic door system be equipped with a change determination unit that determines whether further changes to the control parameters are possible based on the control parameters stored in the memory unit and the determination result, and a notification unit that issues a notification when the change determination unit determines that further changes to the control parameters are not possible.

A control method for an automatic door system that solves the above problem includes a rotation information acquisition step for acquiring rotation information related to the rotation of a drive unit that drives a swinging or folding door installed in an opening; a determination step for determining, based on the rotation information, whether fluttering has occurred, in which the door moves in a direction opposite to the drive direction of the door after the drive unit has been controlled to slow down; and a modification step for modifying the control parameters that control the drive unit to prevent fluttering from occurring when it is determined in the determination step that fluttering has occurred.

The above method determines whether the door has fluttered, and if it determines that the door has fluttered, changes the control parameters that control the drive unit to prevent the door from fluttering. This makes it possible to suppress the door from fluttering, resulting in stable opening and closing of the door.

A control program for an automatic door system that solves the above-mentioned problems includes a rotation direction information acquisition step for acquiring rotation information related to the rotation of a drive unit that drives a swinging or folding door installed in an opening; a determination step for determining, based on the rotation direction information, whether fluttering has occurred, in which the door moves in the direction opposite to the drive direction of the door after the drive unit has been controlled to slow down; and a modification step for changing the control parameters that control the drive unit to prevent fluttering from occurring when it is determined in the determination step that fluttering has occurred.

The above program determines whether the door has rattled, and if it determines that rattling has occurred, changes the control parameters that control the drive unit to prevent the door from rattling. This makes it possible to suppress the door from rattling, resulting in stable opening and closing of the door.

An automatic door system that solves the above problem includes a swinging or folding door installed in an opening, a drive unit that controls the opening and closing of the door, a control unit that controls the drive unit, a degree information acquisition unit that externally acquires degree information indicating the degree of shaking that occurs in the door when the control unit is driving the door, and a change unit that changes the control parameters that control the drive unit of the control unit based on the degree information acquired by the degree information acquisition unit.

With the above configuration, the change unit changes the control parameters of the control unit based on the degree of door sway. This makes it possible to suppress door sway, resulting in stable door opening and closing operations.

In the above-mentioned automatic door system, it is preferable that the degree information acquisition unit acquires operation phase information of the door when the shaking occurs, and the change unit changes the control parameters in accordance with the operation phase information acquired by the degree information acquisition unit.

In the above-mentioned automatic door system, when the change unit determines that a change to the control parameter is necessary based on the degree of shaking, it is preferable that it perform at least one of the following: change the deceleration rate when controlling the deceleration of the door to a value lower than the control parameter; start the deceleration control of the door earlier than the control parameter; or change the drive speed of the door to a value lower than the control parameter.

A control method for an automatic door system that solves the above problem includes an extent information acquisition step of externally acquiring degree information indicating the degree of shaking that occurs in a swinging door or folding door installed in an opening when the door is driven by a drive unit, and an alteration step of altering control parameters that control the drive unit so that the shaking does not occur, based on the degree information acquired in the extent information acquisition step.

The above method changes the control parameters of the control unit based on the degree of door sway. This makes it possible to suppress door sway, resulting in stable door opening and closing operations.

A control program for an automatic door system that solves the above-mentioned problems includes a degree information acquisition step in which degree information indicating the degree of shaking that occurs in a swinging door or folding door installed in an opening when the drive unit is driving the door is acquired from an external source, and a modification step in which control parameters that control the drive unit are modified based on the degree information acquired in the degree information acquisition step to prevent the shaking from occurring.

The above program changes the control parameters of the control unit based on the degree of door sway. This makes it possible to suppress door sway, resulting in stable door opening and closing operations.

This invention allows for stable door opening and closing operations.

1 is a front view showing a schematic configuration of a first embodiment of an automatic door system; FIG. 2 is a plan view showing the schematic configuration of the automatic door system according to the embodiment. FIG. 2 is a block diagram showing the electrical configuration of the automatic door system according to the embodiment. 4 is a diagram showing the relationship between time and speed during opening and closing operations of the automatic door system according to the embodiment; FIG. 4 is a flowchart showing the operation of the automatic door system according to the embodiment. FIG. 4 is a block diagram showing the electrical configuration of a second embodiment of an automatic door system. 4 is a flowchart showing the operation of the automatic door system according to the embodiment.

(First embodiment)
A first embodiment of an automatic door system will be described below with reference to Figures 1 to 5. The automatic door system is a double-swing door.

(Automatic door device 10)
As shown in Figures 1 and 2, an automatic door system 10 is installed in an opening 1 of a building. The automatic door system 10 includes two doors: a first door 11 and a second door 12. The first door 11 is located on the left side of the figure. The first door 11 rotates around a rotation axis PL located near the door tail 11B. When viewed from the side where the door opens to the rear, the first door 11 is a left-handed door with the rotation axis PL on the left side. The second door 12 is located on the right side of the figure. The second door 12 rotates around a rotation axis PR located near the door tail 12B. When viewed from the side where the door opens to the rear, the second door 12 is a right-handed door with the rotation axis PR on the right side. A transom 13 is provided at the top of the first door 11 and the second door 12 of the opening 1. A door stop 14 is provided on the underside of the transom 13 at the top of the opening 1 to prevent the door from opening toward the front. The door engine and door controller of the automatic door system 10 are installed in the transom 13. The door stop 14 corresponds to a stopper.

As shown in FIG. 3, the automatic door system 10 includes a door controller 20 that controls the automatic door system 10. The door controller 20 may be configured as one or more processors that execute various processes according to a computer program (software). The processes executed by the door controller 20, i.e., the processor, include a control method for the automatic door system 10. The control method for the automatic door system 10 includes a rotation information acquisition step, a judgment step, and a change step, which will be described later. The door controller 20 may also be configured as a circuitry that includes one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), or a combination thereof, that executes at least some of the various processes. The processor includes a CPU and memory, such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute the processes. The memory, i.e., computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The program stored on the computer-readable medium includes a control program for the automatic door system 10. The control program for the automatic door system 10 causes a computer to execute a rotation information acquisition step, a judgment step, and a change step.

The automatic door system 10 includes a first door engine 30 that drives the first door 11 and a second door engine 40 that drives the second door 12. The first door engine 30 includes a first motor 31 and a first transmission mechanism 32. The first motor 31 is driven and controlled by the door controller 20. The first transmission mechanism 32 transmits the driving force of the first motor 31 to the first door 11. The first motor 31 is provided with a first encoder 31A that detects rotation. The first encoder 31A outputs detection results, including the presence or absence of rotation and the direction of rotation, to the door controller 20. The second door engine 40 includes a second motor 41 and a second transmission mechanism 42. The second motor 41 is driven and controlled by the door controller 20. The second transmission mechanism 42 transmits the driving force of the second motor 41 to the second door 12. The second motor 41 is provided with a second encoder 41A that detects rotation. The second encoder 41A outputs the detection results, including the presence or absence of rotation and the direction of rotation, to the door controller 20. The first door engine 30 and the second door engine 40 correspond to the drive unit.

The automatic door system 10 is equipped with an activation sensor 15, an alarm unit 28, and a communication unit 29. The door controller 20 is electrically connected to the activation sensor 15, the alarm unit 28, and the communication unit 29. The activation sensor 15 is a sensor that detects people or objects within a specified range of the automatic door system 10 and outputs a signal to the door controller 20 when it detects a person or object. When the activation sensor 15 detects a person or object, the door controller 20 opens the first door 11 and the second door 12. The alarm unit 28 is an LED that issues an alert with light or a speaker that issues an alert with sound. The communication unit 29 communicates with a communication terminal 50 via short-range wireless communication such as Bluetooth (registered trademark), inputting information from the communication terminal 50 to the door controller 20 and outputting information from the door controller 20 to the communication terminal 50.

(Communication terminal 50)
The communication terminal 50 is a smartphone, tablet, or other device that an operator operates by launching a dedicated app when configuring the automatic door system 10. The communication terminal 50 acquires information such as the operating status from the door controller 20 via the communication unit 29. The operator can use the communication terminal 50 to check the operating status of the automatic door system 10.

(Door controller 20)
The door controller 20 includes a control unit 21, a rotation information acquisition unit 22, a speed calculation unit 23, a determination unit 24, a change unit 25, a memory unit 26, and a change determination unit 27. The control unit 21 controls the first door engine 30 and the second door engine 40. Specifically, the control unit 21 drives and controls the first motor 31 and the second motor 41 to open and close the first door 11 and the second door 12. The control unit 21 controls deceleration and then stops the first door 11 and the second door 12. Note that if the first motor 31 and the second motor 41 are motors with brakes, the deceleration is increased by increasing the braking force of the brakes.

As shown in FIG. 4, the control unit 21 accelerates the first door 11 and the second door 12 to a specified speed V0, moves them at a constant speed once they reach the specified speed V0, decelerates them before stopping, and moves them at a constant speed once they reach the cushion speed VC, after which they further decelerate and stop. The time at which the specified speed V0 is reached is defined as the first time T1. The time at which deceleration begins from the specified speed V0 is defined as the second time T2. The time at which the cushion speed VC is reached is defined as the third time T3. The time at which deceleration begins from the cushion speed VC is defined as the fourth time T4. The time at which they stop is defined as the fifth time T5. The cushion speed VC is the speed at which the doors are moved at a constant speed to reduce their acceleration.

As shown in FIG. 3 , the rotation information acquisition unit 22 acquires rotation information regarding the rotation of the first door engine 30 and the second door engine 40 after deceleration control. The rotation information acquisition unit 22 acquires detection results, including the presence or absence of rotation and the direction of rotation, from the first encoder 31A and the second encoder 41A. The speed calculation unit 23 calculates the movement speed of the first door 11 and the second door 12 from the rotation information. The judgment unit 24 judges whether flapping has occurred based on the rotation information. Flap refers to the movement of the first door 11 and the second door 12 in the direction opposite to the drive direction of the first door 11 and the second door 12 after the first door engine 30 and the second door engine 40 have been deceleration controlled. The judgment unit 24 judges that no cushioning has occurred when the movement speed of the first door 11 and the second door 12 is equal to or greater than a threshold value when the first door 11 and the second door 12 are near the fully open or fully closed position. No cushion occurs when the first door 11 and second door 12 collide with the door stop 14 in the fully open or fully closed position without sufficiently decelerating. The memory unit 26 stores control parameters that the control unit 21 uses to control the first door engine 30 and second door engine 40 based on the results of the judgment unit 24.

The control unit 21 then controls the first door engine 30 and the second door engine 40 based on the result of the determination unit 24 to prevent flapping. That is, when the determination unit 24 determines that flapping has occurred, the change unit 25 performs at least one of the following. The change unit 25 changes the control parameters in the order (A), (B), and (C).

(A) The deceleration during deceleration control is changed to a value lower than the control parameter.
(B) The deceleration control is started a predetermined time earlier than the control parameter.
(C) The door drive speed is changed to a predetermined speed lower than the control parameter.

Furthermore, the control unit 21 controls the first door engine 30 and the second door engine 40 based on the result of the determination unit 24 so that a no-cushion state does not occur. That is, when the determination unit 24 determines that a no-cushion state has occurred, the change unit 25 performs at least one of the following. Note that the change unit 25 changes the control parameters in the order of (D), (B), and (C).

(D) The deceleration rate during deceleration control is changed to a value higher than the control parameter.
(B) The deceleration control is started a predetermined time earlier than the control parameter.
(C) The door drive speed is changed to a predetermined speed lower than the control parameter.

The memory unit 26 also stores the control parameters used by the control unit 21 to control the first door engine 30 and the second door engine 40, and the judgment results of the judgment unit 24 for those control parameters. The change unit 25 may change the control parameters used to control the first door engine 30 and the second door engine 40 based on the control parameters and judgment results stored in the memory unit 26.

The change determination unit 27 determines whether further changes to the control parameters are possible based on the control parameters stored in the memory unit 26 and the determination results. The notification unit 28 issues a notification when the change determination unit 27 determines that further changes to the control parameters are not possible.

(Drive control)
Next, the drive control of the automatic door system 10 configured as described above will be described with reference to FIG.

As shown in FIG. 5, the automatic door system 10 performs opening and closing operations (step S11). That is, the control unit 21 controls the first door engine 30 and the second door engine 40 using preset control parameters.

Next, the automatic door device 10 determines whether fluttering occurs during opening and closing operations (step S12). That is, the rotation information acquisition unit 22 acquires rotation information related to the rotation of the first door engine 30 and the second door engine 40 after the control unit 21 performs deceleration control during opening and closing operations. The judgment unit 24 then determines, based on the rotation information, whether fluttering has occurred, in which the first door 11 and the second door 12 move in the direction opposite to the drive direction of the first door 11 and the second door 12 after the first door engine 30 and the second door engine 40 have been decelerated. Note that step S12 corresponds to the rotation information acquisition step and the judgment step.

If the determination unit 24 determines that there is no flapping during the opening and closing operation (step S12: NO), it determines whether or not a no-cushion condition has occurred during the opening and closing operation (step S21). That is, the speed calculation unit 23 calculates the movement speed of the first door 11 and the second door 12 from the rotation information. The determination unit 24 then determines whether or not a no-cushion condition has occurred based on whether or not the movement speed of the first door 11 and the second door 12 is equal to or greater than a threshold value when the first door 11 and the second door 12 are near the fully open or fully closed position.

If the determination unit 24 determines that there is no no-cushion during the opening/closing operation (step S21: NO), there is no flapping or no-cushion, so the change unit 25 proceeds to step S20 without changing the control parameters.

On the other hand, if the determination unit 24 determines that there is no cushion during the opening/closing operation (step S21: YES), the modification unit 25 modifies the deceleration of the control unit 21 to be higher than the default parameter (step S22). That is, the modification unit 25 makes the gradient of the speed (deceleration) over time in the deceleration control from the second time T2 in FIG. 4 greater than the default parameter. In this case, the deceleration is made gentler just before stopping. Note that step S22 corresponds to the modification step.

Next, the automatic door system 10 performs opening and closing operations (step S23). That is, the control unit 21 controls the first door engine 30 and the second door engine 40 using the control parameters changed in step S22.

The determination unit 24 then determines whether or not a no-cushion condition exists during the opening or closing operation (step S24). The speed calculation unit 23 calculates the movement speed of the first door 11 and the second door 12 from the rotation information. The determination unit 24 then determines whether or not a no-cushion condition has occurred based on whether or not the movement speed of the first door 11 and the second door 12 is equal to or greater than a threshold value when the first door 11 and the second door 12 are near the fully open or fully closed position. If the determination unit 24 determines that a no-cushion condition exists during the opening or closing operation (step S24: YES), the process proceeds to step S22, and the change unit 25 further changes the deceleration to a value higher than the default parameter.

On the other hand, if the determination unit 24 determines that there is no no-cushion during the opening/closing operation (step S24: NO), it then determines whether there is fluttering during the opening/closing operation (step S25). The rotation information acquisition unit 22 acquires rotation information related to the rotation of the first door engine 30 and the second door engine 40 after the control unit 21 performs deceleration control during the opening/closing operation. Then, based on the rotation information, the determination unit 24 determines whether fluttering has occurred, in which the first door 11 and the second door 12 move in the direction opposite to the direction in which the control unit 21 drove them. Note that step S25 corresponds to the rotation information acquisition step and the determination step. Then, if the determination unit 24 determines that there is no fluttering during the opening/closing operation (step S25: NO), the control parameters changed in step S22 are set as the control parameters of the control unit 21, and the process proceeds to step S20.

On the other hand, if the judgment unit 24 determines that there is fluttering during the opening/closing operation (step S25: YES), the process proceeds to step S17. In other words, increasing the deceleration rate during deceleration control could have prevented no cushioning from occurring, but fluttering has occurred, so the control parameters are further changed to prevent fluttering from occurring.

On the other hand, if the determination unit 24 determines that fluttering is occurring during the opening/closing operation in step S11 (step S12: YES), the change unit 25 reduces the deceleration of the control unit 21 below the default parameter (step S13). That is, the change unit 25 reduces the gradient of the speed (deceleration) over time in the deceleration control from the second time T2 in FIG. 4. Note that step S13 corresponds to the change step.

Next, the automatic door system 10 performs opening and closing operations (step S14). That is, the control unit 21 controls the first door engine 30 and the second door engine 40 using the control parameters changed in step S13.

Next, the determination unit 24 determines whether fluttering occurs during the opening/closing operation (step S15). The rotation information acquisition unit 22 acquires rotation information related to the rotation of the first door engine 30 and the second door engine 40 after the control unit 21 performs deceleration control during the opening/closing operation. Then, based on the rotation information, the determination unit 24 determines whether fluttering has occurred, in which the first door 11 and the second door 12 move in the direction opposite to the drive direction driven by the control unit 21. Note that step S15 corresponds to the rotation information acquisition step and the determination step. Then, if the determination unit 24 determines that fluttering occurs during the opening/closing operation (step S15: YES), the process proceeds to step S13, and the change unit 25 further changes the deceleration to be lower than the default parameter.

On the other hand, if the judgment unit 24 determines that there is no flapping during the opening and closing operation (step S15: NO), it then determines whether there is a no-cushion during the opening and closing operation (step S16). If the judgment unit 24 determines that there is no no-cushion during the opening and closing operation (step S16: NO), it sets the control parameters changed in step S13 as the control parameters of the control unit 21, and proceeds to step S20.

On the other hand, if the determination unit 24 determines that there is no cushion during the opening/closing operation (step S16: YES), the change unit 25 causes the control unit 21 to start deceleration control earlier than the default parameters (step S17). That is, the change unit 25 advances the start of deceleration control shown in FIG. 4 by a predetermined time, changing it from second time T2 to time T2A. In this case, the slope of the speed (deceleration) over time during deceleration control is not changed, and the deceleration is made gentler just before stopping. Note that step S17 corresponds to the change step.

Next, the determination unit 24 determines whether the deceleration start position is equal to or greater than a specified value (step S18). That is, if the deceleration start position is equal to or greater than a specified value, it is necessary to reduce the movement speed, so the determination unit 24 determines whether this is necessary. Then, if the determination unit 24 determines that the deceleration start position is less than the specified value (step S18: NO), the change unit 25 sets the control parameters changed in step S17 as the control parameters of the control unit 21, and proceeds to step S20.

On the other hand, if the determination unit 24 determines that the deceleration start position is equal to or greater than the specified value (step S18: YES), the change unit 25 changes the movement speed of the control unit 21 to a value lower than the default parameter (step S19). That is, the change unit 25 reduces the movement speed of the first door 11 and the second door 12 shown in FIG. 4 by a predetermined speed, changing it from the specified speed V0 to movement speed V1. In this case, the slope of the speed (deceleration) over time during deceleration control is made gentle so that it stops at the fifth time T5. Note that step S19 corresponds to the change step.

Next, the control unit 21 performs the opening and closing operation of the first door 11 and the second door 12 using the set control parameters (step S20). The opening and closing operation in each of the above steps is a single operation from the fully closed position to the fully open position, or from the fully open position to the fully closed position, and the control parameters are changed for each operation to determine whether flapping and no cushioning will occur.

Furthermore, after the opening/closing operation, the change determination unit 27 determines whether further changes to the control parameters are possible based on the control parameters stored in the memory unit 26 and the determination result. For example, if the changed control parameters match the control parameters stored in the memory unit 26 when it is determined that flapping and no cushioning have occurred, the change determination unit 27 determines that further changes are not possible. Then, when the change determination unit 27 determines that further changes to the control parameters are not possible, the notification unit 28 issues a notification to the outside. This may also be output to the communication terminal 50 via the communication unit 29.

These steps may be performed when the automatic door system 10 is not in normal operation, such as during installation or maintenance, or some steps may be selected and performed when the automatic door system 10 is in normal operation. For example, if the determination unit 24 determines that flapping has occurred while the activation sensor 15 is detecting a person and opening the first door 11 and the second door 12, the determination unit 24 changes only one of the control parameters when the first door 11 and the second door 12 are fully closed, and waits until the activation sensor 15 detects a person again. When the activation sensor 15 again detects a person and opens the first door 11 and the second door 12, the determination unit 24 determines whether flapping or no cushion has occurred, and if the determination unit 24 determines that either has occurred, the determination unit 24 changes one of the control parameters again. By repeating this process, flapping and no cushion can be suppressed.

As described above, the control unit 21 determines whether flapping or no cushioning will occur during opening and closing operations and changes the control parameters, not only during installation or maintenance, but also when conditions change due to aging, part replacement, temperature, humidity, wind pressure, etc. This allows the automatic door device 10 itself to suppress the occurrence of flapping and no cushioning. As a result, the automatic door device 10 can always perform stable opening and closing operations.

Next, the effects of the first embodiment will be described.
(1-1) The automatic door system 10 determines whether flapping of the first door 11 and the second door 12 has occurred, and when the determination unit 24 determines that flapping has occurred, the modification unit 25 modifies the control parameters of the control unit 21 so that flapping of the first door 11 and the second door 12 does not occur. This allows the automatic door system 10 itself to suppress flapping of the first door 11 and the second door 12. This allows the first door 11 and the second door 12 to open and close stably.

(1-2) It is determined whether a no-cushion state has occurred for the first door 11 and the second door 12. When the determination unit 24 determines that a no-cushion state has occurred, the modification unit 25 modifies the control parameters of the control unit 21 so that a no-cushion state for the first door 11 and the second door 12 does not occur. This makes it possible to prevent the occurrence of a no-cushion state for the first door 11 and the second door 12. As a result, the automatic door system 10 itself performs stable opening and closing operations for the first door 11 and the second door 12.

(1-3) At least one of the control parameters of the control unit 21, namely the deceleration during deceleration control, the start position of deceleration control, and the drive speed, is changed to prevent flapping of the first door 11 and the second door 12. As a result, the automatic door system 10 itself can suppress flapping of the first door 11 and the second door 12.

(1-4) At least one of the control parameters of the control unit 21, namely the deceleration during deceleration control, the starting position of deceleration control, and the drive speed, is changed to prevent no-cushion situations from occurring for the first door 11 and the second door 12. As a result, the automatic door system 10 itself can prevent no-cushion situations from occurring for the first door 11 and the second door 12.

(1-5) The control unit 21 changes the control parameters that control the first door engine 30 and the second door engine 40 based on the control parameters stored in the memory unit 26 and the judgment results. This allows the automatic door device 10 to more stably open and close the first door 11 and the second door 12 by itself.

(1-6) When the change determination unit 27 determines that a change is not possible, the notification unit 28 notifies the user that the control has reached its limit of suppressing flapping and no-cushion movement due to equipment deterioration, etc. This can prompt the user to replace the automatic door system 10's equipment.

Second Embodiment
A second embodiment of the automatic door system will be described below with reference to Figures 6 and 7. This embodiment differs from the first embodiment in that it suppresses door vibrations that occur when the door is being controlled to open or close. The following description will focus on the differences from the first embodiment.

As shown in FIG. 6, the automatic door system 110 includes a door controller 60 that controls the automatic door system 110. The door controller 60 may be configured as one or more processors that execute various processes according to a computer program (software). The processes executed by the door controller 60, i.e., the processor, include a control method for the automatic door system 110. The control method for the automatic door system 110 includes a degree information acquisition step and a change step, described below. The door controller 60 may also be configured as a circuitry including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), or a combination thereof, that executes at least some of the various processes. The processor includes a CPU and memory, such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute the processes. The memory, i.e., computer-readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The program stored on the computer-readable medium includes a control program for the automatic door system 110. The control program for the automatic door system 110 causes a computer to execute a degree information acquisition step and a change step.

The automatic door device 110 includes a first door engine 30 that drives the first door 11 and a second door engine 40 that drives the second door 12. The first door engine 30 includes a first motor 31 and a first transmission mechanism 32. The first motor 31 is driven and controlled by the door controller 60. The first transmission mechanism 32 transmits the driving force of the first motor 31 to the first door 11. The first motor 31 is provided with a first encoder 31A that detects rotation. The first encoder 31A outputs the detection results, including the presence or absence of rotation and the direction of rotation, to the door controller 60. The second door engine 40 includes a second motor 41 and a second transmission mechanism 42. The second motor 41 is driven and controlled by the door controller 60. The second transmission mechanism 42 transmits the driving force of the second motor 41 to the second door 12. The second motor 41 is provided with a second encoder 41A that detects rotation. The second encoder 41A outputs the detection results, including the presence or absence of rotation and the direction of rotation, to the door controller 60. The first door engine 30 and the second door engine 40 correspond to the drive unit.

The automatic door system 110 is equipped with an activation sensor 15, an alarm unit 28, and a communication unit 29. The door controller 60 is electrically connected to the activation sensor 15, the alarm unit 28, and the communication unit 29. The activation sensor 15 is a sensor that detects people or objects within a specified range of the automatic door system 10, and outputs a signal to the door controller 60 when it detects a person or object. When the activation sensor 15 detects a person or object, the door controller 60 opens the first door 11 and the second door 12. The alarm unit 28 is an LED that issues an alert with light or a speaker that issues an alert with sound. The communication unit 29 communicates with the communication terminal 50 via short-range wireless communication such as Bluetooth (registered trademark), inputting information from the communication terminal 50 to the door controller 60 and outputting information from the door controller 60 to the communication terminal 50.

(Communication terminal 50)
The communication terminal 50 is a smartphone, tablet terminal, or the like, and is operated by an operator by launching a dedicated app when configuring the automatic door system 110. The communication terminal 50 acquires information such as the operating status from the door controller 60 via the communication unit 29. The operator can check the operating status of the automatic door system 110 using the communication terminal 50. The operator inputs into the communication terminal 50 the presence or absence and degree of shaking that has occurred in the first door 11 and the second door 12 while the control unit 61 is controlling the opening and closing of the first door 11 and the second door 12. The communication terminal 50 transmits the presence or absence and degree of shaking to the door controller 60 via the communication unit 29.

(Door controller 60)
The door controller 60 includes a control unit 61, a degree information acquisition unit 62, a determination unit 63, a change unit 64, and a storage unit 65. The control unit 61 controls the first door engine 30 and the second door engine 40. Specifically, the control unit 61 drives and controls the first motor 31 and the second motor 41 to open and close the first door 11 and the second door 12. The control unit 61 controls deceleration and then stops the first door 11 and the second door 12. The control unit 61 performs the drive control shown in FIG. 4 in the same manner as in the first embodiment. Note that if the first motor 31 and the second motor 41 are motors with brakes, the deceleration is increased by increasing the braking force of the brakes.

The degree information acquisition unit 62 externally acquires degree information indicating the degree of shaking occurring in the first door 11 and the second door 12 when the control unit 61 controls the opening and closing of the first door 11 and the second door 12. The degree information acquisition unit 62 acquires degree information indicating the degree of shaking from the communication terminal 50 via the communication unit 29. It is assumed that the shaking is not output as rotation from the first encoder 31A and the second encoder 41A. The determination unit 63 determines whether a change in control parameters is necessary based on the degree information. The determination unit 63 determines that a change in control parameters is necessary if shaking is present. The change unit 64 changes the control parameters that control the first door engine 30 and the second door engine 40 of the control unit 61 based on the degree information acquired by the degree information acquisition unit 62 so that shaking does not occur. The memory unit 65 stores the control parameters used by the control unit 21 to control the first door engine 30 and the second door engine 40.

The control unit 61 then controls the first door engine 30 and the second door engine 40 in accordance with the changes made by the change unit 64. That is, when the determination unit 63 determines that shaking has occurred, the change unit 64 performs at least one of the following. The change unit 64 changes the control parameters in the order of (E), (F), and (G).

(E) The deceleration rate during deceleration control is changed to a value lower than the control parameter.
(F) The deceleration control is started earlier than the control parameter.
(G) Change the door drive speed to a value lower than the control parameter.

The amount of change in (E), (F), and (G) is increased as the degree of shaking of the first door 11 and the second door 12 increases, and decreased as the degree of shaking of the first door 11 and the second door 12 decreases, based on the acquired degree information.

The degree information acquisition unit 62 may also acquire operation phase information of the first door 11 and the second door 12 when shaking occurs. The modification unit 64 then modifies the control parameters in accordance with the operation phase information acquired by the degree information acquisition unit 62. As shown in FIG. 4 , the operation phases refer to the following phases in the opening and closing control of the first door 11 and the second door 12: an acceleration region (time 0 to first time T1) in which the stopped first door 11 and the second door 12 are accelerated to a specified speed; a constant speed region (first time T1 to second time T2) in which the specified speed is maintained; a deceleration region (second time T2 to third time T3) in which the speed is decelerated from the specified speed to a cushion speed; a cushion region (third time T3 to fourth time T4) in which the cushion speed is maintained; and a stop region (fourth time T4 to fifth time T5) in which the first door 11 and the second door 12 are decelerated from the cushion speed until they stop. Control parameters are set for each operation phase, so this allows the appropriate control parameters to be changed depending on the operation phase in which shaking occurs, further suppressing shaking of the first door 11 and second door 12.

(Drive control)
Next, the drive control of the automatic door system 110 configured as described above will be described with reference to FIG.

As shown in Figure 7, the automatic door system 110 performs opening and closing operations (step S31). That is, the control unit 61 controls the first door engine 30 and the second door engine 40 using preset control parameters.

The worker observes whether the first door 11 and the second door 12 are shaking during the opening operation, and if so, the degree of shaking. The worker then inputs the degree of shaking into the communication terminal 50. The communication terminal 50 transmits the degree of shaking to the door controller 60 via the communication unit 29.

The automatic door system 110 acquires degree information (step S32). That is, the degree information acquisition unit 62 acquires degree information indicating the degree of shaking that occurred in the first door 11 and the second door 12 from the outside when the control unit 61 controls the opening and closing of the first door 11 and the second door 12. The degree information acquisition unit 62 acquires the degree information indicating the degree of shaking from the communication terminal 50 via the communication unit 29. Note that step S32 corresponds to the degree information acquisition step.

The automatic door system 110 then determines whether a change to the control parameters is necessary (step S33). That is, the determination unit 63 determines whether a change to the control parameters is necessary based on the level information. If the determination unit 63 determines that a change to the control parameters is not necessary based on the level information (step S33: NO), the process ends.

On the other hand, if the determination unit 63 determines that a change in the control parameters is necessary based on the degree information (step S33: YES), the change unit 64 changes the deceleration of the control unit 21 to a value lower than the default parameter (step S34). That is, the change unit 64 reduces the gradient of the speed (deceleration) over time in the deceleration control from the second time T2 in FIG. 4 based on the degree of shaking of the first door 11 and the second door 12. Note that step S34 corresponds to the change step.

The automatic door device 110 then performs opening and closing operations (step S35). That is, the control unit 61 sets the control parameters changed in step S34 as the control parameters of the control unit 61 and controls the first door engine 30 and the second door engine 40.

The automatic door system 110 acquires degree information (step S36). That is, the degree information acquisition unit 62 acquires degree information indicating the degree of shaking that occurred in the first door 11 and the second door 12 from the outside when the control unit 61 is controlling the opening and closing of the first door 11 and the second door 12. The degree information acquisition unit 62 acquires the degree information indicating the degree of shaking from the communication terminal 50 via the communication unit 29. Note that step S36 corresponds to the degree information acquisition step.

The automatic door system 110 then determines whether a change to the control parameters is necessary (step S37). That is, the determination unit 63 determines whether a change to the control parameters is necessary based on the level information. If the determination unit 63 determines that a change to the control parameters is not necessary based on the level information (step S37: NO), the process ends.

On the other hand, if the judgment unit 63 determines that a change in the control parameters is necessary based on the degree information (step S37: YES), the judgment unit 63 causes the control unit 61 to start deceleration control earlier than the default parameters (step S38). That is, the change unit 64 advances the start of the deceleration control shown in FIG. 4 based on the degree of shaking of the first door 11 and the second door 12. In this case, the slope of the speed over time during deceleration control (deceleration) is not changed, and the deceleration is made gentler just before stopping. Note that step S38 corresponds to the change step.

Next, the determination unit 63 determines whether the deceleration start position is equal to or greater than a specified value (step S39). That is, when the deceleration start position is equal to or greater than a specified value, it is necessary to reduce the movement speed, so the determination unit 63 determines whether this is necessary. Then, if the determination unit 63 determines that the deceleration start position is less than the specified value (step S39: NO), the change unit 64 sets the control parameters changed in step S38 as the control parameters of the control unit 61, and the process proceeds to step S40.

On the other hand, if the determination unit 63 determines that the deceleration start position is equal to or greater than the specified value (step S39: YES), the change unit 64 changes the movement speed of the control unit 61 to a value lower than the specified parameter (step S40). That is, the change unit 64 reduces the movement speed of the first door 11 and the second door 12 shown in FIG. 4 based on the degree of swinging of the first door 11 and the second door 12. In this case, the slope of the speed over time during deceleration control (deceleration) is made gentle so that it stops at the fifth time T5. Note that step S40 corresponds to the change step.

The opening and closing operation in each of the above steps is a single operation from the fully closed position to the fully open position, or from the fully open position to the fully closed position, and the control parameters are changed for each operation to determine whether or not shaking will occur in the first door 11 and the second door 12.

As described above, even if vibrations occur that are not output as rotations from the first encoder 31A and the second encoder 41A, information on the degree of vibration is acquired and the control parameters are changed. This allows the automatic door system 10 to suppress the occurrence of vibrations itself. As a result, the automatic door system 10 can always perform stable opening and closing operations.

Next, the effects of the second embodiment will be described. The following effects are achieved.
(2-1) The change unit 64 changes the control parameters of the control unit 61 based on the degree of swinging of the first door 11 and the second door 12. This allows the automatic door system 10 itself to suppress swinging of the first door 11 and the second door 12. This allows the first door 11 and the second door 12 to open and close stably.

(2-2) At least one of the control parameters of the control unit 61, namely the deceleration during deceleration control, the starting position of deceleration control, and the drive speed, is changed to prevent the first door 11 and the second door 12 from shaking. As a result, the automatic door system 10 itself can suppress the shaking of the first door 11 and the second door 12.

(Other embodiments)
The above-described embodiments can be modified as follows: The above-described embodiments and the following modifications can be combined with each other within the scope of technical compatibility.

- In the first embodiment described above, rotation information relating to the movement of the first door 11 and the second door 12 was obtained from the first encoder 31A and the second encoder 41A. In addition, rotation information for the first door 11 and the second door 12 may be obtained from the voltage and current of the first motor 31 and the second motor 41. The voltage of the first motor 31 and the second motor 41 increases as the braking becomes stronger. This improves the accuracy of determining whether flapping or no-cushion has occurred.

- In the first embodiment described above, rotation information regarding the movement of the first door 11 and the second door 12 may be obtained by a sensor such as an image sensor that captures images of the first door 11 and the second door 12.

- In the first embodiment described above, a change determination unit 27 was provided that determines whether further changes to the control parameters are possible based on the control parameters stored in the memory unit 26 and the determination results. However, the change determination unit 27 may be omitted.

- In the first embodiment described above, the change unit 25 changes the control parameters based on the control parameters used by the control unit 21 to control the opening and closing of the doors and the judgment result of the judgment unit 24 when the control parameters stored in the memory unit 26 are used. However, the control unit 21 may calculate control parameters based on the judgment result and control the first door engine 30 and the second door engine 40.

- In the first embodiment described above, when it was determined that a no-cushion condition had occurred, the control parameters were changed one by one in the order of (D), (B), and (C). However, two or more control parameters including (A) among (D), (B), and (C) may be changed in a single opening/closing operation. Furthermore, other control parameters may be changed so that a no-cushion condition does not occur.

- In the first embodiment described above, when it was determined that fluttering had occurred, the control parameters were changed one by one in the order of (A), (B), and (C). However, two or more control parameters out of (A), (B), and (C), including (A), may be changed in a single opening/closing operation. Furthermore, other control parameters may be changed so that fluttering does not occur.

- In the first embodiment described above, the control parameters (A), (B), (C), and (D) were changed. However, the PIDs for the feedback control of the first motor 31 and the second motor 41 may also be changed.

- In steps S12, S15, and S25 of the first embodiment, which determine whether flapping has occurred, and steps S16, S21, and S24, which determine whether no cushioning has occurred, flapping and no cushioning may be determined based on the average of multiple opening and closing operations, rather than a single opening and closing operation.

- In the above embodiments, the doors of the automatic door systems 10 and 110 are swing doors, but the doors of the automatic door systems may also be folding doors. Even with folding doors, it is necessary to prevent door flapping, no-cushioning, and shaking, so the control parameters can be changed as in the above embodiments.

In the first embodiment, the occurrence of door flapping and the occurrence of no cushion are determined. However, it is also possible to determine only the occurrence of door flapping.
In the second embodiment, the door controller 60 acquires the information on the degree of door sway input by the worker to the communication terminal 50. However, a detection device that detects the degree of door sway may be provided, and the door controller 60 may acquire the information on the degree of door sway from the detection device. The detection device may be an image sensor that detects from a photographed image of the door, a vibration sensor that detects from the vibration of the door, or the like.

- In the second embodiment described above, the determination unit 63 determined whether or not a change to the control parameters was necessary. However, the determination unit 63 may be omitted, and the change unit 64 may change the control parameters of the control unit 61 depending on the degree of door swing.

In the above embodiments, the automatic door system 10 includes two doors, the first door 11 and the second door 12. However, the automatic door system may include one door.
In the above-described embodiments, the first door engine 30 and the second door engine 40 are installed in the transom 13. However, the first door engine 30 and the second door engine 40 may be installed by being embedded in the floor 2 instead of in the transom 13.

- In each of the above embodiments, the door controller 20 is capable of wireless communication with the communication terminal 50. However, the door controller 20 may be capable of wired communication with the communication terminal 50. Furthermore, the communication terminal 50 may be omitted.

- In each of the above embodiments, if something is made up of multiple objects, those multiple objects may be integrated, and conversely, if something is made up of a single object, it may be divided into multiple objects. Regardless of whether they are integrated or not, it is sufficient that the object of the invention can be achieved.

- In each of the above embodiments, where multiple functions are provided in a distributed manner, some or all of those functions may be provided in a consolidated manner, and conversely, where multiple functions are provided in a consolidated manner, some or all of those functions may be provided in a distributed manner. Regardless of whether the functions are consolidated or distributed, it is sufficient that the configuration is such that the purpose of the invention can be achieved.

PL...left rotation shaft PR...right rotation shaft 1...opening 2...floor 10...automatic door device 11...first door 11A...door leading edge 11B...door trailing edge 12...second door 12A...door leading edge 12B...door trailing edge 13...lattice 14...door stop 15...activation sensor 20...door controller 21...control unit 22...rotation information acquisition unit 23...speed calculation unit 24...determination unit 25...change unit 26...storage unit 27...change determination unit 28...alarm unit 29...communication unit 30...first door engine 31...first motor 31A...first encoder 32...first transmission mechanism 40...second door engine 41...second motor 41A...second encoder 42...second transmission mechanism 50...communication terminal 60...door controller 61...control unit 62...degree information acquisition unit 63...determination unit 64: Change unit 65: Storage unit 110: Automatic door device

Claims (7)

A hinged or folding door provided in the opening;
a drive unit that drives the door;
a control unit that controls the drive unit;
a rotation information acquisition unit that acquires rotation information related to the rotation of the drive unit;
a determination unit that determines whether flapping of the door in a direction opposite to the driving direction of the door has occurred after the drive unit has been decelerated based on the rotation information;
a change unit that changes a control parameter for controlling the drive unit of the control unit so that the fluttering does not occur when the determination unit determines that the fluttering has occurred ,
When the determination unit determines that the flapping has occurred, the change unit performs at least one of changing the deceleration when performing deceleration control of the door to a value lower than the control parameter, starting the deceleration control of the door earlier than the control parameter, and changing the drive speed of the door to a value lower than the control parameter.
Automatic door device. a speed calculation unit that calculates a moving speed of the door from the rotation information acquired by the rotation information acquisition unit;
the determination unit determines that a no-cushion state has occurred in which the door collides with a stopper and bounces off at the fully open position or the fully closed position when the movement speed of the door calculated by the speed calculation unit is equal to or greater than a threshold value near the fully open position or the fully closed position of the door,
The automatic door system according to claim 1, wherein the change unit changes the control parameters so that the no-cushion does not occur when the determination unit determines that the no-cushion has occurred. The automatic door system of claim 2, wherein when the determination unit determines that the no-cushion condition has occurred, the change unit performs at least one of the following: change the deceleration rate when controlling the deceleration of the door to a rate higher than the control parameter; start the deceleration control of the door earlier than the control parameter; or change the drive speed of the door to a rate lower than the control parameter. a storage unit that stores control parameters when the control unit controls the drive unit and a determination result of the determination unit when the control parameters are used;
4. The automatic door system according to claim 1 , wherein the change unit changes the control parameter based on the control parameter stored in the storage unit and the determination result. a change determination unit that determines whether or not the control parameters can be further changed based on the control parameters stored in the storage unit and the determination result;
The automatic door system according to claim 4 , further comprising: a notification unit that notifies when the change determination unit determines that the control parameter cannot be further changed. a rotation information acquisition step of acquiring rotation information regarding the rotation of a drive unit that drives a hinged door or a folding door provided in the opening;
a determining step of determining whether or not flapping of the door in a direction opposite to the driving direction of the door has occurred after the drive unit has been controlled to decelerate, based on the rotation information;
a changing step of changing a control parameter for controlling the drive unit so that fluttering does not occur when it is determined in the determining step that fluttering has occurred ,
The changing step includes at least one of changing the deceleration when controlling the deceleration of the door to a value lower than the control parameter, starting the deceleration control of the door earlier than the control parameter, and changing the drive speed of the door to a value lower than the control parameter.
A method for controlling an automatic door device. a rotation information acquisition step of acquiring rotation information regarding the rotation of a drive unit that drives a hinged door or a folding door provided in the opening;
a determining step of determining whether or not flapping of the door in a direction opposite to the driving direction of the door has occurred after the drive unit has been controlled to decelerate, based on the rotation information;
and a change step of changing the control parameter to prevent flapping from occurring by performing at least one of the following when it is determined in the determination step that flapping has occurred: changing the deceleration rate when controlling the deceleration of the door to a value lower than the control parameter that controls the drive unit; starting the deceleration control of the door earlier than the control parameter; or changing the drive speed of the door to a value lower than the control parameter .