JP7829142B2 - Operation detection device and door opening/closing control system - Google Patents

Description

This invention relates to an operation detection device and a door opening/closing control system.

Conventionally, various technologies related to door opening and closing have been proposed. Patent Document 1 discloses a drive device for an electric sliding door. This drive device can automatically open and close the sliding door by driving a motor via a portable control switch.

Japanese Patent Publication No. 2002-242533

This invention provides an operation detection device that can suppress the application of excessive force to a sensor that detects force applied to a flat plate-shaped member such as a door, and a door opening/closing control system equipped with the same.

An operation detection device according to one aspect of the present invention comprises a housing provided on a flat plate-shaped member, an operating part having an opposing surface facing the housing in a first direction and to which a force is applied by manual operation for moving the flat plate-shaped member, and a first elastic member and a sensor positioned side by side in the first direction between the opposing surface and the housing, wherein the sensor detects the force applied from the operating part to the housing by the manual operation via the first elastic member.

A door opening and closing control system according to one aspect of the present invention comprises: an operation detection device; an electric unit that supplies power to the door, which is a flat plate-shaped member, for opening and closing the door; and a control unit that performs drive control to the electric unit based on the force applied from the operation unit to the housing, as detected by the sensor.

An operation detection device and a door opening/closing control system according to one aspect of the present invention can suppress the application of excessive force to a sensor that detects force applied to a flat plate-shaped member.

Figure 1 is a diagram showing the configuration of a door opening and closing control system according to an embodiment. Figure 2 shows an example of the positional relationship between the operating unit and the operating force sensor. Figure 3 is a flowchart of the assist control. Figure 4 shows an example of a relational equation for determining the door's movement speed in assist control. Figure 5 is a perspective view of the operation detection device according to the embodiment, as seen from the front. Figure 6 is a perspective view of the inside of the operation detection device according to the embodiment, as seen from the front. Figure 7 is a perspective view of the operation detection device according to the embodiment, as seen from the rear. Figure 8 is a perspective view of the inside of the operation detection device according to the embodiment, as seen from the rear side. Figure 9 is a cross-sectional view of the operation detection device according to the embodiment, when cut along the XY plane. Figure 10 is a schematic cross-sectional view of the operation detection device according to the embodiment, when it is cut along the XY plane. Figure 11 is a first diagram showing a modified arrangement of the operating force sensor and the first elastic member. Figure 12 is a second diagram showing a modified arrangement of the operating force sensor and the first elastic member. Figure 13 is a third diagram showing a modified arrangement of the operating force sensor and the first elastic member. Figure 14 shows a modified example of the arrangement of the protrusions. Figure 15 is a perspective view of the operation detection device according to Modification 1. Figure 16 is a schematic cross-sectional view of the operation detection device according to Modification 1. Figure 17 is a perspective view of the operation detection device according to modified example 2. Figure 18 is a schematic cross-sectional view of the operation detection device according to the modified example 2. Figure 19 is a schematic cross-sectional view of the operation detection device according to modified example 3 when it is cut along the XY plane. Figure 20 is a schematic cross-sectional view of the operation detection device according to modified example 3 when it is cut along the YZ plane. Figure 21 shows the configuration of a drive unit (a modified drive unit) applied to a swing door. Figure 22 is a perspective view of the operation detection device according to Modification 4. Figure 23 shows the internal structure of the operation detection device according to the modified example 4.

The embodiments will be described in detail below with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement and connection configurations of components, steps, and step order shown in the following embodiments are examples only and are not intended to limit the present invention. Furthermore, components in the following embodiments that are not described in an independent claim will be described as optional components.

Please note that each diagram is a schematic representation and not necessarily a strictly accurate depiction. Furthermore, in each diagram, substantially identical components are given the same reference numerals, and redundant explanations may be omitted or simplified.

(Embodiment)
[composition]
First, the configuration of the door opening and closing control system according to the embodiment will be described. Figure 1 is a diagram showing the configuration of the door opening and closing control system according to the embodiment. In Figure 1, the general arrangement of each component is also schematically shown.

As shown in Figure 1, the door opening/closing control system 10 according to this embodiment is a system that controls a door 80. The door 80 is a so-called sliding door installed in a building such as a house. For example, the door 80 is an entrance door. The building in which the door 80 is installed and its installation location are not particularly limited. The door 80 may be implemented as a dedicated door for the door opening/closing control system 10, or it may be implemented by modifying an existing door.

The door opening/closing control system 10 specifically comprises a drive unit 20, an operation detection device 30, and an electric lock unit 40. The drive unit 20 is installed inside the door frame, while the operation detection device 30 and the electric lock unit 40 are installed on the door 80. The operation detection device 30 is installed on both the main surface of the door 80 (e.g., the indoor side) and the other main surface (e.g., the outdoor side). In other words, two operation detection devices 30 are installed on one door 80, but only one is shown in Figure 1.

First, let's describe the drive unit 20. The drive unit 20 comprises a control unit 21 and an electric motor unit 22.

The control unit 21 performs control (information processing) related to the opening and closing of the door 80. The control unit 21 is, for example, a dedicated integrated circuit (IC) for driving the motor 23, and includes a processor, memory, a PWM (Pulse Width Modulation) circuit, and a three-phase inverter circuit. The functions of the control unit 21 are realized, for example, by the processor executing a computer program stored in memory.

The electric unit 22 supplies power to the door 80 for opening and closing it. The electric unit 22 includes a motor 23 and a drive mechanism 24. The motor 23 rotates a drive pulley included in the drive mechanism 24 based on a control signal output by the control unit 21.

The drive mechanism 24 is composed of, for example, a reduction gear, a drive pulley, a driven pulley, a belt wrapped around the drive pulley and the driven pulley, and a hanger connecting the belt to the door 80. When the drive pulley rotates in response to the rotation of the motor 23, power is supplied to the door 80 via the belt and hanger, causing the door 80 to open and close.

Next, the operation detection device 30 will be described. The operation detection device 30 comprises an operation unit 31, an operation force sensor 32, and an authentication unit 33. Note that the authentication unit 33 may be implemented as a separate device from the operation detection device 30, and the operation detection device 30 does not necessarily need to include the authentication unit 33.

The operating section 31 is the part that the user manually operates to open and close the door 80. The operating section 31 may have, for example, a groove structure (pull handle) into which the user inserts their hand for manual operation. The operating section 31 may also have a handle (or knob) that the user grips for manual operation. The handle may, for example, be an elongated structure extending in the vertical direction.

The operating force sensor 32 detects (acquires) the operating force (load) applied to the operating unit 31 when the user manually opens and closes the door 80, and outputs operating force information indicating the detected operating force to the control unit 21. The operating force sensor 32 is, for example, a thin-film pressure-sensitive sensor whose resistance value changes steplessly according to the operating force. The operating force sensor 32 may be a piezoelectric sensor or a strain gauge sensor. Figure 2 shows an example of the installation of the operating force sensor 32; in other words, it shows an example of the positional relationship between the operating unit 31 and the operating force sensor 32.

As shown in Figure 2, the operating force sensor 32 is provided, for example, on both the left and right sides of the operating unit 31, between the operating unit 31 and the housing 34. This allows the operating force sensor 32 to distinguish and detect the operating force when the user attempts to open the door 80 and the operating force when the user attempts to close the door 80.

The authentication unit 33 reads authentication information from an authentication medium such as a card key or a mobile terminal, and outputs the read authentication information to the electric lock control unit 41. The authentication unit 33 is implemented, for example, by a wireless communication circuit that performs wireless communication (specifically, radio wave communication or optical communication) to acquire authentication information from the authentication medium. The authentication unit 33 may also be a user interface that accepts authentication information (in this case, an unlock code, etc.) such as a keypad. Alternatively, the authentication unit 33 may be a biosensor that reads the user's biometric authentication information. Specific examples of biosensors include fingerprint sensors and iris sensors.

Next, the electric lock unit 40 will be described. The electric lock unit 40 comprises an electric lock control unit 41, an electric lock 42, and a detection unit 43.

The electric lock control unit 41 determines whether the authentication information read by the authentication unit 33 is correct, and if it determines that the authentication information is correct, it locks or unlocks the electric lock 42 (door 80). When locking the electric lock 42, it is a requirement that the detection unit 43 detects that the door 80 is closed. The electric lock control unit 41 also outputs a notification signal to the control unit 21 indicating the locking status of the electric lock 42 (door 80) (whether it is locked or unlocked) and the open/closed status of the door 80.

The electric lock control unit 41 is implemented by a microcomputer including a processor and memory. The functions of the electric lock control unit 41 are realized, for example, by the processor executing a computer program stored in memory.

The electric lock 42 specifically comprises a deadbolt, a motor, and a transmission mechanism that transmits the driving force of the electric motor to the deadbolt. The motor is driven based on a drive signal output by the electric lock control unit 41, and the driving force of the motor is transmitted to the deadbolt via the transmission mechanism, causing the deadbolt to move to the locked or unlocked position.

The detection unit 43 is a sensor that detects whether the door 80 is closed or open. Specifically, the detection unit 43 is a sensor that detects whether the door 80 is closed or closed based on the protrusion or recession of a projection, but it may also be a magnetic door sensor or a wireless communication door sensor.

[Assist Control]
The door opening and closing control system 10 can perform assist control to support the manual opening and closing of the door 80. Figure 3 is a flowchart of the assist control.

When a user operates the control unit 31 to open or close the door 80, the operating force sensor 32 detects the operating force applied to the control unit 31. In other words, the operating force sensor 32 acquires operating force information indicating the operating force applied to the control unit 31 in the opening and closing direction of the door 80 (S11). The operating force information is information related to the operation of the control unit 31.

The control unit 21 determines the movement speed of the door 80 based on the operating force information acquired by the operating force sensor 32 (S12). Figure 4 shows an example of a relational expression for determining the movement speed of the door 80 in assist control. As shown by the solid line in Figure 4, the movement speed of the door 80 in assist control is changed according to the operating force (load) indicated by the operating force information. Further limitations may be added to the movement speed of the door 80 depending on the position of the door 80.

Next, the control unit 21 outputs a control signal to the motor unit 22 to move the door 80 at the determined speed (S13). At this time, the direction of movement of the door 80 is aligned with the direction of the operating force applied to the operating unit 31. That is, when the user attempts to open the door 80, it moves in the opening direction, and when the user attempts to close the door 80, it moves in the closing direction. In this assist control, while the user is applying operating force to the operating unit 31, the control unit 21 continuously monitors the operating force information and changes the door 80's movement speed as needed. In other words, the process from steps S11 to S13 is repeated multiple times while the user is applying operating force to the operating unit 31, and the assist control stops when the user releases their hand from the operating unit 31.

Thus, the control unit 21 can perform assist control to support the manual opening and closing of the door 80, which is drive control to the electric unit 22 based on the acquired operating force information.

Furthermore, when the door 80 is locked by the electric lock 42, assist control is not performed even if operating force is applied to the operating unit 31. The control unit 21 can decide whether or not to perform assist control based on a notification signal indicating the locked state of the door 80, obtained from the electric lock control unit 41. In other words, the control unit 21 can determine the timing for controlling the electric unit 22 based on the locked or unlocked state of the electric lock 42.

Furthermore, in the assist control described above, the movement speed of the door 80 was changed according to the operating force. However, in the assist control, the door 80 may also move at a constant speed triggered by the detection of an operating force by the operating force sensor 32.

[Specific configuration of the operation detection device]
Next, the specific configuration of the operation detection device 30 will be described. Figure 5 is a perspective view of the operation detection device 30 as seen from the front, and Figure 6 is a perspective view of the operation detection device 30 as seen from the front with the operation unit 31 removed. Figure 7 is a perspective view of the operation detection device 30 as seen from the rear, and Figure 8 is a perspective view of the operation detection device 30 as seen from the rear with the housing removed. Figure 9 is a cross-sectional view of the operation detection device 30 when cut along the XY plane.

Furthermore, the diagrams used to explain the specific configuration of the operation detection device 30 show coordinate axes. The X-axis direction in the coordinate axes corresponds to the sliding direction of the door 80 (sliding door) (left-right direction from the user's perspective). The Y-axis direction in the coordinate axes corresponds to the thickness direction of the door 80, and corresponds to the front-back direction from the user's perspective. The Z-axis direction in the coordinate axes corresponds to the up-down direction.

The operation detection device 30 comprises an operation unit 31, two operating force sensors 32, a housing 34, two first elastic members 35, six second elastic members 36, two slide rails 37, and a connector 38.

The operating section 31, together with the housing 34, constitutes the outer casing of the operation detection device 30. Specifically, it forms the front side (the positive Y-axis side in the figure) of the outer casing. The operating section 31 has a flat, plate-shaped main body 31a that follows the main surface of the door 80. The main body 31a is provided with a groove 31b that is recessed from the front side toward the rear side. The groove 31b forms a groove with the Z-axis direction as its longitudinal direction. The groove 31b is a part into which the user inserts their hand for manual operation and functions as a pull handle for moving the door 80 in the X-axis direction. The main body 31a may also be provided with a handle that protrudes from the rear side toward the front side for the user to grip for manual operation.

Thus, the operating section 31 is the part that the user manually operates to move the door 80, and is the part to which force is applied through manual operation. The operating section 31 is formed from, for example, a resin material, but it may also be formed from a metal material such as aluminum.

The housing 34, together with the operating unit 31, constitutes the outer casing of the operation detection device 30. Specifically, it forms the rear side (the negative side in the Y-axis direction in the figure) of the outer casing. The housing 34 is attached to the door 80 so as to be embedded in a recess provided in the door 80.

The housing 34 specifically has a frame-shaped section 34a and a recessed section 34b that extends from the front to the rear. The four corners of the frame section 34a are screwed to the door 80. The recessed section 34b forms a space for housing two operating force sensors 32, two first elastic members 35, six second elastic members 36, two slide rails 37, and a portion of the connector 38. This space is closed by the operating section 31. The recessed section 34b is provided with an opening to expose the connector 38 to the door 80 side.

The housing 34 is formed from, for example, a resin material, but may also be formed from a metal material such as aluminum.

The operating force sensor 32 detects the operating force applied from the operating unit 31 to the housing 34 by the user's manual operation and outputs operating force information indicating the detected operating force to the connector 38. The operating force sensor 32 is mounted on the inner surface of the recess 34b of the housing 34, specifically on the surface aligned with the YZ plane, and can detect the operating force applied from the operating unit 31 to the housing 34 along the X-axis direction. Of the two operating force sensors 32 provided in the operation detection device 30, the operating force sensor 32 located on the negative X-axis side detects the operating force directed toward the negative X-axis direction, while the operating force sensor 32 located on the positive X-axis side detects the operating force directed toward the positive X-axis direction.

The operating force sensor 32 is, for example, a thin-film pressure sensor whose resistance value changes steplessly according to the operating force. The operating force sensor 32 may be a piezoelectric sensor or a strain gauge sensor. The operation detection device 30 is equipped with two operating force sensors 32, but it only needs to be equipped with at least one operating force sensor 32. For example, if the assist control is performed only in one of two cases—opening the door 80 or closing the door 80—then it is sufficient to detect only one of the operating forces: the force to open the door 80 or the force to close the door 80. Therefore, the operation detection device 30 only needs to be equipped with one operating force sensor 32.

The first elastic member 35 is an elastic member for adjusting the operating force detected by the operating force sensor 32. The first elastic member 35 is attached to the opposing surface 31c (the surface of the operating part 31 facing the housing 34 in the X-axis direction) provided in the groove 31b of the operating part 31, and faces the operating force sensor 32. A gap (clearance) is provided between the first elastic member 35 and the operating force sensor 32. Specifically, the first elastic member 35 is formed from an elastic resin material (elastomer) such as rubber or urethane, but it may also be a coil spring or the like. The operation detection device 30 only needs to have a number of first elastic members 35 corresponding to the number of operating force sensors 32. In other words, the operation detection device 30 only needs to have at least one first elastic member 35.

The second elastic member 36 is an elastic member for restricting the movement (position) of the operating part 31 in the X-axis direction. The second elastic member 36 allows for a certain degree of position fixation of the operating part 31 when it is not manually operated, and allows for slight movement of the operating part 31 when it is manually operated. The second elastic member 36 is, for example, a coil spring, with one end in contact with the opposing surface 31c of the operating part 31 and the other end in contact with the inner surface of the recess 34b of the housing 34. The second elastic member 36 may be formed from rubber or an elastic resin material. The operation detection device 30 only needs to include at least one second elastic member 36. The second elastic member 36 is, for example, more easily deformable (softer or less rigid) than the first elastic member 35.

The slide rail 37 is a guide structure that restricts the movement direction of the operating unit 31 in the X-axis direction. Specifically, the slide rail 37 has an inner rail 37a attached to the groove 31b of the operating unit 31 and an outer rail 37b attached to the recess 34b of the housing 34. The inner rail 37a and the outer rail 37b are arranged so that their longitudinal direction aligns with the X-axis direction, and the inner rail 37a slides relative to the outer rail 37b. Because the movement direction of the operating unit 31 is restricted in the X-axis direction by the slide rail 37, the force applied to the operating force sensor 32 is stabilized. The operation detection device 30 only needs to have at least one slide rail 37.

The connector 38 is a connection structure for outputting operating force information, indicating the operating force detected by the operating force sensor 32, to the control unit 21, etc. A portion of the connector 38 is exposed to the door 80 side through an opening provided in the recess 34b of the housing 34.

[Placement of operating force sensors, etc.]
Next, the arrangement of the operating force sensor 32, the first elastic member 35, and the second elastic member 36 will be explained again with reference to Figure 10 in addition to Figure 9. Figure 10 is a schematic cross-sectional view of the operation detection device 30 (that is, a schematic representation of Figure 9).

The operating unit 31 has an opposing surface 31c that faces the housing 34 in the X-axis direction. The first elastic member 35 and the operating force sensor 32 are positioned side-by-side in the X-axis direction between the opposing surface 31c and the housing 34. This allows the operating force sensor 32 to detect the force (operating force) applied from the operating unit 31 to the housing 34 by manual operation via the first elastic member 35. The first elastic member 35 prevents excessive force from being applied to the operating force sensor 32. Therefore, it prevents the assist control (described above) from being unexpectedly executed, such as when the user lightly touches the operating unit 31. Furthermore, the designers of the door opening/closing control system 10 can adjust the force applied to the operating force sensor 32 by changing the rigidity (stiffness) of the first elastic member 35.

Furthermore, a gap (play, clearance) is provided between the operating force sensor 32 and the first elastic member 35 in the X-axis direction. Even if the operating unit 31 moves by the amount of this gap in the X-axis direction, no force is applied to the operating force sensor 32. Therefore, the unintended execution of assist control due to slight movement of the operating unit 31 caused by disturbances such as vibration is suppressed.

Furthermore, the second elastic member 36 is positioned between the opposing surface 31c and the housing 34, alongside the first elastic member 35 in the Y-axis direction, which intersects (is perpendicular to) the X-axis direction, and restricts the movement (position) of the operating unit 31 in the X-axis direction. Because the operating unit 31 is less likely to move in the X-axis direction due to the second elastic member 36, the unintended execution of assist control due to disturbances such as vibrations is suppressed.

Furthermore, the opposing surface 31c is provided with a protrusion 31d that restricts the amount of movement of the operating section 31 in the X-axis direction. The height of the protrusion 31d from the opposing surface 31c is lower than the height of the first elastic member 35 from the opposing surface 31c (slightly lower in Figure 9). The protrusion 31d is, for example, integrally formed with the operating section 31 and is harder than the first elastic member 35. With such a protrusion 31d, excessive force applied to the operating force sensor 32 due to excessive movement of the operating section 31 is suppressed, and the unexpected execution of assist control is suppressed. In addition, the protrusion 31d suppresses damage to the operating force sensor 32, and the assistance control is suppressed based on erroneous input due to damage.

Incidentally, the arrangement of the operating force sensor 32 and the first elastic member 35 is not limited to the arrangements shown in Figures 9 and 10. Figures 11 to 13 are diagrams showing modified arrangements of the operating force sensor 32 and the first elastic member 35 (schematic cross-sectional views of the operation detection device 30).

The difference between the arrangement example in Figure 11 and the arrangement examples in Figures 9 and 10 is that the first elastic member 35 is positioned in contact with the operating force sensor 32, and a gap is provided between the first elastic member 35 and the opposing surface 31c.

Furthermore, in the arrangement example shown in Figure 12, the positional relationship between the operating force sensor 32 and the first elastic member 35 is reversed compared to the arrangement examples in Figures 9 and 10. The operating force sensor 32 is provided on the opposing surface 31c of the operating unit 31, and the first elastic member 35 is provided in the housing, with a gap provided between the operating force sensor 32 and the first elastic member 35.

The difference between the arrangement example in Figure 13 and the arrangement example in Figure 12 is that the first elastic member 35 is positioned in contact with the operating force sensor 32, and a gap is provided between the first elastic member 35 and the housing 34.

Even when the arrangement examples shown in Figures 11 to 13 are adopted, the effect of suppressing excessive force being applied to the operating force sensor 32 and preventing the assist control from being unexpectedly executed due to disturbances such as vibrations can be obtained.

Furthermore, in the arrangement examples shown in Figures 9 to 13, the protrusion 31d is provided on the opposing surface 31c, but it may also be provided on the housing 34. Figure 14 is a schematic cross-sectional view of the operation detection device 30 showing a modified arrangement of the protrusion 31d.

The difference between the arrangement example in Figure 14 and the arrangement examples in Figures 9 and 10 is that the protrusion 34c is provided not on the opposing surface 31c, but in the region of the housing 34 facing the opposing surface 31c. This protrusion 34c prevents excessive force from being applied to the operating force sensor 32, thereby preventing the assist control from being executed unexpectedly. Furthermore, the protrusion 34c prevents damage to the operating force sensor 32, thus preventing assist control from being performed based on incorrect input due to damage.

The arrangement of the operating force sensor 32, the first elastic member 35, and the second elastic member 36 has been described above. Note that the second elastic member 36, the configuration providing a gap, the protrusion 31d (protrusion 34c), and the slide rail 37 may be adopted as needed, and it is not essential that all of these configurations be adopted in the operating detection device 30.

[Modification 1 of the operation detection device]
The operation detection device used in the door opening/closing control system 10 may be implemented as an attachment-type device installed between the existing door handle and the door body. Figure 15 is a perspective view of the operation detection device according to such modified example 1, and Figure 16 is a schematic cross-sectional view of the operation detection device according to modified example 1.

As shown in Figure 15, the operation detection device 50 according to Modification 1 is a device inserted between the upper connection portion 91a of the handle 91 of the existing door 90 and the door body 92. The operation detection device 50 may also be inserted between the lower connection portion (not shown) of the handle 91 and the door body 92. The operation detection device 50 may also be inserted between the upper connection portion 91a and the door body 92, and between the lower connection portion and the door body 92.

When a user applies force to the handle 91 in the X-axis direction (white arrow in Figure 15), a rotational force is applied to the connection portion 91a around an axis along the Z-axis direction (black arrow in Figure 15). Therefore, the operation detection device 50 detects the rotational force (essentially in the Y-axis direction) applied to the connection portion 91a as the operating force. In other words, in the operation detection device 30, the direction in which the user applies force and the direction in which the force applied to the operating force sensor 32 were both in the X-axis direction; however, in the operation detection device 50, the direction in which the user applies force and the direction in which the force applied to the operating force sensor 52 are different.

As shown in Figure 16, the operation detection device 50 specifically comprises two operating force sensors 52, a housing 54, two first elastic members 55, two second elastic members 56, and a support portion 57. In the operation detection device 50, a handle 91 is used as the operating part. The operation detection device 50 may further include a handle 91.

The housing 54 is a flat plate-shaped member with its edge protruding toward the handle 91 side (positive side in the Y-axis direction), and is attached to the door body 92. Two operating force sensors 52, two first elastic members 55, and two second elastic members 56 are provided on the main surface 54a of the housing 54 facing the handle 91 (connecting portion 91a). A support portion 57 is also provided on the main surface 54a of the housing 54. The housing 54 is formed from, for example, a resin material, but may also be formed from a metal material such as aluminum.

The operating force sensor 52 detects the operating force applied from the connection portion 91a to the housing 54 by the user's manual operation and outputs operating force information indicating the detected operating force. The operating force sensor 52 is mounted on the main surface 54a of the housing 54. When the user applies force along the X-axis direction to the handle 91, the handle 91 rotates slightly around the support portion 57, as the connection portion 91a of the handle 91 is supported by the support portion 57. This allows the operating force sensor 52 to detect an operating force applied from the connection portion 91a to the housing 54, directed towards the negative side in the Y-axis direction. The operating force sensor 52 is, for example, a thin-film pressure sensor, but it may also be a piezoelectric sensor or a strain gauge sensor.

Specifically, the operation detection device 50 includes two operating force sensors 52 located at different positions in the X-axis direction. When the user applies force to the handle 91 in the negative X-axis direction, a force is applied to the operating force sensor 52 located in the negative X-axis direction toward the negative Y-axis direction. When the user applies force to the handle 91 in the positive X-axis direction, a force is applied to the operating force sensor 52 located in the positive X-axis direction toward the negative Y-axis direction. Note that the operation detection device 50 only needs to include at least one operating force sensor 52.

The first elastic member 55 is an elastic member for adjusting the operating force detected by the operating force sensor 52. The first elastic member 55 is positioned on the positive Y-axis side of the operating force sensor 52, in contact with the sensor 52. Specifically, the first elastic member 55 is formed from an elastic resin material (elastomer) such as rubber or urethane, but it may also be a coil spring or the like. The operation detection device 50 only needs to have a number of first elastic members 55 corresponding to the number of operating force sensors 52. In other words, the operation detection device 50 only needs to have at least one first elastic member 55.

The connecting portion 91a has an opposing surface 91b that faces the housing 54 (main surface 54a) in the Y-axis direction, and the operating force sensor 52 and the first elastic member 55 are positioned side by side in the Y-axis direction between the opposing surface 91b and the housing 54. A gap may be provided between the first elastic member 55 and the connecting portion 91a (opposing surface 91b).

The second elastic member 56 is an elastic member for restricting the movement of the connection portion 91a toward the negative side in the Y-axis direction. The second elastic member 56 allows for a certain degree of fixation of the position of the connection portion 91a when the handle 91 is not manually operated, while allowing slight movement of the connection portion 91a when the handle 91 is manually operated. The second elastic member 56 is, for example, a coil spring, with one end in contact with the connection portion 91a of the handle 91 and the other end in contact with the main surface 54a of the housing 54. The second elastic member 56 may be formed from rubber or an elastic resin material. The operation detection device 50 only needs to include at least one second elastic member 56. The second elastic member 56 is, for example, more deformable (softer or less rigid) than the first elastic member 55.

The support portion 57 is provided on the main surface 54a of the housing 54 and forms a space (gap) between the main surface 54a and the handle 91 (connecting portion 91a) for installing the operating force sensor 32 and the first elastic member 55. The support portion 57 is, for example, an elongated member along the Z-axis direction. The support portion 57 acts as a fulcrum (contact point) for slightly rotating the handle 91 (connecting portion 91a) when the user applies a force along the X-axis direction to the handle 91. The support portion 57 can convert the force applied by the user along the X-axis direction to the handle 91 into a force along the Y-axis direction. The support portion 57 is formed from, for example, a resin material, but may also be formed from a metal material such as aluminum. The support portion 57 may be a separate member from the housing 54, or it may be integrally formed with the housing 54.

Similar to the operation detection device 30, this operation detection device 50 can prevent excessive force from being applied to the operation force sensor 52 and prevent the assist control from being executed unexpectedly.

[Modification of operation detection device 2]
The operation detection device used in the door opening/closing control system 10 may be implemented as an attachment-type device mounted on the handle 91. Figure 17 is a perspective view of the operation detection device according to such modified example 2, and Figure 18 is a schematic cross-sectional view of the operation detection device according to modified example 2.

As shown in Figures 17 and 18, the operation detection device 60 according to Modification 2 is a device that is attached to the handle 91 of an existing door 90 so as to wrap around it. Specifically, the operation detection device 60 comprises an operation unit 61, two operation force sensors 62, a housing 64, two first elastic members 65, and four second elastic members 66.

The housing 64 is a partially interrupted cylindrical member that is attached to wrap around the handle 91. The housing 64 covers a portion of the handle 91. The housing 64 is formed from, for example, a resin material, but may also be formed from a metal material such as aluminum.

The operating section 61 is a component that further covers at least a portion of the housing 64 that covers the handle 91 from the outside, and is a component that the user manually operates (gripping) to move the door 90. A space is provided between the operating section 61 and the housing 64, and this space contains two operating force sensors 62, two first elastic members 65, and four second elastic members 66. The operating section 61 is formed of, for example, a resin material, but may also be formed of a metal material such as aluminum.

The operating force sensor 62 detects the operating force applied from the operating unit 61 to the housing 64 by the user's manual operation and outputs operating force information indicating the detected operating force. The operating force sensor 62 is mounted on the opposing surface 61a (the surface facing the housing 64) of the operating unit 61, and can detect the operating force applied from the operating unit 61 to the housing 64 along the X-axis direction. Of the two operating force sensors 62 provided in the operation detection device 60, the operating force sensor 62 located on the negative X-axis side detects the operating force directed towards the positive X-axis side, while the operating force sensor 62 located on the positive X-axis side detects the operating force directed towards the negative X-axis side.

The operating force sensor 62 is, for example, a thin-film pressure sensor, but it may also be a piezoelectric sensor or a strain gauge sensor. The operation detection device 60 is equipped with two operating force sensors 62, but it is sufficient to have at least one operating force sensor 62.

The first elastic member 65 is an elastic member for adjusting the operating force detected by the operating force sensor 62. The first elastic member 65 is attached to the surface of the housing 64 facing the operating force sensor 62. A gap is provided between the first elastic member 65 and the operating force sensor 62. Specifically, the first elastic member 65 is formed from an elastic resin material (elastomer) such as rubber or urethane, but it may also be a coil spring or the like. The operation detection device 60 only needs to have a number of first elastic members 65 corresponding to the number of operating force sensors 62. In other words, the operation detection device 60 only needs to have at least one first elastic member 65.

Furthermore, the operating force sensor 62 and the first elastic member 65 only need to be positioned side by side in the X-axis direction between the opposing surface 61a and the housing 64. Any of the arrangements described using the schematic cross-sectional views in Figures 10 to 13 may be adopted for the specific arrangement of the operating force sensor 62 and the first elastic member 65.

The second elastic member 66 is an elastic member for restricting the movement (position) of the operating part 61 in the X-axis direction. The second elastic member 66 allows for a certain degree of position fixation of the operating part 61 when it is not manually operated, while allowing slight movement of the operating part 61 when it is manually operated. The second elastic member 66 is, for example, a coil spring, with one end in contact with the opposing surface 61a of the operating part 61 and the other end in contact with the outer surface of the housing 64. The second elastic member 66 may be formed from rubber or an elastic resin material. The operation detection device 60 only needs to include at least one second elastic member 66. The second elastic member 66 is, for example, more easily deformable (softer or less rigid) than the first elastic member 65.

Similar to the operation detection device 30, this operation detection device 60 can prevent excessive force from being applied to the operation force sensor 62 and prevent the assist control from being executed unexpectedly.

[Modification 3 of the operation detection device]
In the above embodiment, the door controlled by the door opening/closing control system 10 was a sliding door, but it may also be a swing door. An operation detection device for detecting the operating force applied to a swing door will be described. Figure 19 is a schematic cross-sectional view of the operation detection device according to such modified example 3 when cut along the XY plane, and Figure 20 is a schematic cross-sectional view of the operation detection device according to modified example 3 when cut along the YZ plane.

As shown in Figures 19 and 20, the operation detection device 70 according to Modification 3 is a device inserted between the upper connection portion 101a of the handle 101 of an existing swing door, the door body 102. The operation detection device 70 may also be inserted between the lower connection portion (not shown) of the handle 101 and the door body 102. The operation detection device 70 may also be inserted between the upper connection portion 101a and the door body 102, and between the lower connection portion and the door body 92.

The operation detection device 70 specifically comprises an operation unit 71, two operation force sensors 72, a housing 74, two first elastic members 75, and four second elastic members 76.

The operating section 71 has a connected portion 71a to which the connecting portion 101a of the handle 101 is connected, and a plate portion 71b located inside the housing 74. The operating section 71 is the part to which force is applied by the user's manual operation to move the door 100. The operating section 71 is formed of, for example, a resin material, but may also be formed of a metal material such as aluminum.

The housing 74 accommodates the plate portion 71b of the operating section 71. The housing 74 is attached to the door body 102. The housing 74 is rectangular (box-shaped). The housing 74 is formed from, for example, a resin material, but may also be formed from a metal material such as aluminum.

The operating force sensor 72 detects the operating force applied from the operating unit 71 to the housing 74 by the user's manual operation and outputs operating force information indicating the detected operating force. The operating force sensor 72 is mounted on the inner surface of the housing 74, on the portion facing the opposing surface 71c (first elastic member 75), and can detect the operating force applied from the operating unit 71 to the housing 74 along the Y-axis direction. Of the two operating force sensors 72 provided in the operation detection device 70, the operating force sensor 72 located on the negative Y-axis side detects the operating force directed toward the negative Y-axis direction, while the operating force sensor 72 located on the positive Y-axis side detects the operating force directed toward the positive Y-axis direction.

The operating force sensor 72 is, for example, a thin-film pressure sensor, but it may also be a piezoelectric sensor or a strain gauge sensor. The operation detection device 70 is equipped with two operating force sensors 72, but it is sufficient to have at least one operating force sensor 72.

The first elastic member 75 is an elastic member for adjusting the operating force detected by the operating force sensor 72. The first elastic member 75 is attached to the portion of the operating section 71b (plate section 71b) facing the operating force sensor 72. A gap is provided between the first elastic member 75 and the operating force sensor 72. Specifically, the first elastic member 75 is formed from an elastic resin material (elastomer) such as rubber or urethane, but it may also be a coil spring or the like. The operation detection device 70 only needs to have a number of first elastic members 75 corresponding to the number of operating force sensors 72. In other words, the operation detection device 70 only needs to have at least one first elastic member 75.

Furthermore, the operating force sensor 72 and the first elastic member 75 only need to be positioned side by side in the Y-axis direction between the opposing surface 71c and the housing 74. Regarding the specific arrangement of the operating force sensor 72 and the first elastic member 75, the arrangement described using the schematic cross-sectional views in Figures 10 to 13 may be adopted by simply reinterpreting the X-axis direction as the Y-axis direction.

The second elastic member 76 is an elastic member for restricting the movement (position) of the operating part 71 in the Y-axis direction. The second elastic member 76 allows for a certain degree of positional fixation of the operating part 71 when it is not manually operated, while allowing slight movement of the operating part 71 when it is manually operated. The second elastic member 76 is, for example, a coil spring, with one end in contact with the opposing surface 71c of the operating part 71 and the other end in contact with the inner surface of the housing 74. The second elastic member 76 may be formed from rubber or an elastic resin material. The operation detection device 70 only needs to include at least one second elastic member 76. The second elastic member 76 is, for example, more easily deformable (softer or less rigid) than the first elastic member 75.

Such an operation detection device 70 can prevent excessive force from being applied to the operating force sensor 72 and prevent the assist control from being executed unexpectedly when the door controlled by the door opening/closing control system 10 is a swing door.

Note that the operation detection device 70 is an example of an operation detection device for a swing door. For example, by appropriately modifying the configuration of the operation detection device for a sliding door described above, from a configuration that detects force in the X-axis direction to a configuration that detects force in the Y-axis direction, an operation detection device for a swing door can also be realized.

By the way, when the door opening/closing control system 10 controls the door 100 (swing door), the drive unit has the configuration shown in Figure 21. Figure 21 is a diagram showing the configuration of a drive unit (a modified drive unit) applied to a swing door.

The drive unit 20a shown in Figure 21 is installed on the door 100 (door body 102). The drive unit 20a comprises a control unit 21 and an electric unit 22a. The electric unit 22a includes a motor 23a and an opening/closing arm 24a that opens and closes by the rotation of the movable element of the motor 23a. The door opening/closing control system 10 can perform assist control of the door 100 by replacing the drive unit 20a with the drive unit 20a.

[Modification of the operation detection device 4]
In the above embodiment, a door opening/closing control system 10 and an operation detection device used therein were described. Herein, the operation detection device of the above embodiment can be applied to technology that electrically controls flat plate-shaped members (heavy objects) other than doors according to the operating force.

For example, the operation detection device may be a device for freely moving an electric table or electric ceiling panel, etc., in a direction along the main surface. Figure 22 is a perspective view of the operation detection device according to such modified example 4. Figure 23 is a diagram showing the internal structure of the operation detection device according to modified example 4.

As shown in Figures 22 and 23, the operation detection device 110 according to Modification 4 is a device for freely moving a flat plate-shaped member 120, such as a table or ceiling panel, in a direction along the main surface 120a. Specifically, the operation detection device 110 comprises an operation unit 111, an operation force sensor 112, a housing 114, and a first elastic member 115.

The operating section 111 is a cylindrical part operated by the user and functions as a lever operated by the user. Of the outer circumferential surface (curved surface) of the operating section 111, the portion housed in the housing 114 is the opposing surface 111a facing the housing 114. The operating section 111 is formed from, for example, a resin material, but may also be formed from a metal material such as aluminum.

The housing 114 houses a portion of the operating section 111, the operating force sensor 112, and the first elastic member 115. The housing 114 is attached to a flat plate-shaped member 120. The housing 74 is a hollow cylindrical shape with a space inside for housing the operating force sensor 112, etc. The housing 114 is formed from, for example, a resin material, but may also be formed from a metal material such as aluminum.

The operating force sensor 112 detects the operating force applied from the operating unit 111 to the housing 114 by the user's manual operation and outputs operating force information indicating the detected operating force. The operating force sensors 112 are arranged in a ring shape along the inner circumferential surface (curved surface) of the housing 114. More specifically, multiple operating force sensors 112 are arranged in a circumferential direction along the inner circumferential surface of the housing 114. For example, if four operating force sensors 112 are arranged at 90° intervals, forces applied in four directions can be detected individually for each direction. The operating force sensor 112 is, for example, a thin-film pressure sensor, but it may also be a piezoelectric sensor or a strain gauge sensor.

The first elastic member 115 is an elastic member for adjusting the operating force detected by the operating force sensor 112. The first elastic member 115 is an annular shape that follows the opposing surface 111a (outer circumferential surface) of the operating part 111. A gap may be provided between the first elastic member 115 and the operating force sensor 112. Specifically, the first elastic member 115 is formed from an elastic resin material (elastomer) such as rubber or urethane.

Furthermore, the operating force sensor 112 and the first elastic member 115 only need to be positioned radially aligned between the opposing surface 111a and the housing 114. Regarding the specific arrangement of the operating force sensor 112 and the first elastic member 115, the arrangement described using the schematic cross-sectional views in Figures 10 to 13, with the X-axis direction reinterpreted as the radial direction, may be adopted.

Such an operation detection device 110 can prevent excessive force from being applied to the operation force sensor 112 and prevent the motor control from being executed unexpectedly.

[Effects, etc.]
The following describes examples of inventions that can be obtained from the disclosures in this specification, and explains the effects and other benefits that can be obtained from such inventions.

Invention 1 is an operation detection device comprising a housing provided on a flat plate-shaped member, an operating part having an opposing surface facing the housing in a first direction and to which a force is applied by manual operation for moving the flat plate-shaped member, and a first elastic member and an operating force sensor positioned side by side in the first direction between the opposing surface and the housing. Such operation detection devices include, for example, operation detection device 30, operation detection device 50, operation detection device 60, operation detection device 70, or operation detection device 110. The first direction is the X-axis direction in operation detection device 30 and operation detection device 60, the Y-axis direction in operation detection device 50 and operation detection device 70, and the radial direction in operation detection device 110.

In the operation detection device of Invention 1, since the first elastic member is arranged alongside the operation force sensor, the elasticity of the first elastic member can suppress the application of excessive force to the operation force sensor.

Invention 2 is an operation detection device of Invention 1, wherein the operating force sensor is provided on one of the opposing surfaces and the housing, and a gap is provided between the operating force sensor and the first elastic member in the first direction, or between the first elastic member and the other of the opposing surface and the housing.

In the operation detection device of Invention 2, even if the operating part moves by the amount of this gap in the first direction, no force is applied to the operating force sensor. Therefore, it is suppressed that the operating force sensor will detect an unintended force due to slight movement of the operating part caused by disturbances such as vibration.

Invention 3 is an operation detection device of Invention 1 or 2, further comprising a second elastic member for restricting the movement of the operating part in the first direction.

In the operation detection device of Invention 3, the second elastic member makes it difficult for the operating part to move in the X-axis direction, thereby suppressing the detection of unintended forces by the operating force sensor.

Invention 4 is an operation detection device of Invention 1, wherein the operating force sensor is provided on one of the opposing surface and the housing, a gap is provided between the operating force sensor and the first elastic member in the first direction, or between the first elastic member and the other of the opposing surface and the housing, and the operation detection device further includes a second elastic member for restricting the movement of the operating part in the first direction.

In the operation detection device of Invention 4, even if the operating part moves by the amount of this gap in the X-axis direction, no force is applied to the operating force sensor. Therefore, slight movement of the operating part due to disturbances such as vibration is prevented from causing the operating force sensor to detect a force unintended by the user. Furthermore, in such an operation detection device, the second elastic member makes it difficult for the operating part 31 to move in the X-axis direction, thus preventing the operating force sensor from detecting a force unintended by the user.

Invention 5 is an operation detection device according to any of Inventions 1 to 4, further comprising a protrusion provided on the opposing surface or housing for restricting the amount of movement of the operating part in the first direction.

In the operation detection device of Invention 5, the protrusion prevents excessive movement of the operating part, and as a result, prevents excessive force from being applied to the operating force sensor.

Invention 6 is an operation detection device according to any of Inventions 1 to 5, further comprising a guide structure that restricts the movement direction of the operating part in a first direction. In the above embodiment, the guide structure is a slide rail 37.

In the operation detection device of Invention 6, the guide structure restricts the movement direction of the operating part to the first direction, thereby stabilizing the force applied to the operating force sensor.

Invention 7 is an operation detection device according to any of Inventions 1 to 6, wherein the operating section has a groove into which the user inserts their hand for manual operation.

In the operation detection device of Invention 7, the user can apply force to the operation part by manually operating the groove.

Invention 8 is an operation detection device according to any of Inventions 1 to 6, wherein the operating section has a handle that the user grasps for manual operation.

In the operation detection device of Invention 8, the user can apply force to the operating part by manually operating the handle.

Invention 9 is an operation detection device of any of Inventions 1 to 8, wherein the user applies a force along a first direction to the operating part through manual operation. Such operation detection devices include, for example, operation detection device 30, operation detection device 60, operation detection device 70, or operation detection device 110.

The operation detection device of Invention 9 can detect the force applied to the operating part along a first direction using a first elastic member and an operation force sensor positioned side by side in the first direction.

Invention 10 is an operation detection device according to any of Inventions 1 to 8, in which the user applies a force to the operating part along a second direction different from the first direction through manual operation. Such an operation detection device is, for example, an operation detection device 50 that, by having a support part 57, can convert a force along the X-axis direction (an example of the second direction) into a force along the Y-axis direction (the first direction) and detect it.

The operation detection device of Invention 10 can detect the force applied to an operating part moving along a second direction using a first elastic member and an operating force sensor positioned side-by-side in a first direction different from the second direction.

Invention 11 is an operation detection device according to any of Inventions 1 to 6, wherein a flat plate-shaped member is provided with a handle, the housing covers a portion of the handle, and the operating part covers at least a portion of the housing. Such an operation detection device is the operation detection device 60 in the above embodiment.

The operation detection device of Invention 11 can be attached to an existing flat plate-shaped member.

Invention 12 is an operation detection device of any of Inventions 1 to 11, wherein the flat plate-shaped member is a sliding door. Such an operation detection device is, for example, operation detection device 30, operation detection device 50, or operation detection device 60.

The operation detection device of Invention 12 can be used in a door control system that controls a sliding door.

Invention 13 is an operation detection device of any of Inventions 1 to 11, wherein the flat plate-shaped member is a swing door. Such an operation detection device is, for example, an operation detection device 70.

The operation detection device of Invention 13 can be used in a door control system that controls a swing door.

Invention 14 is a door opening and closing control system comprising an operation detection device according to any of Inventions 1 to 13, an electric unit that supplies power to the door for opening and closing a door which is a flat plate-shaped member, and a control unit that performs drive control to the electric unit based on the force applied from the operation unit to the housing detected by a sensor. Such a door opening and closing control system is, for example, Door Opening and Closing Control System 10.

The door opening and closing control system of Invention 14, by incorporating an operation detection device, prevents excessive force from being applied to the operation force sensor, thereby preventing the door from opening or closing unexpectedly.

(Other embodiments)
Although embodiments have been described above, the present invention is not limited to the embodiments described above.

For example, in the above embodiment, the door opening/closing control system was implemented by multiple devices. When the door opening/closing control system is implemented by multiple devices, the components of the door opening/closing control system may be distributed among the multiple devices in any way. Alternatively, the door opening/closing control system may be implemented by a single device. For example, the door opening/closing control system may be implemented as a single device corresponding to a drive unit.

Furthermore, in the above embodiment, the processing performed by a specific processing unit may be performed by another processing unit. Also, the order of multiple processing steps may be changed, or multiple processing steps may be executed in parallel.

Furthermore, in the above embodiment, each component may be realized by executing a software program suitable for that component. Alternatively, each component may be realized by a program execution unit, such as a CPU or processor, reading and executing a software program recorded on a recording medium, such as a hard disk or semiconductor memory.

Furthermore, each component may be implemented by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or they may be separate circuits. Also, each of these circuits may be a general-purpose circuit or a dedicated circuit.

Furthermore, general or specific embodiments of the present invention may be implemented as a system, apparatus, method, integrated circuit, computer program, or recording medium such as a computer-readable CD-ROM. Also, general or specific embodiments of the present invention may be implemented as any combination of a system, apparatus, method, integrated circuit, computer program, and recording medium.

For example, the present invention may be implemented as a door opening and closing control method executed by a computer, such as the door opening and closing control system of the above embodiment. Alternatively, the present invention may be implemented as a program for causing a computer to execute the door opening and closing control method. The present invention may also be implemented as a computer-readable non-temporary recording medium on which such a program is stored. Furthermore, the present invention may be implemented as a door device comprising the operation detection device of the above embodiment and a door (door body).

Furthermore, the present invention also includes forms obtained by applying various modifications to each embodiment as conceived by those skilled in the art, or forms realized by arbitrarily combining the components and functions of each embodiment without departing from the spirit of the present invention.

10 Door opening and closing control system 21 Control unit 22, 22a Electric unit 30, 50, 60, 70, 110 Operation detection device 31, 61, 71, 111 Operation unit 31b Groove 31c, 61a, 71c, 91b, 111a Opposing surface 31d Protrusion 32, 52, 62, 72, 112 Operating force sensor (sensor)
34, 54, 64, 74, 114 Housing 34c Protrusion 35, 55, 65, 75, 115 First elastic member 36, 56, 66, 76 Second elastic member 37 Slide rail (guide structure)
80, 90, 100 Doors (flat plate-shaped components)
91, 101 Handle 120 Flat plate-shaped member

Claims (13)

A housing provided on a flat plate-shaped member that moves along a first direction ,
An operating section having an opposing surface facing the housing in the first direction, to which a force is applied by manual operation for moving the flat plate-shaped member,
Between the opposing surface and the housing, there is a first elastic member and a sensor positioned in the first direction,
The sensor is an operation detection device that detects the force applied from the operating unit to the housing by the manual operation via the first elastic member. The sensor is provided on either the opposing surface or the housing,
An operation detection device according to claim 1, wherein a gap is provided between the sensor and the first elastic member in the first direction, or between the first elastic member and the other of the opposing surface and the housing. Furthermore, the operation detection device according to claim 1 further comprises a second elastic member for restricting the movement of the operation unit in the first direction. The sensor is provided on either the opposing surface or the housing,
A gap is provided between the sensor and the first elastic member in the first direction, or between the first elastic member and the opposing surface and the other of the housing.
The operation detection device according to claim 1, further comprising a second elastic member for restricting the movement of the operation unit in the first direction. Furthermore, the operation detection device according to claim 1 is further provided with a protrusion on the opposing surface or the housing that restricts the amount of movement of the operation unit in the first direction. Furthermore, the operation detection device according to claim 1, further comprising a guide structure that restricts the direction of movement of the operation unit to the first direction. The operation detection device according to claim 1, wherein the operation unit has a groove into which the user inserts their hand to perform the manual operation. The operation detection device according to claim 1, wherein the operation unit has a handle that the user grasps to perform the manual operation. The operation detection device according to claim 1, wherein the user applies a force along the first direction to the operation unit by the manual operation. The aforementioned flat plate-shaped member is provided with a handle.
The housing covers a portion of the handle,
The operation detection device according to claim 1, wherein the operation unit covers at least a portion of the housing. The operation detection device according to claim 1, wherein the flat plate-shaped member is a sliding door. The operation detection device according to claim 1, wherein the flat plate-shaped member is a swing door. An operation detection device according to any one of claims 1 to 12 ,
An electric unit that supplies power to the door, which is the flat plate-shaped member, for opening and closing the door,
A door opening and closing control system comprising: a control unit that performs drive control to the electric unit based on the force applied from the operating unit to the housing detected by the sensor.