| 摘要 |
PROBLEM TO BE SOLVED: To always pleasantly control a door, by outputting a collision detection signal when one of a plurality of detecting means corresponding to respective zones of an acceleration zone, a high speed zone, a deceleration zone, and a low speed zone of the door has detected an obstacle. SOLUTION: A controller 1 to control a motor 4 opening or closing doors 2a, 2b accelerates the door at first and transfers it at a high speed subsequently to the accelaration zone and decelerates it subsequently to the high speed zone and finally transfers it at a low speed. The controller 1 monitors the revolution number (transfer speed of the doors 2a, 2b) of the motor 4 or the driving voltage for instance in accordance with respective transfer zones and detects that the doors have collided with some obstacles during the transfer. When one of these detectors against obstacles detects that the doors 2a, 2b have collided with an obstacle, a collision detection signal is output. In this way, obstacles can be securely detected in the whole transfer zone of the doors and hence, the doors can be pleasantly controlled. |
