JP2004332483A - Opening/closing system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an opening/closing system with an opening/closing element to be moved on a predetermined track for performing opening/closing operation, having further improved user-friendliness. <P>SOLUTION: The opening/closing system comprises a movement detecting means for detecting the movement of the opening/closing element to a given reference position set on the track, an object existence or not inspecting means for inspecting the existence or not of an object which interrupts the movement of the opening/closing element, and an object existence or not inspection control means for controlling the inspection by the object existence or not inspecting means depending on the setting of the reference position. It is desirable that the movement detecting means has a position estimating portion for estimating the position of the opening/closing element on the track in a certain estimating method. Furthermore, the object existence or not inspecting means is desirably arranged around the track and has a sensor portion for sensing the object. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an opening / closing system, and is applied to, for example, an operation control system such as a shutter, a door, a window, an overhead door, a gate, a gate (a gate of a parking lot or the like), a roll screen (for example, a light shielding curtain), a blind, and an awning device. What you get.
[0002]
[Prior art]
An electric shutter that opens and closes a shutter using a motor as a power source has a function of performing opening and closing operations by electric control using electric power as a power source.
[0003]
By counting the number of encoder pulses output from the motor portion, parameters such as the moving distance and position of the shutter due to the opening operation (or the closing operation) can be recognized, and when the parameter reaches a predetermined value, the opening operation ( Alternatively, by stopping the closing operation, the shutter operation can be automatically stopped at a desired operation end position (limit position).
[0004]
Next, when the operation in the opposite direction to the opening operation (or the closing operation), that is, the closing operation (or the opening operation) is performed, basically, the operation ending position becomes a new operation starting position, and the operation starting position is changed. Becomes a new operation end position (limit position).
[0005]
As a document related to the electric shutter, there is the following Patent Document 1.
[0006]
[Patent Document 1]
JP 2000-274166 A
[0007]
[Problems to be solved by the invention]
However, in a conventional electric shutter, a photoelectric sensor that senses an obstacle may be arranged at the lower end of the shutter that closes in order to prevent an obstacle or the like from being caught.
[0008]
In order for the photoelectric sensor to properly detect an obstacle, it is necessary to inspect a space near the movement destination of the lower end of the shutter that closes, so that the lower end of the shutter or the shutter curtain itself is detected as an obstacle. May be lost. When an obstacle is sensed, for example, the shutter closing operation is stopped at that time, or an obstacle-corresponding operation such as reversing and starting the opening operation is performed. In the position where the shutter lower end or the shutter curtain may be sensed as an obstacle (photoelectric sensor limit position), it is necessary to prevent an operation corresponding to the obstacle by disabling the function of the photoelectric sensor. is there.
[0009]
However, setting the photoelectric sensor limit position at the time of installing or operating the shutter imposes a heavy work load on a setting worker or an administrator who performs the setting work, and is not sufficiently convenient.
[0010]
The above-mentioned problems are common not only to shutters such as seat shutters, garage shutters, and window shutters, but also to other opening and closing systems such as doors, windows, and overhead doors.
[0011]
An object of the present invention is to provide an opening / closing system capable of reducing a work load and increasing convenience.
[0012]
[Means for Solving the Problems]
In order to solve such a problem, according to the present invention, in an opening / closing system that performs an opening / closing operation by moving an opening / closing body on a predetermined track, the opening / closing body moves to a predetermined reference position set on the track. Movement detection means for detecting the presence of an object, an object presence / absence inspection means for inspecting the presence / absence of an object which hinders movement of the opening / closing body, and controlling the inspection by the object presence / absence inspection means according to the setting of the reference position. Object existence inspection control means.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
(A) Embodiment
Hereinafter, an embodiment will be described with an example in which the opening / closing system according to the present invention is applied to a remote control system (remote control system) for a seat shutter.
[0014]
In the present embodiment, the remote control system is a mixed system in which a wired remote control system and the wireless remote control system are mixed.
[0015]
Here, the wired remote control system is a remote control system that includes a shutter system as a component, and performs a shutter operation by wired communication.
[0016]
In general, the wireless remote control system is advantageous in that the shutter operation can be performed from an unspecified position that is distant from a distance, and the usability is good, and the reliability and reliability of communication, and the shutter operation is always performed at a specific position. The wired remote control system is suitable for the case where the user wants to specify.
[0017]
Further, if the same shutter system can be controlled by wire or wirelessly, the flexibility is high and it is possible to use either method depending on the user's convenience. Therefore, an actual remote control system is often a mixed system in which the features of the wireless remote control system and the wired remote control system are mixed.
[0018]
The remote operation system according to the present embodiment includes, as an operation mode relating to a shutter operation, an electric operation mode in which a power-supplied motor is used as a power source and an opening / closing operation is performed by electric control, and an opening / closing operation using a manual power source by a user manually. Two modes of the manual operation mode for performing the operation may be provided. In the following description, the electric operation mode will be described.
[0019]
Further, as the operation mode from the viewpoint of the user instructing the shutter operation in the electric operation mode, a limited operation mode in which the shutter operation is performed according to the user's operation only while the user keeps pressing an operation switch described later, If the operation switch is pressed, there may be a non-restricted operation mode in which the shutter operation is automatically performed according to the operation even if the operation switch is not pressed, but in the following description, only the non-restricted operation mode is assumed for simplicity. .
[0020]
(A-1) Configuration of the embodiment
FIG. 2 shows an overall configuration example of the remote control system 10 for the seat shutter.
[0021]
2, the remote control system 10 includes a storage processing device 11, a remote control transmitter 12, a seat shutter 13, an opening 15 opened and closed by the seat shutter 13, an optical transmitter, Optical receivers 16A and 16B (17A and 17B) and guide rail GR are provided.
[0022]
The seat shutter 13 is a shutter mainly composed of a sheet-shaped curtain portion made of a light material such as polyester, unlike the slat shutter provided with many slats made of metal such as iron. Since the material of the seat shutter 13 is lightweight, the moment of inertia that can act on the output shaft of a motor (not shown) that supplies a torque serving as a power source for the opening and closing operation of the shutter 13 is small, and high-speed opening and closing operation is possible. Can be easily realized. As an example, the motor may be, for example, an AC servomotor, and may rotate at a speed of about 3000 rotations per second when the seat shutter 13 performs an opening operation (or a closing operation). In the present embodiment, in order to save the function due to the structural difficulty due to the fact that the shutter curtain portion is made of a fragile material (compared to a slat shutter or the like), load sensing based on torque fluctuation of the motor is performed. Shall not be performed.
[0023]
Since the high-speed opening and closing are possible, it is possible to quickly close the shutter immediately after the shutter is opened, etc., so that the space SP1 and the space SP2 partitioned by the shutter 13 can keep heat, cool, dust-proof, insect-proof, etc. Can be expected to improve.
[0024]
In FIG. 2, the shutter 13 is closed by a closing operation in which the lower end 13A moves in the direction of arrow D1 (downward) along the guide rail GR provided on the wall WL, and conversely, in the direction of arrow D2 (upward). It is opened by the moving opening operation. In the state shown in FIG. 2, the shutter 13 is at an intermediate position between the fully closed state and the fully opened state.
[0025]
FIG. 6 is an enlarged view of a horizontal section when the guide rail GR is viewed from above.
[0026]
As shown in FIG. 6, the right end 13B of the seat shutter 13 moves in the direction of the arrow D1 or the direction of the arrow D2 perpendicular to the plane of FIG. 6 while being inserted into the guide opening GRA which is the opening of the guide rail GR. The same applies to the relationship between the left end of the seat shutter 13 (not shown) and the guide rail.
[0027]
That is, an optical transmitter 17A is provided inside the right end guide rail GR, and an optical receiver (optical sensor) 17B is provided inside the left end guide rail. An optical transmitter 16A is provided outside (but in the vicinity of) the right end guide rail GR, and an optical receiver (light sensor) 16B is provided outside the left end guide rail. These devices 16A, 16B, 17A, and 17B function to detect an obstacle using light (for example, OL1) and the action of the obstacle (for example, light blocking by the obstacle).
[0028]
In order to detect an obstacle, various physical phenomena can be used. For example, ultrasonic waves, temperature, vibration, and the like can be used. Here, light is used. In addition, there are various methods of detecting obstacles using light, depending on what physical action that occurs between light and the obstacle is used to detect an obstacle. For example, it is possible to detect an obstacle by using light reflected on the surface of the obstacle and returned. However, in the present embodiment, shielding is used.
[0029]
In the present embodiment using shielding, the light OL1 transmitted from the optical transmitter (for example, 17A) is normally received by the optical receiver (photoelectric sensor) 17B paired with the optical transmitter 17A. When an obstacle appears on the propagation path of the light OL1, the light OL1 is blocked by the obstacle, and the light OL1 is not received by the optical receiver 17B. As a result, an electric signal obtained by photoelectrically converting the received light OL1 and output from the photoelectric sensor 17B cannot be obtained (or the state of the electric signal changes), and the storage processing device 11 detects an obstacle. It is to detect.
[0030]
When the storage processing device 11 detects an obstacle, a predetermined obstacle handling operation is performed. As the obstacle handling operation, for example, as described above, the closing operation of the shutter 13 is stopped at that time, or the opening operation is started after the shutter 13 is inverted. Thereby, it is possible to prevent the shutter lower end portion 13A from abutting on an obstacle, and prevent the shutter 13 side and the obstacle side from being damaged by this abutment.
[0031]
However, if a similar obstacle handling operation is performed even when the shutter 13 blocks the light OL1 instead of the obstacle, the shutter 13 cannot be completely closed. When the closing operation is performed from a very high position (for example, the fully open position), the shutter lower end 13A may have the height HT0 of the optical transmitter 17A (the height of the optical receiver 17B may be basically the same as HT0). ) Must be controlled so as not to execute the obstacle handling operation until the position (corresponding to the photoelectric sensor limit position) just before reaching the position. This means that the obstacle monitoring is stopped when the height of the lower end portion 13A becomes equal to or less than HT0.
[0032]
Although various methods for realizing such control are conceivable, it is easy to realize by information processing performed inside the storage processing device 11.
[0033]
The relationship between the optical transmitter 16A and the optical receiver (photoelectric sensor) 16B forming a separate pair from the pair of the optical transmitter 17A and the optical receiver 17B (optical transmission / reception pair) is also described. The relationship is the same. Since the effect of each optical transmission / reception pair is basically the same, it is possible to detect an obstacle even if only one of the optical transmission / reception pairs is prepared, but here, two optical transmission / reception pairs are prepared. are doing.
[0034]
The light OL1 transmitted from the optical transmitter 17A disposed inside the guide rail GR to the optical receiver 17B receives the lower end 13A and the right end 13B when the lower end 13A of the shutter has reached the height HT0 or less. The light OL2 transmitted from the optical transmitter 16A disposed outside the guide rail GR to the optical receiver 16B is not blocked by the shutter 13, whereas the shutter 13 includes the shutter 13. I do. However, since the sheet-like curtain portion made of polyester or the like is mechanically flexible and easily bends due to wind pressure or the like, it is necessary to prevent the shutter 13 from blocking the light OL2 even when the bend occurs. For example, it is necessary to keep the distance L1 between the shutter 13 and the optical transmitter 16A (optical receiver 16B) sufficiently long.
[0035]
If the configuration is such that the light OL2 is not blocked by the shutter 13, even if the height of the shutter lower end 13A becomes lower than the HT0, it is possible to continue monitoring the obstacle using the light OL2. It is possible. In this case, it is desirable to arrange the optical transmitter 16A at a position lower than the optical transmitter 17A so that the light OL2 propagates at a position lower than the light OL1.
[0036]
However, since the light OL2 is separated from the shutter 13 by the distance L1 in the horizontal plane, there is a possibility that an obstacle existing at a position not in contact with the lower end portion 13A may be sensed. On the other hand, in the obstacle detection by the light OL1 having almost no distance from the shutter 13 in the horizontal plane, only the obstacle existing at a position in contact with the lower end 13A is detected unless the light OL1 is blocked by the shutter 13. There are advantages that can be.
[0037]
In order to compensate for the disadvantages of the two and effectively utilize the advantages, when the position of the lower end 13A of the shutter 13 that closes is higher than the height HT0, the light OL1 (or both the light OL1 and OL2) is used to obstruct the obstacle. When sensing is performed and the height is equal to or less than HT0, it is effective to perform obstacle sensing using only the light OL1.
[0038]
When the seat shutter is closed toward the completely closed position, when the height of the lower end 13A becomes a predetermined value (for example, about 30 cm) or less, the power supply to the motor is stopped, and the shutter is closed for about 30 cm. In many cases, the optical fiber is moved by utilizing the inertia of the optical fiber. However, in connection with such a structure, the use of two optical transmission / reception pairs may be effective.
[0039]
On the other hand, the user U1 who performs the opening / closing operation of the shutter 13 or the like operates the fixed operation unit (operation panel) 14 fixedly installed on the wall WL or operates the remote control transmitter 12 to obtain a desired operation. An operation (including a change of the intermediate position as required) can be performed.
[0040]
The remote control transmitter 12 has, for example, an appearance as shown in FIG. The remote control transmitter 12 is a palm-sized transmitter that is highly portable and compact enough to fit in the palm of the user U1. In order to accommodate all the functions in the compact main body 12A, the functions of the remote controller 12 need to be reduced to the utmost.
[0041]
3, the main body 12A of the remote control transmitter 12 includes three operation switches 51 to 53 of a PBS (push button switch) type projecting from the upper surface thereof. These operation switches 51 to 53 are shutter operation switches capable of performing a shutter operation (generally, operations such as opening, closing, and stopping an opening / closing body).
[0042]
In the present embodiment, among the shutter operation switches 51 to 53, the shutter operation switch 51 is an opening operation switch for performing the opening operation of the shutter 13, and the shutter operation switch 52 is for performing the closing operation of the shutter 13. The shutter operation switch 53 is a stop switch for stopping the opening operation or the closing operation of the shutter 13 at an arbitrary timing.
[0043]
As described above, in the present embodiment, since only the non-restricted operation mode is assumed, if the user U1 presses the operation switch 51 once, for example, the user U1 automatically automatically operates without continuously pressing the operation switch 51. Then, the shutter 13 shifts to a completely open state in which the lower end 13A reaches the upper end of the opening 15, and stops. The height of the opening 15 is HT1.
[0044]
As a function of each of the operation switches 51 to 53, for example, by simultaneously pressing the closing operation switch 52 and the stop switch 53 for a short time (for example, within 3 seconds), the opening operation and the closing operation up to a predetermined intermediate position (intermediate stop position) are performed. It is also desirable to be able to instruct (ie, an intermediate stop operation).
[0045]
If necessary, more complex operations can be performed by combining the operations of these operation switches 51 to 53 according to combinations other than 52 and 53. As an example, when the shutter 13 is a slat shutter or the like, the ventilation operation (by controlling the size of the opening provided between the adjacent slats, the air inside and outside the shutter can be circulated from a state where it cannot be circulated). An operation of shifting to a state of obtaining) corresponds to the complicated operation.
[0046]
When setting the photoelectric sensor limit position, for example, by simultaneously pressing the three operation switches 51 to 53 for a long time (for example, 3 seconds or more) while the shutter lower end 13A is stopped at a desired position, The position of the shutter lower end 13A at that time may be set as the photoelectric sensor limit position.
[0047]
FIG. 4 shows an example of the internal configuration of the remote control transmitter 12.
[0048]
(A-1-1) Internal configuration example of remote control transmitter
4, the remote control transmitter 12 includes a wireless transmission unit 54, a transmission processing unit 55, a processor 56, a procedure storage unit 57, an operation detection unit 58, and an operation response unit 59. 53 are provided in the operation detection unit 58.
[0049]
The wireless transmission unit 54 is a portion of the storage processing device 11 that constitutes the remote control receiver and faces a later-described wireless reception unit 41 (see FIG. 1) via the space TR as the wireless transmission path illustrated in FIG. Then, a wireless signal WL1 corresponding to the transmission signal WS received from the transmission processing unit 55 via a predetermined signal line is wirelessly transmitted. For this purpose, the wireless transmission unit 54 includes a transmission antenna system, a filter circuit, and the like. The wireless signal WL1 may be a weak radio wave whose frequency band is, for example, about 300 MHz or 400 MHz and whose transmission power is, for example, about 1 mW.
[0050]
Further, the transmission processing unit 55 has a function of executing necessary processing such as encoding processing and modulation processing, and changes the content of the generated transmission signal WS according to the transmission processing signal RP supplied from the processor 56. .
[0051]
In the case of the remote control transmitter 12, the content of the transmission signal WS is, for example, a finite number determined according to the type of a designated shutter operation, ID registration operation, or the like. The source may be, for example, a ROM (Read Only Memory), also inside the transmission processing unit 55, and selects and reads one piece of transmission information from the source according to the transmission processing signal RP. It may be a configuration.
[0052]
Here, the ID uniquely identifies a remote control transmitter that is likely to be confused with the storage processing device 11 as the remote control receiver because the same frequency band is used, and the ID is truly identified as the storage processing device. 11 is an identifier used for performing an operation of the shutter 13 and the like based on only the wireless signal WL1 transmitted from the remote control transmitter of the user who can wirelessly transmit to the wireless communication device 11. Therefore, the remote control transmitter 12 needs a certification mechanism (not shown) for accommodating the ID in the wireless signal WL1 every time the wireless transmission is performed, and the storage processing device 11 identifies the ID and performs user authentication. A verification mechanism (not shown) for performing (or terminal authentication) is required.
[0053]
In addition, in the case of a sheet shutter, it is often disposed inside a building such as a factory on a wall (corresponding to the WL) that separates one room from another, and is mechanically more vulnerable than a slat shutter or the like. Considering that the security function is originally weak, in an environment where there is no other remote control transmitter within the reception range of the storage processing device 11 and the shutter operation can be truly performed as intended by the user U1, It is thought that there is little trouble even if the mechanism and the verification mechanism are omitted.
[0054]
The processor 56 that outputs the transmission processing signal RP to the transmission processing unit 55 is the CPU (central processing unit) of the remote control transmitter 12.
[0055]
The operation detection unit 58 provided with the three operation switches 51 to 53 described above, which is the only remote operation means for the user U1 who operates the remote control transmitter 12 whose functions have been reduced to the utmost, This portion outputs operation detection signals PB1 and PB2 when the depression stroke reaches a predetermined length.
[0056]
The operation detection signal PB1 takes a different state according to the operation switch that has detected the depression, and the operation procedure is temporarily stored in the procedure storage unit 57.
[0057]
The procedure storage unit 57 is a part that determines what operation or input data is specified by the procedure that is temporarily stored, and supplies a determination signal DS that is the result of the determination to the processor 56.
[0058]
At the same time as the operation detection signal PB1 is supplied to the procedure storage unit 57, the operation detection signal PB2 supplied to the operation response unit 59 also has a different state according to the operation switch that has detected the depression, similarly to the PB1. However, in the present embodiment, the operation switches 51 to 53 are in the same state without distinction.
[0059]
The operation response unit 59 that has received the operation detection signal PB2 is a sound generator such as a buzzer, and outputs a response output RA to inform the user U1 that the depression of the operation switches 51 to 53 has been effectively detected. Part. In the present embodiment, since the operation switches 51 to 53 are not distinguished, if any one of the operation switches is sufficiently pressed down, the user U1 hears a buzzer sound of a constant pitch and a constant tone as the response output RA. Thereby, the user U1 can aurally confirm the validity of the switch operation.
[0060]
For example, unlike a personal computer having an abundant user interface, the remote controller transmitter 12 that requires a high degree of portability can reduce the functions to the limit from the viewpoint of saving the functions described above. It is important to efficiently check whether or not the user's operation is recognized by the machine (the remote control transmitter 12 in this case) with a simple configuration.
[0061]
Here, the response output RA of the operation response section 59 is a constant pitch and a constant tone buzzer sound. However, if necessary, the pitch is determined according to the combination of the pressed operation switches 51 to 53 or the combination of the simultaneously pressed operation switches. Alternatively, the tone or tone may be changed. The user U1 is notified that the operation of the operation switch is effectively detected by a visual means using not only an auditory means by the sound generator but also a light emitting element such as an LED (light emitting diode). Alternatively, visual means and auditory means may be used in combination.
[0062]
A configuration example of a main part of the storage processing device 11 that receives the wireless signal WL1 from the remote control transmitter 12 is as shown in FIG.
[0063]
(A-1-2) Example of internal configuration of storage processing device
1, the storage processing device 11 includes photoelectric sensors 16B and 17B, an intermediate position storage unit 19, an upper limit position storage unit 20, a lower limit position storage unit 21, a scheduled invalid position storage unit 22, an individual invalid position, Storage unit 23, operation direction storage unit 24, procedure storage unit 31, operation detection unit 32, operation response unit 36, motor control unit 39, wireless reception unit 41, reception processing unit 42, control unit 43.
[0064]
The wireless receiving unit 41 includes a receiving antenna system, a filter circuit, a power amplifier, and the like. The wireless receiving unit 41 receives the wireless signal WL1 wirelessly transmitted by the remote control transmitter 12, and performs the transmission according to the received wireless signal WL1. Outputs reception signal WS corresponding to signal WS.
[0065]
The reception processing unit 42 has a function of performing necessary processing such as decoding processing and demodulation processing symmetrical to the transmission processing unit 55, and receives the received signal WS supplied from the wireless reception unit 41. The corresponding reception processing signal RP is output to the processor 43.
[0066]
Note that the procedure storage unit 31 corresponds to the procedure storage unit 57, the operation detection unit 32 corresponds to the operation detection unit 58, and the operation response unit 36 corresponds to the operation response unit 59, and thus detailed description is omitted. I do.
[0067]
Further, the operation switch 33 provided in the operation detection unit 32 corresponds to the operation switch 51, the operation switch 34 corresponds to the operation switch 52, and the operation switch 35 corresponds to the operation switch 53.
[0068]
The motor control unit 39 is not strictly a part of the storage processing device 11, but a part disposed outside the storage processing device 11 and in the vicinity of the motor. Controls the operation of the motor as the power source. An encoder pulse output according to the rotation amount of the output shaft of the motor is also supplied to the control unit 43 as a signal S39 from an encoder built in the motor control unit 39.
[0069]
The photoelectric sensors 17B and 16B do not need to be a part of the storage processing device 11 similarly to the motor control unit 39.
[0070]
The control unit 43 is a CPU of the storage processing device 11 and controls the motor control unit 39 using the signal S39 transmitted in the opposite direction to the above, and responds to a desired opening operation, closing operation, stop, or the like. Make the motor perform the operation.
[0071]
In the case of the sheet shutter 13, it is mechanically fragile as described above from the viewpoint of the material and the like. Therefore, if the shutter 13 moves in the direction of the arrow D <b> 2 and becomes fully open, the shutter storage box (FIG. The shutter curtain may be mechanically damaged by an impact when the shutter 13 is stored in the shutter 13 (not shown), and it is necessary to reduce the rotation speed of the output shaft of the motor slightly before the shutter is completely opened. Conversely, when the motor is moved in the direction of arrow D1 to be in the completely closed state, the power supply to the motor is stopped shortly before reaching the completely closed state (for example, at the height of 30 cm described above), so that the remaining The stroke utilizes a phenomenon in which the speed of movement of the shutter 13 due to inertia or gravity naturally decelerates due to air resistance, friction, or the like.
[0072]
Such control is automatically performed based on the speed information stored in the speed information storage unit (not shown), that is, by the determination of the control unit 43 itself without instructions from humans or external devices. It is what is done.
[0073]
On the other hand, the five types of storage units 19 to 23 out of the six types of storage units 19 to 24 included in the storage processing device 11 need to retain the stored contents even when the power supply to the storage processing device 11 is stopped. Therefore, it is necessary to be configured by a nonvolatile storage means such as a ROM. In particular, when the stored contents need to be rewritten, a storage means such as an EEPROM (Electrically Erasable Programmable ROM) which has non-volatility and can be easily rewritten may be used.
[0074]
However, the method of using the position storage units 19 to 21 among these storage units changes depending on the method of forming recognition regarding the position (or moving distance) of the shutter 13 which is internally executed by the storage processing device 11.
[0075]
In either recognition forming method, the counter 43A in the control unit 43 detects the position (or the moving distance) of the shutter 13, that is, the shutter lower end 13A, according to the count value obtained by counting the number of encoder pulses. The timing at which the movement of the shutter 13 is stopped can be determined. Specific methods include a continuous counting method and a discontinuous counting method.
[0076]
In the continuous counting method, the count value at the end of the previous shutter operation is stored (this storage is also performed using a storage unit such as an EEPROM), and is used as the count value at the start of the current shutter operation. In the discontinuous counting method, the count value at the end of each shutter operation is not stored, and the count value at the start of each shutter operation is reset to a constant initial value (here, this is set to 0). is there.
[0077]
FIG. 9A shows an operation example using the continuous counting method, and FIG. 9B shows an operation example using the discontinuous counting method. In both FIGS. 9A and 9B, the operation is shifted from the completely closed state to the fully opened state by performing the opening operation (EA1, EB1), and is performed from the fully opened state to the completely closed state by performing the closing operation (EA2, EB1). , The opening operation (EA3, EB3) from the completely closed state to the intermediate position is performed, and finally the closing operation (EA4, EB4) is performed from the intermediate position to move to the completely closed state. ing.
[0078]
Hereinafter, the description will be given taking this continuous counting method as an example.
[0079]
In the case of the continuous counting method, in the example of FIG. 9A, the upper limit position data LUP stored in the upper limit position storage unit 20 is 10000, and the lower limit position data LUP stored in the lower limit position storage unit 21. LUN is 0, and the intermediate position data INT stored in the intermediate position storage unit 19 is 5000.
[0080]
However, the counting of the encoder pulse by the counter 43A is a process of incrementing each time an encoder pulse is supplied in the case of an opening operation in which the shutter lower end portion 13A moves in the direction of arrow D2, and conversely, in the direction of arrow D1. In the case of a moving closing operation, the process is to decrement each time an encoder pulse is supplied.
[0081]
In this case, if the user U1 in the non-restricted operation mode, for example, presses the operation switch 51 to indicate an opening operation, the shutter 13 automatically shifts from the completely closed state (or the intermediate position) to the completely open state, It stops automatically when it shifts to the fully open state.
[0082]
The automatic stop can be performed because the control unit 43 detects that the count value of the counter 43A at that time matches the value of the upper limit position data LUP stored in the upper limit storage unit 20.
[0083]
Similarly, the control unit 43 closes the shutter 13 by detecting that the count value of the counter 43A matches the value of the lower limit position data LUN stored in the lower limit storage unit 21 (the fully closed position). ) Automatically stops the shutter 13 by detecting that the count value of the counter 43A coincides with the value of the intermediate position data INT stored in the intermediate position storage unit 19. It can be stopped automatically at the position.
[0084]
The operation performed by the control unit 43 using the scheduled invalid position data VP0 stored in the scheduled invalid position storage unit 22 and the individual invalid position data VP1 stored in the individual invalid position storage unit 23 is basically the same. is there. However, the operation performed by the control unit 43 using the invalid position data VP0 and VP1 is not to stop the shutter 13 at the position specified by the invalid position data, but to set the shutter lower end 13A to the position specified by the invalid position data. , The electric signal (obstacle detection signal) S17B supplied from the photoelectric sensor 17B is invalidated.
[0085]
If invalidated, the control unit 43 ignores the electric signal S17B even if the electric signal S17B indicates a state indicating obstacle detection. As a result, even if the shutter 13 blocks the light OL1, the obstacle handling operation is not executed, so that the closing operation of the shutter 13 toward the completely closed position can be completed.
[0086]
The scheduled invalid position data VP0 is invalid position data determined in advance by a shutter product. For example, in the case of a sheet shutter, the planned invalid position data VP0 is often set so as to specify a position with a height of about 30 cm. Since the predetermined invalid position data VP0 is determined in advance, it can be stored in the planned invalid position storage unit 22 in the manufacturing process of the storage processing device 11 or the like.
[0087]
Actually, the height at which the optical transmitter 17A is to be installed is determined by construction work or the like. However, setting the planned invalid position data VP0 to specify a position with a height of about 30 cm means that the actual In the construction work, it means that the optical transmitter 17A is often installed at a position of about 30 cm in height. However, strictly speaking, the position indicated by the scheduled invalid position data VP0 needs to be slightly higher than the position where the optical transmitter 17A is installed in order to invalidate the light OL1 before blocking the light OL1.
[0088]
For example, assuming that the position where the optical transmitter 17A is installed is 30 cm in height, the position indicated by the scheduled invalid position data VP0 may be 35 cm in height.
[0089]
On the other hand, the individual invalid position data VP1 is invalid position data that is individually set according to a request of a user (for example, U1) using the shutter 13. Setting the individual invalid position data VP1 means that the optical transmitter 17A is installed at a position different from a general position in the construction work.
[0090]
For example, when the shutter 13 is opened and closed while the belt conveyor is passed through the opening 15, it is necessary to install the optical transmitter 17A at a position higher than usual by the height of the belt conveyor.
[0091]
When storing the individual invalid position data VP1, the planned invalid position data VP0 stored in advance may be overwritten. However, as shown in FIG. 1, another storage area (for example, the storage units 22 and 23 is , Or another storage area secured on the same EEPROM).
[0092]
Although the storage area can be saved by overwriting, the planned invalid position data VP0 is lost, so that when the use environment of the shutter 13 changes (for example, changes to prevent the shutter 13 from passing through the belt conveyor), the planned invalid position data VP0 is lost. It becomes necessary to reset the invalid position data equivalent to the data VP0 again, and a work load is generated for that.
[0093]
On the other hand, when the data is stored in another storage area, the planned invalid position data VP0 is stored even after the individual invalid position data VP1 is stored. The position data VP0 can be reused.
[0094]
When the data is stored in another storage area, the control unit 43 preferentially uses the individual invalid position data in a state where the valid individual invalid position data (for example, VP1) is stored, and outputs the valid individual invalid position data. Is stored, the scheduled invalid position data VP0 may be used.
[0095]
The stored individual invalid position data VP1 can be changed or deleted. The operation performed by the user U1 or the like at the time of the change may be the same as that at the time of storing (setting). That is, in a state where the shutter lower end 13A is stopped at a desired position, for example, by simultaneously pressing the three operation switches 51 to 53 for a long time (for example, 3 seconds or more), the position of the shutter lower end 13A at that time is changed. This is a new individual invalid position (photoelectric sensor limit position) after the change.
[0096]
Further, a specific operation for the erasing may be prepared for the erasing. For example, the above-described operation may be performed with the shutter lower end portion 13A stopped at the position indicated by the preset upper limit position data LUP. Similarly to the above, the three operation switches 51 to 53 may be simultaneously pressed for a long time (for example, three seconds or more) to enable the deletion. Alternatively, erasing may be performed by performing a similar operation with the shutter lower end portion 13A stopped at the position indicated by the lower limit position data LUN.
[0097]
Usually, it is impossible to set the individual invalid position data so as to indicate such a position. Further, in order to stop the lower end portion 13A at the same position as the position indicated by the LUN or LUP, in the non-restricted operation mode, it is only necessary to simply instruct the opening or closing operation of the shutter.
[0098]
The operation direction storage unit 24 stores operation direction information DD1 indicating the operation direction of the shutter 13 at that time, and may be configured by a volatile storage unit such as a RAM, for example. The operation direction is either the closing operation direction corresponding to the arrow D1 direction or the opening operation direction corresponding to the arrow D2 direction.
[0099]
Generally, in the shutter including the seat shutter 13, contact with an obstacle or the like becomes a problem when the shutter is operating in the closing operation direction, and the problem is when the shutter is operating in the opening operation direction. No. Therefore, also in the present embodiment, when operating in the opening operation direction, the electric signal (obstacle sensing signal) S17B supplied from the photoelectric sensor 17B is invalidated regardless of the height of the lower end portion 13A. On the other hand, when operating in the closing operation direction, the validity / invalidity of the electric signal S17B is determined according to whether the height of the lower end portion 13A is higher than the position indicated by the invalid position data (VP0 or VP1). Need to switch.
[0100]
That is, when the height of the lower end portion 13A is higher than the position indicated by the invalid position data (VP0 or VP1), the electric signal S17B is made valid, but when the position is reached, the electric signal S17B is made invalid, and thereafter, the invalidity is maintained. . As described above, during the opening operation, the electric signal S17B is invalidated once again because the electric signal S17B once invalidated is valid only after the position higher than the position indicated by the invalid position data (VP0 or VP1). It is when I started.
[0101]
By reading out the operation direction information DD1 stored in the operation direction storage unit 24 as needed, the control unit 43 recognizes the operation direction at that time and realizes such control.
[0102]
Further, here, the storage processing device 11 is arranged outside the fixed operation unit 14, but all or a part of the components of the storage processing device 11 may be arranged in the fixed operation unit 14. Is natural.
[0103]
Further, in this embodiment, it is assumed that either the remote control transmitter 12 or the fixed operation unit 14 can be used. However, a part of these operations is performed only by the remote control transmitter 12 (or only the fixed operation unit 14). Of course, it may be possible to do so.
[0104]
Hereinafter, the operation of the present embodiment having the above configuration will be described with reference to the flowcharts of FIGS.
[0105]
FIG. 7 is a flowchart showing an operation when the photoelectric sensor limit position is automatically set using the scheduled invalid position data VP0, and includes steps P10 to P13. FIG. 8 is a flowchart showing an operation when the user U1 or the like sets, changes or deletes the individual invalid position data VP1. The flowchart in FIG. 8 includes steps P20 to P25.
[0106]
(A-2) Operation of the embodiment
At the time of manufacture of the storage processing device 11 or the like, the planned invalid position data VP0 is stored in the planned invalid position storage unit 22 in advance. As the scheduled invalid position data VP0, basically any value can be stored, but for example, "2500" may be used. When assuming the above-mentioned 30 cm as a general height of a place where the optical transmitter 17A is installed in the remote control system 10 using the storage processing device 11, the above-mentioned “2500” is, for example, the position of the above-mentioned 35 cm height. May correspond to.
[0107]
With such scheduled invalid position data VP0 stored in the scheduled invalid position storage unit 22, the storage processing device 11 including the scheduled invalid position storage unit 22 is shipped, and the remote control system 10 including the storage processing device 11 is shipped. Is installed, for example, in a factory where the user U1 works.
[0108]
At the time of shipment, it is assumed that no data is stored in the storage units 19 to 23 other than the planned invalid position storage unit 22.
[0109]
When the remote control system 10 is installed and started to operate, the upper limit position storage unit 20 stores the upper limit position data LUP (here, “10000”) in a predetermined manner, and the lower limit position storage unit. 21 stores lower limit position data LUN (here, “0”). Further, the intermediate position data INT (here, “5000”) is also stored in the intermediate position storage unit 18 as necessary.
[0110]
Various operations can be considered for an installer (including an administrator or the like) or a user U1 who performs an installation operation to store these data LUP, LUN, and INT. One example is the photoelectric sensor limit. This may be the same as when setting the position. After installation, it is determined that, for example, the lower limit position data LUN is stored first and the upper limit position data LUP is stored next, and at least both the limit position data LUN and LNP are (or If the non-restricted operation mode cannot be used unless the intermediate position data INT is also stored, even if the operation performed by the builder or the like is the same, the storage processing device 11 side can use any position. It can identify whether data should be stored.
[0111]
Even before the data LUP, LUN, and INT are stored, the counter 43A increments or decrements each time the encoder pulse is supplied. Therefore, the control unit 43 determines which position data should be stored. As long as identification is possible, the count value at that time can be stored in the corresponding position storage unit (for example, 21) as the position data (for example, LUN). However, if it is assumed that the lower limit position data LUN is stored first after installation, when storing the LUN, "0" is always stored as the LUN, and the count value of the counter 43A is initialized at that time. The value may be reset to “0”.
[0112]
When the lower limit position data LUN is stored, the shutter lower end 13A is at the lower limit position, so that the shutter 13 is in appearance as shown in FIG. 5C.
[0113]
When the lower limit position data LUN is stored, step P11 in FIG. 7 branches to the Yes side.
[0114]
Before storing the lower limit position data LUN, the above-mentioned “2500” is already stored in the planned invalid position storage unit 22 as the planned invalid position data VP0, and this “2500” is set in step P11. Since it merely indicates a relative distance from the lower limit position, "2500" has an absolute meaning after the lower limit position is set in step P11.
[0115]
Therefore, in step P12 following the Yes side of step P11, the photoelectric sensor limit position is automatically set at the position with the height of 35 cm even if the constructor or the like does not perform any operation for that.
[0116]
Thereafter, by performing the opening operation in the direction of arrow D2, the upper limit position data LUP and the intermediate position data INT are stored.
[0117]
When the position data LUN, LUP, and the like are set and the unrestricted operation mode is enabled, for example, a transition is made from the fully open state shown in FIG. 5A to the completely closed state shown in FIG. In order to perform the closing operation in the non-restricted operation mode, the operation is as follows.
[0118]
In the state shown in FIG. 5A, the position of the shutter lower end 13A is sufficiently higher than that of the optical transmitter 17A, so that the light OL1 transmitted from the optical transmitter 17A is received by the optical receiver (photoelectric sensor) 17B. Is done. At this time, since the electric signal S17B output from the photoelectric sensor 17B indicates that no obstacle is detected, the control unit 43 continues the closing operation in the non-restricted operation mode, and the lower end 13A is as shown in FIG. Going down.
[0119]
When the control unit 43 recognizes that the lower end 13A that has descended has reached the photoelectric sensor limit position (here, VP0) based on the comparison result between the count value of the counter 43A and the scheduled invalid position data VP0, the control is started. The unit 43 regards the electric signal S17B as invalid from that point on, and ignores the electric signal S17B even if the electric signal S17B indicates a state indicating obstacle detection.
[0120]
When the lower end 13A descends to the height of the optical transmitter 17A, the light OL1 is blocked by the shutter 13 including the lower end 13A, and is not received by the photoelectric sensor 17B. At this time, the electric signal S17B output from the photoelectric sensor 17B changes to the same state as when an obstacle is detected. However, since the control unit 43 has already invalidated the electric signal S17B, the electric signal S17B described above is changed according to the electric signal S17B. It does not execute the corresponding obstacle handling operation.
[0121]
As a result, the shutter 13 can shift to the completely closed state shown in FIG.
[0122]
Before the control unit 43 invalidates the electric signal S17B (for example, in a state shown in FIGS. 5A and 5B), the electric signal S17B is valid. When OL1 is interrupted and the state of the electric signal S17B indicates obstacle detection, it is natural that the control unit 43 immediately executes the obstacle handling operation.
[0123]
The light OL2 transmitted by the optical transmitter 16A is not blocked by the shutter 13 as is clear from FIG. 5C and the like, and thus does not depend on the position of the lower end 13A. It can be used to detect obstacles.
[0124]
For example, when the position of the lower end 13A is lower than the height 35 cm indicated by the "2500", the electric signal S17B output by the photoelectric sensor 17B is invalid, but the electric signal S16B output by the photoelectric sensor 16B is invalid. Since the control unit 43 is more effective, the control unit 43 can appropriately execute the obstacle handling operation using the electric signal S16B.
[0125]
If the position of the lower end 13A where the electric signal S17B becomes invalid is relatively high, the possibility that an obstacle appears at a position where the obstacle can contact the lower end 13A after the electric signal S17B is invalidated is not small. Therefore, in such a case, the electric signal S16B may be used.
[0126]
On the other hand, the operation when storing the individual invalid position data VP1 may be the same as the operation when setting the photoelectric sensor limit position with the conventional electric shutter.
[0127]
In the example of FIG. 8, after the lower end 13A is moved to a desired position by performing the opening operation or the closing operation, the lower limit setting switch is input three times in succession to shift to the photoelectric sensor limit setting mode. (Yes branch of P21, P22) Further, by continuously inputting the lower limit setting switch for 3 seconds, the individual invalid position data VP1 corresponding to the position of the lower end 13A at that time is stored in the individual invalid position. It is stored in the storage unit 23 (Yes branch of P23, P24).
[0128]
Although a dedicated switch may be prepared as the lower limit setting switch, a specific combination of the operation switches 51 to 53 (33 to 35) may be replaced with the lower limit setting switch. is there. For example, when the combination of all of the operation switches 51, 52, and 53 is used as the lower limit setting switch, the step P21 is branched to the Yes side by simultaneously and continuously pressing all of the operation switches 51 to 53 three times. By pressing all of the operation switches 51 to 53 simultaneously and continuously for 3 seconds, the step P23 can be branched to the Yes side.
[0129]
The operations performed in steps P21 and P23 do not necessarily have to correspond to the operations for setting the lower limit (that is, the lower limit position data LUN). By responding, it becomes easy to learn and execute the operation, and the operation burden on the installer and the user U1 is reduced.
[0130]
In the flowchart of FIG. 8, the operation for setting the photoelectric sensor limit position is performed again in step P23 after the operation for switching the mode is performed in step P21. This is performed only when is set, so that steps P21 and P23 may be combined into one. In this case, as described above, the operation of the flowchart in FIG. 8 is performed by simultaneously pressing the three operation switches 51 to 53 for a long time while the shutter lower end 13A is stopped at a desired position. This is almost the same as setting the position of the portion 13A as the photoelectric sensor limit position.
[0131]
Note that, in the present embodiment, the point that the individual invalid position data VP1 can be deleted or changed is as described above. The details of the operation at that time may be the same as those shown in FIG. 8, for example.
[0132]
(A-3) Effects of the embodiment
According to the present embodiment, as long as the scheduled invalid position data (VP0) is used as it is, the installer or the user (U1) does not need to set the photoelectric sensor limit position and make adjustments therefor. It can be expected to improve the performance.
[0133]
Further, in the present embodiment, it is possible to set, delete, and change the individual invalid position data (VP1). Therefore, the present embodiment can cope with a special case where the position of the optical transmitter (17A) is different from the normal position. Can be highly flexible.
[0134]
(B) Other embodiments
In the above embodiment, the case where the present invention is applied to a mixed system has been described as an example. However, the present invention can be applied to either a dedicated wireless remote control system or a wired remote control system.
[0135]
When applied to a wired remote control system, the remote control transmitter is mounted on a predetermined mounting section or the like, and communicates with the storage processing device 11 via a wired transmission path as in the case of using the fixed operation section 14. You may.
[0136]
In the above embodiment, the wireless signal WL1 is a weak radio wave having a frequency band of about 300 MHz or 400 MHz and a transmission power of about 1 mW, but the application range of the present invention is not limited to this. Higher or lower frequency radio waves may be used, or infrared rays or the like may be used. Also, the transmission power may be higher or lower.
[0137]
Regardless of the above embodiment, load sensing based on torque fluctuation of the motor may be performed. In the load sensing, the magnitude of the torque is monitored, and a load larger than usual is sensed by detecting a large change in the torque. The load larger than usual occurs, for example, when the lower end of the shutter that performs the closing operation comes into contact with the floor, an obstacle, or the like.
[0138]
Therefore, when a large change in torque is detected, it is possible to stop the closing operation of the shutter by stopping the output shaft of the motor, or to start the opening operation by reversing the output shaft of the motor. When performing load sensing based on such torque fluctuation, it is also desirable to be able to change the threshold value for determining whether or not the torque fluctuation is large.
[0139]
As is well known, the elastic force of a spring disposed on a winding shaft (not shown) or the like is involved between the output shaft of the motor and the shutter in a shutter product, so that the magnitude of the torque (the magnitude of the load) is increased. ) Is affected by the balance of the elastic force of the spring. How to adjust the balance differs depending on the shutter. For example, there is a shutter that adjusts the load so as to be minimized when the shutter is in a completely closed state.
[0140]
Changing the threshold value to a larger value contributes to lowering the accuracy required for adjusting the balance. If the accuracy required for the balance adjustment is reduced, the work load for the adjustment is reduced.
[0141]
Such load sensing can be used as an alternative to detecting the obstacle based on the photoelectric sensor and the output from the photoelectric sensor.
[0142]
When load sensing is performed, for example, a slat shutter or the like can be used as the shutter.
[0143]
Further, regardless of the above embodiment, the position of the shutter 13 may be estimated by a method other than the encoder pulse. For example, when the operation is started from a predetermined movement start position (for example, a completely closed position), the position of the shutter 13 can be estimated based on the elapsed time from the start time.
[0144]
Further, regardless of the above-described embodiment, it is natural that the electric signal S17B may be made valid even when the electric signal S17B is operating in the opening operation direction. In this case, the validity or invalidity of the electric signal S17B may be switched according to the height of the lower end 13A.
[0145]
Further, regardless of the above embodiment, the shutter (13) may be moved in a direction other than the vertical direction. The present invention is also applicable to, for example, a shutter that slides left and right.
[0146]
Further, the opening / closing operation means a moving operation in only the opening direction, only the closing direction, or both the opening and closing directions. In addition, “closed” is a concept that means the movement of the opening in the direction of closing the opening when it exists, and refers to the advance of the opening / closing body including extension, slide movement, extension, and the like. Is a concept that means the movement in the direction of opening the opening when the opening is present, and means the retraction of the opening / closing body including winding, contraction, folding, and the like.
[0147]
In the above-described embodiment, the encoder pulse output by the encoder cannot indicate the absolute position of the shutter lower end portion 13A and can indicate only the relative movement distance. It is also possible to use an absolute type encoder capable of detecting a general position.
[0148]
Note that the effects of the present invention can be obtained even if some of the components of the above embodiment are omitted or replaced with components having other functions.
[0149]
Furthermore, in the above embodiment, the operation switch is a switch of the PBS type, but the present invention is not limited to the switch of the PBS type. A slide switch, a rotary switch, or the like may be used, and various switches that respond to changes in pressure, temperature, static electricity, and the like can be used.
[0150]
In the above embodiment, the present invention is mainly applied to a sheet shutter. However, the present invention can be applied to various shutters such as a garage shutter and a window shutter other than the sheet shutter.
[0151]
Further, the present invention can be applied not only to a shutter, but also to a mixed system of other opening / closing devices such as a door, a window, an overhead door, a roll screen (for example, a light shielding curtain), a blind, and an awning device.
[0152]
【The invention's effect】
As described above, according to the present invention, the convenience of the opening / closing system can be further improved.
[Brief description of the drawings]
FIG. 1 is a schematic diagram illustrating a configuration example of a storage processing device used in a remote operation system according to an embodiment.
FIG. 2 is a schematic diagram illustrating an example of the entire configuration of a remote operation system according to an embodiment.
FIG. 3 is a schematic diagram illustrating an example of the appearance of a remote control transmitter according to the embodiment.
FIG. 4 is a schematic diagram showing a configuration of a main part of the remote control transmitter according to the embodiment.
FIG. 5 is an operation explanatory diagram of the embodiment.
FIG. 6 is an enlarged sectional view of a guide rail portion in the embodiment.
FIG. 7 is a flowchart illustrating an operation example of the embodiment.
FIG. 8 is a flowchart illustrating an operation example of the embodiment.
FIG. 9 is an operation explanatory diagram of the embodiment.
[Explanation of symbols]
10 remote control system, 11 storage processor (remote control receiver), 12 remote control transmitter, 13 sheet shutter (shutter curtain), 13A lower end (of shutter), 13B right end of (shutter) , 14: fixed operation unit, 16A, 17A: optical transmitter, 16B, 17B: optical receiver (photoelectric sensor), 19: intermediate position storage unit, 20: upper limit position storage unit, 21: lower limit position storage unit, 22 ... Scheduled invalid position storage unit, 23: individual invalid position storage unit, 24: operation direction storage unit, 31, 57: procedure storage unit, 32, 58 ... operation detection unit, 33 to 35, 51 to 53 ... operation switch, 36, Reference numeral 59: operation response unit, 39: motor control unit, 41: wireless reception unit, 42: reception processing unit, 43: control unit, 43A: counter.

Claims (7)

In an opening and closing system that performs an opening and closing operation by moving an opening and closing body on a predetermined track,
Movement detection means for detecting that the opening and closing body has moved to a predetermined reference position set on the track,
Object existence inspection means for inspecting the presence or absence of an object that hinders movement of the opening and closing body,
An opening / closing system comprising: an object presence / absence inspection control unit that controls an inspection by the object presence / absence inspection unit in accordance with the setting of the reference position. The opening and closing system according to claim 1,
The movement detection means,
An opening / closing system comprising a position estimating unit for estimating a position of an opening / closing body on a trajectory by a predetermined estimating method. The opening and closing system according to claim 2,
The object existence inspection means,
A sensor unit that is arranged around the trajectory and senses the object,
The object existence inspection control means,
A scheduled position storage unit that stores position information corresponding to a position where the sensor unit is scheduled to be arranged,
When the position of the opening / closing body estimated by the position estimating unit reaches the position indicated by the position information stored in the scheduled position storage unit, the object existence inspection control unit invalidates the inspection of the object existence inspection unit. Opening and closing system characterized by the following. The opening and closing system according to claim 2,
The object existence inspection control means,
A dynamic position storage unit that dynamically receives and stores position information corresponding to the position on the orbit,
When the position of the opening / closing body estimated by the position estimating unit reaches the position indicated by the position information stored in the dynamic position storage unit, the object presence / absence inspection control unit performs an inspection by the object existence / absence inspection unit. An opening and closing system characterized by being invalidated. The opening / closing system according to claim 3,
When the object presence / absence inspection means arranges a plurality of sensor units for sensing an object around the trajectory, and the arrangement of some of the sensor units is guaranteed not to sense the opening / closing body, The opening / closing system, wherein the object presence / absence inspection control means keeps the inspection of the object presence / absence inspection means corresponding to some of the sensor sections effective regardless of the position of the opening / closing body estimated by the position estimating section. . The opening and closing system according to claim 2,
The object existence inspection means,
A load sensing unit is provided around a motor serving as a power source for movement of the opening / closing body and detects that the opening / closing body has come into contact with an object based on a change in load applied to an output shaft of the motor. ,
The object existence inspection control means,
If the magnitude of the change in the load is less than a predetermined upper limit value, the detection by the load sensing unit is disabled. The opening and closing system according to claim 3 or 6,
When the movement of the opening / closing body includes a first movement direction in which the movement is hindered by the object and a second movement direction not hindered, the object presence / absence inspection control means moves the opening / closing body in the second movement direction. When performing the operation, the inspection or sensing is invalidated regardless of the position of the opening / closing body estimated by the position estimating unit.

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