JP2013036291A - Opening/closing control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem occurred by opening of an opening part more than necessary at an opening/closing door.SOLUTION: An opening/closing control device includes: a door body which is electrically driven and lifted/lowered to open/close an opening part; detection means which sets a horizontal plane-like detection area in a front space of the opening part, and detects an object positioned in the detection area; and a control part which controls electric lifting/lowering of the door body on the basis of detection/non-detection of the detection means. The detection means is the movable detection means which is positioned at a height in the vicinity of the lower end of the door body and is lifted/lowered accompanying the lifting/lowering of the door body, and the planar detection area is lifted/lowered together with the lifting/lowering of the control means in the opening direction. When the door body is lifted, the control part continues the lifting of the door body while the detection means is in a detection state, and stops the lifting of the door body on the basis of the fact that the detection means S becomes to be in a non-detection state from being in a detection state, thus controlling an opening height.

Description

The present invention relates to a door body opening / closing control device that opens and closes an opening by electric lifting.

As an activation device of an electric shutter, one using a push button switch or a detection sensor is known. In the case where the shutter curtain is raised by the push button switch to open the opening, when the open signal is input, the shutter curtain automatically rises to the upper limit position and stops. In addition, when the operator manually inputs a stop signal, the ascent of the shutter curtain can be stopped. In the case of using a detection sensor, an object in the front area of the opening is detected by a detection sensor such as an infrared sensor installed above the opening, and the shutter device is automatically activated based on the detection, and the shutter curtain is raised. There is known one that opens an opening. In this case, the opening / closing control is normally detected in the fully closed state of the opening → the shutter curtain is raised → stopped at the upper limit position (opening fully opened state) → automatic lowering after a predetermined time by a timer → stopped at the lower limit position (opening fully closed) State).

However, once the shutter curtain that has been activated and started to open opens up to the upper limit position and stops, the shutter curtain opens even when a person or a vehicle with a low profile compared to the overall height of the opening passes. It rises to the fully open state. For example, in the case of a panel shutter that opens and closes an opening having a height of 4 m, even when a person is detected, the height is greatly opened to a height of 4 m, greatly exceeding the height required for traffic. Opening the opening more than necessary reduces the air conditioning efficiency, increases the chance of dust and insects invading, prolongs the waiting time (passing time), decreases the durability of the product, and loses energy. Will be invited.

Japanese Patent Application Laid-Open No. H10-228688 describes that the opening amount of the door body is controlled to an opening amount necessary for the passage of the object according to the size of the object entering and exiting the opening. However, in the thing of patent document 1, since measuring a target object from diagonally upward, since it measures larger than actually, there exists a subject that it is difficult to acquire the magnitude | size of a target object correctly.
Japanese Utility Model Sho 61-176394

An object of this invention is to provide the opening / closing control apparatus which can solve the said subject.
Other objects of the present invention will become clear from the description of the present specification and the drawings.

The technical means adopted by the present invention are:
A door body that is electrically lifted to open and close the opening;
A detection means for setting a horizontal detection area in the front space of the opening and detecting an object located in the detection area;
A control unit for controlling the electric lift of the door body based on detection / non-detection of the detection means;
With
The detection means is a movable detection means that is positioned at a height near the lower end of the door body and that moves up and down as the door body is raised and lowered, so that the detection area is raised and lowered as the detection means is raised and lowered. And
The control unit continues to raise the door body while the detection means is in the detection state when the door body is raised, and the detection means is moved to the non-detection state from the detection state. Control the opening height by stopping the ascent,
An opening / closing control device;
When the door is raised, the case where the door is raised from the fully closed state of the opening and the case where the door is raised from the half-opened state of the opening are included.
When the door is lifted, the detection area also serves as a starting area, so that the door is automatically lifted (described later) and the door is operated manually by operating a switch such as a push button switch. Also includes raising the body.

  In a typical embodiment, a door body that is electrically lifted to open and close the opening is a shutter device, and examples of the shutter device include a slat shutter, a pipe shutter, a sheet shutter, and a panel shutter (including an overhead door). . Further, the shutter curtain storage type (winding type, folding type, method of sliding upward as it is, etc.) is not limited.

There are several modes as the movable detection means that moves up and down as the door body moves up and down.
In one aspect, the said detection means is connected to the lower end vicinity of the said door body, and can raise / lower with the raising / lowering of the said door body.
In one aspect, a guide rail is provided on the frame side of the opening along the raising / lowering direction of the door body, and the detection means is moved up and down while being guided by the guide rail as the door body is raised and lowered. It is configured.
In one aspect, a contact portion is provided at a lower portion of the door body, and a contact portion is provided at the detection means, and the contact portion contacts the contact portion as the door body is raised. The detection means rises with the door body along the guide rail, and the detection means descends with its own weight along the guide rail when the door body is lowered.
In one aspect, in a state where the contact portion of the door body and the contacted portion of the detection means are in contact with each other, the horizontal detection area formed by the detection means is positioned below the lower end of the door body. doing.

In one aspect, the detection area also serves as an activation area,
The control unit starts to raise the door that is stopped in the fully closed state or the half open state when the detecting unit changes from the non-detecting state to the detecting state.
That is, the detection area is an opening height control area and activation area.

In one aspect, the detection area also serves as an obstacle detection area,
The control unit stops the lowering of the door body or reverses and raises the door body when the detection means is changed from the non-detection state to the detection state during the lowering of the door body.
That is, the detection area is an opening height control area / obstacle detection area.

  In one aspect, a plurality of horizontal detection areas having different areas are set by the detection means.

In one aspect, the plurality of detection areas include at least a first area and a second area,
The first area is an opening height control area, or an opening height control and activation area,
The second area is an obstacle detection area.
In one aspect, the second area is set on a side closer to the opening, and is a detection area having a small area whose depth dimension is smaller from the opening than the first area.
In the second area, when the detection unit is changed from the non-detection state to the detection state, the control unit stops the lowering of the door body or reverses and raises the door body. In only the first area, when the detection means changes from the non-detection state to the detection state, the detection in the first area is invalidated and the lowering of the door body is continued.

  In one aspect, when the detection means is changed from the non-detection state to the detection state in the obstacle detection area and the door body starts to reverse and rise, the control unit is configured to perform the door body while the detection means is in the detection state. The rise of the door body is stopped based on the detection means changing from the detection state to the non-detection state.

In one aspect, the plurality of detection areas include at least a first area and a second area,
The first area is an opening height control area, or an opening height control and activation area,
The second area is an upper limit position detection area or / and a lower limit position detection area.
In one aspect, as shown by a dotted line in FIG. 2, the detected member UL is provided near the upper limit, and when the second area rises and the detected member UL is detected, the door body is raised. Stop. Further, the detected member LL is provided in the vicinity of the lower limit, and when the second area is lowered and the detected member LL is detected, the lowering of the door body is stopped. In one aspect, the detected members UL and LL are provided at the end of the opening in the width direction, and the second area is set to an area where the member at the end of the opening in the width direction can be detected. Is done.

In the present invention, the height of the opening can be appropriately controlled according to the height of the object by detecting the height of the object well by the detection area formed in a horizontal plane, and thus the air conditioning It is possible to improve efficiency, suppress dust and insect invasion opportunities, improve the durability of the product, and shorten the transit time (standby time).

If the detection area that controls the height of the opening also serves as the activation area, one detection means activates the lift of the door body, and the door body is opened as much as necessary to pass the object. The function of controlling the amount is provided, the door body is lifted with a smaller number of parts, and an opening having a size appropriately controlled according to the height of the object can be obtained.

In the case where the detection area for controlling the opening height also serves as an obstacle detection area, one detection means controls the opening amount of the door body to an opening amount necessary for the passage of the object, and the door body A function of detecting an obstacle during descending is provided, and an opening having a size appropriately controlled according to the height of the object can be obtained with a smaller number of parts.

Furthermore, after the obstacle is detected, when the door body is reversed and raised, the door body continues to rise while the detection means is in the detection state, and the detection means is changed from the detection state to the non-detection state. By stopping the lift of the door body based on this, the door body can be raised to a properly controlled height according to the height of the object that is the object of obstacle detection. There is no need to raise it to (fully open state) or raise the door for a predetermined time using a timer.

In the case where a plurality of horizontal detection areas having different areas are set by the detection means, appropriate opening / closing control can be performed according to the intended use by combining a plurality of detection areas. For example, the plurality of detection areas may include a first area that is an opening height control area and / or an activation area, and a second area that is an obstacle detection area.

The second area is set on the side closer to the opening, as a small area detection area having a depth dimension smaller than the opening from the first area, while the door is descending, in the second area, When the detection means changes from the non-detection state to the detection state, the door body stops descending or the door body reverses and rises, and the detection means changes from the non-detection state to the detection state only in the first area. In such a case, the detection of the first area is invalidated and the door body is continuously lowered, so that the shutter curtain is lowered by an object passing only in the first area (part farther from the opening). It can be prevented from being interrupted.

The plurality of detection areas may include a first area that is an opening height control area and / or a start area, and a second area that is an upper limit position detection area or / and a lower limit position detection area. By using a horizontal detection area, the actual position of the door in the height direction can be detected more accurately, and it is possible to detect the height of the door more accurately without being affected by the displacement of the winding diameter. The position (upper limit position or lower limit position) can be controlled.

It is a side view which shows the opening part full-closed state by which the building opening part was closed by the overhead door illustrated as a door body. It is the side view which shows the opening part full open state where the building opening part was open | released, and the elements on larger scale of the lowest-order panel site | part. It is a partial side view of a shutter curtain lower part in an opening part fully closed state. It is a fragmentary top view of the width direction one end side of the lowest panel in a perpendicular attitude. It is the front view which looked at the shutter curtain in a fully closed posture from the outdoor side, and the partial enlarged view of the width direction one end side of the lowest panel. It is the front view which looked at the shutter curtain in a fully closed posture from the room inner side, and the partial enlarged view of the width direction one end side of the lowest panel. It is a top view of the shutter curtain in a vertical posture, and shows a detection area. It is a figure similar to FIG. 1, and shows the other aspect of a detection means. It is a figure similar to FIG. 2, and shows the other aspect of a detection means. It is a figure similar to FIG. 3, and shows the other aspect of a detection means. It is a figure similar to FIG. 4, and shows the other aspect of a detection means. It is a figure explaining the contact | abutting latching structure of the lower end part of a shutter curtain and movable sensor assembly based on another aspect. It is a schematic perspective view which shows the structure of an opening / closing control apparatus. It is a block diagram which shows the structure of an opening / closing control apparatus. It is a figure which shows the state which the work vehicle which loaded the luggage | bag entered the detection area A in the opening part fully closed state. It is a figure which shows control of the opening height of the opening part using a sensor. It is a figure which shows the obstacle detection using a sensor. It is a figure which shows the aspect in which the two different detection area | regions are set by one sensor. It is a flowchart of the opening / closing control by an opening / closing control apparatus. It is a figure similar to FIG. 19, and a part of line is shown with the thick line. It is a flowchart which shows the case where an upper limit detection is performed with an area sensor.

[A] Basic Configuration of Shutter Device A door body to which the opening / closing control device of the present invention is applied will be described based on an overhead door with reference to FIGS. The overhead door is formed by connecting a panel 1 extending vertically across the entire width of the opening, a shutter curtain, left and right guide rails 2 that guide both ends of the panel 1 in the width direction, and the shutter curtain is raised and lowered electrically. And a drive mechanism for driving. FIG. 1 is a side view showing a fully closed state in which a building opening is closed by a shutter curtain, and a plurality of panels 1 are in a vertical posture to close the opening. FIG. 2 shows a state in which the opening of the building is fully opened, and the plurality of panels 1 rise from the vertical posture and extend in the lateral direction along the indoor space. Is opened.

The panel 1 has a rectangular shape when viewed from the front, and as shown in FIGS. 3 and 4, an outdoor side surface portion 10 facing the outdoor side in the vertical posture, an indoor side surface portion 11 facing the indoor side in the vertical posture, An end face 12 at both ends in the width direction, an upper face 13, and a lower face 14 are provided. In the illustrated embodiment, the upper surface 13 and the lower surface 14 are each formed in a stepped shape. In each panel 1 constituting the shutter curtain, the upper and lower adjacent panels 1 are hinged to the upper end portion of the indoor side surface portion 11 of the lower panel 1 and the lower end portion of the indoor side surface portion 11 of the upper panel 1. The panels 1 are connected to each other so as to be rotatable. When the vertically adjacent panel 1 is in a vertical posture, the lower surface 14 of the upper panel 1 is in contact with the upper surface 13 of the lower panel 1, and the outdoor side of the upper surface 13 of the lower panel 1 is in contact. The upper panel 1 rotates with respect to the lower panel 1 by expanding the outdoor part of the lower surface 14 of the lower part 14 of the part and the upper panel 1.

Guide rollers 3 that roll in the guide rails 2 are rotatably provided at both ends in the width direction of the panel 1. The guide roller 3 is supported so as to be brought out from the indoor side surface portion 11 of the panel 1 via roller brackets 30 (omitted in FIGS. 1 and 2) provided at both ends in the width direction of the indoor side surface portion 11 of the panel 1. Has been. The roller bracket 30 includes a roller shaft 31 and extends as shown in FIG. 4 so that the roller shaft 31 protrudes beyond the end surface 12 of the panel 1 at the end portion in the width direction of the indoor side surface portion 11 of the panel 1. The guide roller 3 is rotatably mounted at the tip of the roller shaft 31.

The guide rail 2 includes a first portion 20 that extends in the height direction along the left and right ends in the width direction of the opening, a second portion 21 that curves from the upper end of the first portion 20 toward the rear (inner side), The third portion 22 extends further from the two portions 21 toward the rear (inside the room). In the illustrated embodiment, the first portion 20 is disposed slightly inclined toward the rear side with respect to the vertical direction, and the third portion 22 is inclined slightly upward toward the rear side with respect to the horizontal direction. However, a guide rail having a vertical first portion and a horizontal third portion may be used. When the shutter curtain is in the fully closed position (opening fully closed state), both end portions in the width direction of each panel 1 are located in the first portion 20 of the guide rail 2 (see FIG. 1). Is in the fully open position (opening fully open state), the lowest panel 1 is located in the second part 21 and the remaining panel 2 is located in the third part 22 (see FIG. 2). . As shown in FIG. 2, the lower part of the lowest panel 1 is located below the ceiling surface CL of the opening, and the entire height of the opening (the height from the floor surface FL to the ceiling surface CL). The effective height is smaller than that.

The shutter curtain is driven up and down electrically by the opening / closing device 4. More specifically, the drive mechanism for electrically moving the shutter curtain up and down is a chain (not shown in FIGS. 1 to 7) connected to the opening / closing device 4 and the left and right lower portions of the lowest panel 1. 13) and a sprocket 40 that is provided above the lifting path at both ends in the width direction of the shutter curtain and has a chain wound thereon, and a sprocket 410 at both ends in the length direction. A transmission shaft 41, the sprocket 40 and the sprocket 410 are connected in transmission via a chain (not shown), and the power of the opening / closing machine 4 is transmitted to the sprocket 40 via the transmission shaft 41. ing. The chain is wound up in conjunction with the rotation of the output shaft of the switch 4 in the first direction, the shutter curtain is raised, the opening is opened, and the output shaft of the switch 4 is rotated in the second direction. In conjunction with this, the chain is extended, the shutter curtain is lowered, and the opening is closed. The overhead door can be activated by a manually operated activation switch. For example, when a lift command is input to the control unit from the push button switch, the output shaft of the switch 4 is rotated in the first direction by the control unit, and the shutter curtain in the fully closed posture starts to rise. The overhead door includes a limit switch that detects the upper limit position and the lower limit position of the shutter curtain and stops the raising and lowering of the shutter curtain. The upper limit position and the lower limit position of the shutter curtain may be detected by an encoder, and the upper limit position and lower limit position detection means are not limited. Obstacle detection photoelectric switches 5 are arranged on the outdoor side and the indoor side at both ends in the width direction of the opening. While the photoelectric switch 5 is detecting an object, the descent of the shutter curtain is restricted. Further, the photoelectric switch 5 detects an object approaching the lowering path of the shutter curtain and stops or reverses the lowering of the shutter curtain, thereby preventing pinching and contact below the lowering shutter curtain. A configuration similar to the basic configuration of the overhead door described above is described in Utility Model Registration No. 2564466, and can be referred to as necessary. It should be noted that the above-described configuration of the overhead door is merely an example, and the overhead door is only an example of a door body to which the present invention is applied.

[B] Movable detection means provided with a detection area [B-1] Lower side of one end side in the width direction of the outdoor side surface portion 10 and the indoor side surface portion 11 of the lowest panel 1 of the type in which the movable detection means is connected to the door body Sensors S1 and S2 are respectively provided in the parts. In the illustrated embodiment, as shown in FIG. 3, the outdoor sensor S1 is positioned below the indoor sensor S2, but the relationship between the indoor and outdoor sensor height positions is limited to this. However, the sensors may be located at the same height, or the indoor sensor may be located below the outdoor sensor. The sensors S1 and S2 are provided at the end on the same side in the opening width direction. As shown in FIG. 6, the sensors S <b> 1 and S <b> 2 are located at the end portion on the side where the opening / closing device 4 is provided, for convenience of wiring and the like. In the illustrated embodiment, the sensors S <b> 1 and S <b> 2 are attached to the outdoor side surface portion 10 and the indoor side surface portion 11 of the lowest panel 1 via the bracket 6. Each bracket 6 includes a bottom wall 60 on which the sensors S1 and S2 are mounted, and a side wall having an L shape in plan view, and one side 61 of the side wall is provided on the outdoor side surface portion 10 and the indoor side surface portion 11 of the lowest panel 1. It is attached to the lower part of the width direction end.

In one aspect, the sensors S1, S2 are laser scanner sensors. For example, the laser scanner sensor scans infrared laser light two-dimensionally to set a detection area, and detects an object in the detection area by monitoring reflected light. The laser scanner sensor itself is known, and the size and shape of the detection area can be arbitrarily set.

As shown in FIGS. 5 and 7, the sensor S <b> 1 sets a horizontal detection area A <b> 1 in the outdoor space in front of the opening, and detects an object located in the detection area A <b> 1. The detection area A1 is a planar view square area with the sensor S1 as a corner in the outdoor space in front of the opening, and the width dimension corresponding to the entire width of the opening in the plan view and the outdoor side surface of the panel 1 The unit 10 has a predetermined depth dimension. As shown in FIGS. 6 and 7, the sensor S2 sets a horizontal detection area A2 in the indoor space in front of the opening, and detects an object located in the detection area A2. The detection area A2 is a planar view square area with the sensor S2 as a corner in the indoor space in front of the opening, and the width dimension corresponding to the entire width of the opening in the plan view and the indoor side surface of the panel 1 A predetermined depth dimension is provided from the portion 11. The dimensions and shapes of the detection areas A1 and A2 are variable. For example, the depth dimension can be set as appropriate in accordance with the installation location and application of the overhead door.

In one mode, detection field A1 and A2 are set as a field which detects the object which approached the opening part in order to pass the opening part. That is, the detection areas A1 and A2 function as activation areas for raising the stopped shutter curtain and opening the opening. The shutter curtain (panel 1) in the fully closed posture starts to rise based on the detection of the object that has entered the detection areas A1 and A2 by the sensors S1 and S2 in the fully closed state of the opening, and opens the opening. Alternatively, the shutter curtain (panel 1) in the half-open position resumes rising based on detection of an object that has entered the detection areas A1 and A2 by the sensors S1 and S2 in the half-open state of the opening, and further opens the opening.

The sensors S1 and S2 are provided in the lower part of the widthwise end of the outdoor side surface portion 10 and the indoor side surface portion 11 of the lowermost panel 1, and the sensors S1 and S2 are floor surfaces when the opening is fully closed. In the fully closed state of the opening, the detection areas A1 and A2 form a horizontal plane that is spaced apart and parallel to the horizontal floor surface FL (see FIGS. 5 and 6). The detection areas A1 and A2 are separated from the floor surface FL, so that the floor surface FL and dust and dirt on the floor surface FL are not erroneously detected.

Since the sensors S1 and S2 are respectively attached to the outdoor side surface portion 10 and the indoor side surface portion 11 of the lowest panel 1, the sensors S1 and S2 rise as the shutter curtain (panel 1) rises. It is a movable sensor that descends as (panel 1) descends. Accordingly, the horizontal detection areas A1 and A2 move up and down as the sensors S1 and S2 move up and down. When the lowest panel 1 moves up and down while maintaining a vertical posture, the detection areas A1 and A2 move up and down while maintaining a horizontal plane.

The raising / lowering of the shutter curtain is started when a signal from the activation switch is input to the control unit. The sensors S1 and S2 constitute a start switch, and when the sensors S1 to S2 in the opening fully closed state or the opening half open state detect an object entering the detection areas A1 and A2 (sensor ON), detection information (sensor ON) rotates the output shaft of the switch 4 in the first direction, and the shutter curtain (panel 1) in the fully closed position or the half open position starts to rise. As the shutter curtain (panel 1) rises, the horizontal detection areas A1 and A2 also rise, but the object continues until the height of the rising horizontal detection areas A1 and A2 exceeds the height of the object. When the height of the rising horizontal detection areas A1 and A2 exceeds the height of the object, the sensors S1 and S2 are in a non-detection state (sensor OFF). That is, the sensors S1 and S2 also have a function of detecting the height of an object that has entered the detection areas A1 and A2.

When the control unit determines that the sensors S1 and S2 are in the non-detection state (determined when the sensor is switched from the ON state to the OFF state), the rotation of the output shaft of the switch 4 in the first direction is stopped, The shutter curtain rise is stopped. In one aspect, the raising of the shutter curtain is stopped using a timer after a predetermined time (for example, 1 second) after the non-detection state. From the positional relationship between the height of the lower end of the shutter curtain and the height of the detection areas A1 and A2, the height from the floor surface FL to the lower end of the shutter curtain is such that the object can be allowed to pass while the shutter curtain is stopped. The predetermined time is set in consideration of the rising speed of the shutter curtain so as to be the height (the height of the object + the clearance).

The shutter curtain rises to the height at which the lower end becomes the height of the object + the clearance to open the opening, and the controller opens the opening with a timer for a predetermined time (a time sufficient for the passage of the opening). After the maintenance, the shutter curtain in the open posture automatically starts to descend by rotating the output shaft of the switch 4 in the second direction on condition that the photoelectric switch 5 is in the non-detection state, The opening is fully closed by stopping at the lower limit position by the limit switch.

In this embodiment, the sensor is turned on in the fully closed state or half-opened state of the opening, the shutter curtain is raised (sensor ON), and the shutter curtain is stopped by opening the sensor (opening up to the opening height corresponding to the detected object height). → Automatic descent after a predetermined time by timer → Opening / closing control of stopping at the lower limit position (opening fully closed state) is performed, so detection without raising the shutter curtain to the upper limit position unnecessarily and opening fully open state An opening corresponding to the height of the object formed can be formed. In this embodiment, on the basis of detection / non-detection by one sensor S1 or S2, the shutter device is activated (the shutter curtain is raised) and the opening height is obtained by raising the shutter curtain (the rising shutter). The curtain is stopped).

[B-2] Another aspect of the movable sensor that moves up and down with the movement of the type shutter curtain in which the movable detection means is independent of the door body will be described with reference to FIGS. Although the case where the sensors S1 and S2 are fixed to the lowest panel 1 has been described above, the sensors S1 and S2 may be independent from the lowest panel 1.
Through FIG. 1 to FIG. 11, the same reference numerals are assigned to the same elements, and the above description can be used for the description of the elements with the same reference numerals.

As shown in FIG. 11, the sensors S <b> 1 and S <b> 2 are attached to the movable bracket 7. The movable bracket 7 includes a bottom wall 70 on which the sensors S1 and S2 are mounted and a side wall having an L shape in a plan view, and two roller shafts 73 are vertically spaced along the outer surface of one side 71 of the side wall. The tip of each roller shaft 73 protrudes from the outer surface of the other side 72 of the side wall, and a guide roller 74 is rotatably mounted on the tip. By attaching the sensors S1 and S2 on the bottom wall 70 of each movable bracket 7, a movable sensor assembly is formed.

In the outdoor part of the building opening, a guide rail 8 is erected vertically in the vicinity of the end on the side where the sensor S1 is arranged. The outdoor movable sensor assembly provided with the sensor S1 can be moved up and down in the vertical direction by the guide roller 74 being guided by the guide rail 8. The indoor side movable sensor assembly including the sensor S2 can be moved up and down in the vertical direction by the guide roller 74 being guided by the first portion 20 of the guide rail 2.

A contact piece 9A extending to the outdoor side is provided below the outdoor side surface portion 10 of the lowest panel 1. The abutting piece 9A is in contact with the lower surface of the bottom wall 70 of the movable bracket 7 of the outdoor movable sensor assembly from below, and supports the outdoor movable sensor assembly. A contact piece 9 </ b> B extending toward the indoor side is provided at a lower portion of the indoor side surface portion 11 of the lowest panel 1. The contact piece 9B contacts the lower surface of the bottom wall 70 of the movable bracket 7 of the indoor movable sensor assembly from below to support the indoor movable sensor assembly. The indoor contact piece 9B may be a part of an element (for example, a bracket) provided in advance in the lowest panel 1.

When the shutter curtain starts to rise from the fully closed state of the opening, the contact piece 9A provided on the outdoor side surface portion 10 of the lowest panel 1 is lowered to the lower surface of the bottom wall 70 of the movable bracket 7 of the outdoor side movable sensor assembly. , The outdoor movable sensor assembly (sensor S1) rises along the guide rail 8 as the shutter curtain rises, and the contact piece 9B provided on the indoor side surface 11 of the lowest panel 1 Comes into contact with the lower surface of the bottom wall 70 of the movable bracket 7 of the indoor movable sensor assembly from below so that the indoor movable sensor assembly (sensor S2) becomes the first portion of the guide rail 2 as the shutter curtain rises. Ascend along 20. Accordingly, the horizontal detection areas A1 and A2 move up and down as the sensors S1 and S2 move up and down. When the raised shutter curtain is lowered, the contact piece 9A provided on the outdoor side surface portion 10 of the lowest panel 1 and the contact piece 9B provided on the indoor side surface portion 11 are moved downward, thereby moving the outdoor movable sensor. The assembly and the indoor movable sensor assembly are lowered by their own weight along the guide rail 8 and the guide rail 2, respectively.

[B-3] Type in which the movable detection means is independent from the door (modified example)
FIG. 12 shows another embodiment according to the contact locking configuration between the lower end portion of the shutter curtain and the movable sensor assembly. The mode shown in FIG. 12 can be applied to all shutter devices. The feature of the embodiment shown in FIG. 12 is that a detection region is formed at a position below the lower end of the shutter curtain when the shutter curtain is raised and lowered.

In the movable sensor assembly S ′, a contact piece 70 ′ is formed above the upper surface of the movable sensor assembly, and the lower part of the shutter curtain 1 ′ is close to the lower end. A contact surface 9 'is formed. The left figure of FIG. 12 shows the fully closed state of the opening (lower limit position), and the contact surface 9 ′ and the contact piece 70 ′ are spaced apart from each other with a predetermined height. The central view of FIG. 15 shows the initial stage of shutter curtain opening, and when the shutter curtain 1 ′ is raised by the predetermined height, the contact surface 9 ′ comes into contact with and engages with the contact piece 70 ′ from below. It has become. When the shutter curtain 1 ′ is further raised, as shown in the right diagram of FIG. 12, the movable sensor assembly S ′ is raised along the guide rail 8 ′ while being suspended from the lower end of the shutter curtain. In this state, the horizontal detection area A ′ is located below the level of the shutter curtain lower end B. With this configuration, when the movable sensor assembly that has detected the object when the shutter curtain is raised becomes a non-detection state and the raising of the shutter curtain 1 ′ stops, the shutter curtain lower end B is moved from the detection area A ′. However, since it has risen somewhat upward, the possibility that an object passing through the opened opening will collide with the lower end B of the shutter curtain is reduced.

[C] The configuration and operation of the control unit of the control unit opening / closing control apparatus will be described with reference to FIGS. 13 and 14. The control unit C controls the plurality of output elements according to various inputs from the plurality of input elements and performs various outputs from the output elements. As shown in FIG. 14, as input elements, an open push button, a stop push button, a manual operation device provided with a close push button, a sensor S1 (detection area 1 and detection area 2 are set) located outside the opening, and an opening Sensor S2 (detection area 1 and detection area 2 set), safety sensor (obstacle detection photoelectric switch 5), first upper limit position (opening fully opened state), second upper limit position (deceleration) Limit switch LS for detecting the first lower limit position (opening fully closed state) and the second lower limit position (for deceleration). As output elements, there are a switch (motor) 4, a display device (rotary light) D provided with a signal light, and a sound alarm device (buzzer). Based on the input from the manual operation device and the detection results of the respective detection means (sensors S1, S2, photoelectric switch 5, limit switch LS), the control unit controls the opening / closing of the shutter device (the shutter curtain is raised, lowered, stopped, Maintaining the fully closed state, maintaining the fully open state), controlling the display display (switching and maintaining the display), and controlling the sound alarm.

The start signal is transmitted to the control unit based on an input of an open push button by a manual operation device or detection by an area sensor, and the control unit receives the start signal so that the switch is driven based on the start signal. The shutter curtain in the stopped state (opening fully closed state or half open state) rises. More specifically, when the area sensor detects an object in the detection area 1 while the shutter curtain is stopped at the lower limit position (opening fully closed state) or half-opened state, the control unit moves the motor in the first direction. Rotate to raise the stopped shutter curtain. Alternatively, when the shutter curtain is stopped at the lower limit position (opening fully closed state) or in the half-open state, when the operator pushes the open button of the manual operating device and inputs to the control unit, the control unit Rotates the motor in the first direction to raise the stopped shutter curtain. While the shutter curtain is rising, the control unit turns on the display in red and generates a warning sound from the sound alarm.

While the shutter curtain is rising, while the area sensor continuously detects the object in the detection area 1, the rotation of the motor in the first direction is maintained, and the shutter curtain continues to rise. When the area sensor changes from the detection state to the non-detection state in the detection area 1, the control unit stops the rotation of the motor, stops the raising of the shutter curtain, and enters the opening portion half-open state.

When the shutter curtain continues to rise and detection of the second upper limit position by the limit switch is input to the control unit, the control unit reduces the motor rotation speed to reduce the shutter curtain ascent speed. When the detection of the first upper limit position by the limit switch is input to the control unit, the control unit automatically stops the shutter curtain that rises at a low speed by stopping the rotation of the motor. In one aspect, when the limit switch detects the second upper limit position (at this height, before the lowest panel changes from the vertical position to the inclined position), the area sensor is disabled, It prevents false detection (detection of walls and floors) due to the detection area that becomes an inclined surface with the inclination of the lower panel.

After the shutter curtain stops at the upper limit position (opening fully open state) or half open state, the control unit maintains the full opening state or half open state of the opening by a timer for a predetermined time required for passing the opening. The control unit automatically rotates the motor in the second direction and automatically stops the shutter curtain after the predetermined time has elapsed, on condition that the area sensor is in the non-detection state in the detection area 1 and the safety sensor is in the non-detection state. Lower. Alternatively, when the shutter curtain is stopped at the upper limit position (opening fully opened state) or half-opened state, when the operator presses the closing button of the manual operating device and inputs to the control unit, the control unit Then, the motor is rotated in the second direction to lower the stopped shutter curtain.

When the area sensor detects an object in the detection area 2 while the shutter curtain is being lowered, the control unit stops the rotation of the motor, stops the lowering of the shutter curtain, and rotates the motor in the first direction to release the shutter. Turn the curtain upside down. While the area sensor continuously detects the object in the detection area 2, the rotation of the motor in the first direction is maintained, and the shutter curtain continues to rise. When the area sensor changes from the detection state to the non-detection state in the detection area 2, the control unit stops the rotation of the motor, the ascent of the shutter curtain is stopped, and the opening portion is in a half-open state. After a predetermined time elapses, the shutter curtain is automatically lowered.

When the shutter curtain continues to descend and detection of the second lower limit position by the limit switch is input to the control unit, the control unit lowers the motor curtain speed to lower the shutter curtain descending speed. When detection of the first lower limit position by the limit switch is input to the control unit, the control unit automatically stops the shutter curtain that stops the rotation of the motor and descends at a low speed, so that the opening is fully closed.

When the shutter curtain is being raised or lowered, and the stop push button of the manual operating device is pushed by the operator and there is an input to the control unit, the control unit stops the rotation of the motor and Stop the descent shutter curtain. In one aspect, when the shutter curtain is stopped using the stop push button of the manual operating device, automatic lowering is not performed.

[D] Mode of Open / Close Control Modes of the open / close control will be described more specifically with reference to FIGS. 15 to 18. The opening / closing control described here is not limited to an overhead door, but can be widely applied to a shutter device that opens and closes an opening by raising and lowering a door body up and down. Examples of such a shutter device include a slat shutter, a pipe shutter, a sheet shutter, a panel shutter (including an overhead door), etc., each having a shutter curtain formed by connecting plate-like slats vertically. it can.

FIG. 15 shows the fully closed state of the opening, and a sensor S is provided at a lower part of the shutter curtain in the fully closed posture so that the sensor S can be raised as the shutter curtain rises. The sensor S forms a horizontal detection area 1. The sensor S operates as an activation sensor (the detection area 1 is an activation area). When the sensor S detects an object that has entered the detection area 1, the control unit that receives the detection information starts to raise the shutter curtain. . FIG. 15 shows a state in which a work vehicle loaded with luggage has entered the detection area 1, and the shutter curtain starts to rise based on detection of the work vehicle (sensor ON). While the sensor S is detecting the work vehicle (the sensor is kept on), the shutter curtain continues to rise.

FIG. 16 shows the control of the opening height of the opening using the sensor S. The left diagram in FIG. 16 shows a state (opening height H1) in which the shutter curtain is raised and the opening is opened until the work vehicle loaded with the luggage that has entered the detection area 1 is not detected (sensor OFF). The right side of FIG. 16 shows a state (opening height H2) in which the shutter curtain is raised and the opening is opened until the low-profile passenger car that has entered the detection area 1 is not detected (sensor OFF). As apparent from the comparison between the left and right diagrams in FIG. 16, the shutter curtain is raised to an appropriate opening height to open the opening according to the height of the object that has entered the detection area 1. Yes.

FIG. 17 shows obstacle detection using the sensor S. In this aspect, the sensor S operates as a safety sensor (the detection area 1 is an obstacle detection area), and when the sensor S detects a person who has entered the detection area 1 while the shutter curtain is descending, this is the case. The control unit that has received the detection information stops the descent of the shutter curtain and reverses it.

FIG. 18 shows a mode in which two different detection areas 1 and 2 are set by one sensor S. Detection area 1 is an activation area, and detection area 2 is an obstacle detection area. When an object is detected in the detection area 1, the sensor S functions as an activation sensor, and when an object is detected in the detection area 2, the sensor S functions as a safety sensor.

The detection area 2 is set on the side close to the opening, and is a small area having a depth dimension smaller than that of the detection area 1 from the opening. When an object (for example, a person) is detected in the detection area 2 while the shutter curtain is descending, the descending of the shutter curtain is stopped or reversed and raised. On the other hand, if an object (vehicle or person) enters only the detection area 1 while the shutter curtain is descending, the detection in the detection area 1 is invalidated and the shutter curtain continues to descend. Therefore, the lowering of the shutter curtain is not interrupted by an object that passes only the detection area 1. Furthermore, when the sensor S can detect the movement of the object in the detection area, the detection result of the movement of the object can be used for opening / closing control. For example, the position on the detection area 1 is represented by xy coordinates with the sensor S as the origin. From the time series data (x, y, t) of the movement of the object on the detection area 1, the moving direction of the object, the moving speed of the object It is possible to acquire the movement range of the object within a certain time, the position of the object in the detection area, the presence / absence of movement of the object in the detection area, etc., and these information may be used for the opening / closing control.

[E] Flow of Open / Close Control The flow of open / close control by the open / close control device will be described with reference to FIGS. 19 and 20. FIG. 20 is a view similar to FIG. 19, and some lines are indicated by bold lines. First, the opening / closing control using the area sensor having the detection area 1 and the detection area 2 will be described with reference to the thick line in FIG.

Start with the shutter curtain stopped. The stop state includes a state where the shutter curtain is stopped at the lower limit position (opening fully closed state) and a half-open state. When an object that has entered detection area 1 is detected in detection area 1 and the sensor is turned ON, an open signal is output and the shutter curtain starts to rise. At the same time, the signal light turns red and the alarm buzzer sounds. When the sensor is ON in the detection area 1, the shutter curtain continues to rise.

In the detection area 1, when the sensor is switched from the sensor ON state to the sensor OFF state, a stop signal is output after a certain period of time (for example, 1 second), the shutter curtain ascends and the shutter is in the half-open position. It becomes a passage permission state. At the same time, the signal light goes off and the alarm buzzer stops. The half-open state of the opening is maintained for a predetermined time (for example, 30 seconds), and the passage of the opening is performed. When the shutter curtain is stopped in the half-opened posture and an object having a height higher than the opening height in the half-opened state enters the detection area 1, the detection of the shutter curtain is resumed in the detection area 1 from the sensor OFF state to the sensor ON state. Opening takes place. In this case, when the sensor is ON in the detection area 1, the shutter curtain continues to rise. When the sensor ON state is changed from the sensor ON state to the sensor OFF state in the detection area 1, a stop signal is issued after a certain time (for example, 1 second). As a result, the shutter curtain ascends and the shutter is in a half-opened posture, and the opening is in a half-opened state (having an opening height higher than the opening height in the previous half-opened state) and the passage is permitted.

It is determined that the area sensor is in the detection area 1 and the safety sensor is in the OFF state at the end of the predetermined time or after the predetermined time has elapsed, and a closing signal is output after a certain period of time (for example, 2 seconds) after the determination The shutter curtain starts to descend automatically. At the same time, the signal light turns on green and the alarm buzzer sounds.

While the shutter curtain is descending, the area sensor continues to be in the sensor OFF state in the detection area 2 and when the safety sensor continues to be in the sensor OFF state, the shutter curtain continues to descend and the limit switch detects the lower limit position and stops. A signal is output, and the descent of the shutter curtain stops and the opening is fully closed.

When the area sensor changes from the sensor OFF state to the ON state in the detection area 2 while the shutter curtain is descending, a stop signal is output and the shutter curtain descending stops. Further, an open signal is output, and the shutter curtain is inverted and raised. At the same time, the signal light turns red and the alarm buzzer sounds.

Several modes can be considered for the control after the reversal rise. In one aspect, the shutter curtain continues to rise when the sensor is ON in the detection area 2, and then stops after a certain period of time (for example, 1 second) when the sensor ON state changes from the sensor ON state to the sensor OFF state. A signal is output and the shutter curtain rises. Thereafter, the sensor curtain in the detection area 2 and the safety sensor OFF state are confirmed, and the shutter curtain is automatically lowered. In one aspect, after turning ON in the detection area 2, the timer is used to reverse and rise for a predetermined time, and then the sensor OFF state and safety sensor OFF state in the detection area 2 are confirmed, and the shutter curtain is automatically Descent.

As shown in FIGS. 19 and 20, when the safety sensor changes from the OFF state to the ON state while the shutter curtain is being lowered, the stop signal is output and the descent of the shutter curtain is stopped and the open signal is output and the shutter is released. The curtain starts to rise. In addition, when the stop push button of the manual operation unit is pressed and the stop switch is turned on while the shutter curtain is being raised or lowered, a stop signal is output and the shutter curtain is raised or lowered. .

When the sensor ON state in the detection area 1 is continued and the shutter curtain continues to rise and approaches the upper limit, first, when the second upper limit position (for deceleration) is detected by the limit switch, the shutter curtain Ascending speed of the sensor becomes low, and detection by the area sensor is invalidated. When the shutter curtain further rises and the first upper limit position is detected by the limit switch, a stop signal is output, the shutter curtain stops at the upper limit position, and the opening is fully opened. The flow after the opening half-opened state can be applied to the subsequent flow.

FIG. 21 is a flowchart when the area sensor performs the upper limit detection using the detection area 2. When the second upper limit position (for deceleration) is detected, the ascending speed of the shutter curtain becomes low, the shutter curtain further rises, and the height of the horizontal detection area 2 is provided above the opening. When the detected member UL is detected, a stop signal is output, the shutter curtain stops at the upper limit position, and the opening is fully opened.

1 Panel 2 Guide rail 4 Switch S, S1, S2 Sensor A1, A2 Detection area

Claims (7)

A door body that is electrically lifted to open and close the opening;
A detection means for setting a horizontal detection area in the front space of the opening and detecting an object located in the detection area;
A control unit for controlling the electric lift of the door body based on detection / non-detection of the detection means;
With
The detection means is a movable detection means that is positioned at a height near the lower end of the door body and that moves up and down as the door body is raised and lowered, so that the detection area is raised and lowered as the detection means is raised and lowered. And
The control unit continues to raise the door body while the detection means is in the detection state when the door body is raised, and the detection means is moved to the non-detection state from the detection state. Control the opening height by stopping the ascent,
Open / close control device. The detection area also serves as an activation area,
The control unit starts to raise the door that is stopped in the fully closed state or the half open state when the detection unit is changed from the non-detection state to the detection state.
The opening / closing control apparatus according to claim 1. The detection area also serves as an obstacle detection area,
The said control part performs the stop of the descent | fall of a door body, or the reverse raising of a door body, when the said detection means will be in a detection state from a non-detection state during the descent | fall of a door body. The opening / closing control apparatus according to claim 1.   The opening / closing control apparatus according to any one of claims 1 to 3, wherein a plurality of horizontal detection areas having different areas are set by the detection means. The plurality of detection areas include at least a first area and a second area,
The first area is an opening height control area, or an opening height control and activation area,
The second area is one area selected from the group consisting of an obstacle detection area, an upper limit position detection area, a lower limit position detection area, or a combined area of a plurality of areas.
The opening / closing control device according to claim 4. The second area is an obstacle detection area that is set on the side close to the opening, and includes a small area detection area having a depth dimension smaller than that of the first area.
In the second area, when the detection unit is changed from the non-detection state to the detection state, the control unit stops the lowering of the door body or reverses and raises the door body. 6. The opening / closing control according to claim 5, wherein, in only the first area, when the detection unit changes from a non-detection state to a detection state, the detection in the first area is invalidated and the door body continues to descend. apparatus. The detection area includes an obstacle detection area,
In the obstacle detection area, when the detection unit is changed from the non-detection state to the detection state and the door body starts to reverse, the control unit continues to raise the door body while the detection unit is in the detection state. The opening / closing control device according to any one of claims 3, 5 and 6, wherein the detecting means stops raising of the door body based on a change from the detection state to the non-detection state.