JP5800633B2 - Open / close control device - Google Patents

Description

The present invention relates to an opening / closing control device for an opening / closing door.

Some door devices that electrically open and close a building opening automatically open a door body by detecting a person or a vehicle approaching the opening. For example, in an electric shutter, 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 to open the opening. It has been known. 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). Similarly, in an automatic door that moves left and right to open and close a building opening, an object in the front area of the opening is detected by a detection sensor and the door is automatically opened based on the detection. Are known.

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. Even in an automatic door that moves in the left-right direction, a door body that has been once activated and started to open moves to the fully open position and stops, and thus has the same problem.

Patent Documents 1 and 2 disclose that the door body opening amount 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. The thing of patent document 2 has the subject that a some detection sensor is essential, a number of parts increases, and it is difficult to acquire the magnitude | size of a target object correctly.
Japanese Utility Model Sho 61-176394 JP-A-7-711163

An object of this invention is to provide the opening / closing control apparatus which can solve the said subject.

The technical means adopted by the present invention are:
A door that electrically opens and closes the opening;
A detection means for setting a planar detection area in the front space of the opening and detecting an object that has entered the detection area;
A control unit that controls the electric opening and closing of the door body based on detection / non-detection of the detection means;
With
The detection means is a movable detection means that moves in the opening direction as the door body opens, and the planar detection region moves in the opening direction as the detection means moves in the opening direction. And
The planar detection area is an activation area set in the opening front space so as to detect an object approaching the opening in order to pass through the opening in the fully closed state or half-opened state of the opening,
The control unit starts the opening movement of the door body in the fully closed position or the half-opened position based on the detection of the object by the detecting means in the opening fully closed state or the opening half open state, and the detecting means is in the detecting state. An opening / closing control device that continues the opening movement of the door body and stops the opening movement of the door body based on the detection unit being changed from the detection state to the non-detection state.

  In one aspect, the door opens and closes the opening by moving up and down, and the detection means is located in the vicinity of the floor surface in the fully closed state of the opening, and the planar detection region Is a horizontal plane. Typically, the door body that moves up and down 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.

  In one aspect, the door body opens and closes the opening by moving in the left-right direction, and the detection means is located in the vicinity of the door-end part when the opening is fully closed, The detection area is a vertical plane.

  In one aspect, the said detection means is connected with the said door body, and can move with the movement of the said door body.

In one aspect, a guide rail is provided on the frame side of the opening along the movement direction of the door body, and the detection means moves in the opening direction while being guided by the guide rail as the door body is opened. Is configured to do.
In one aspect, the door body opens and closes the opening by moving up and down, and the detection means is close to the floor surface when the opening is fully closed,
A contact portion is provided in a lower part of the door body, and a contact portion is provided in the detection means, and the detection portion is brought into contact with the contact portion as the door body is raised. It rises with the door body along the guide rail, and when the door body is lowered, the detection means descends by its own weight along the guide rail.
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 means moves in the closing direction as the door body is closed, and an object that has entered the detection area is detected by the detection means during the movement of the door body in the closing direction. In that case, the movement of the door body in the closing direction is stopped or the movement in the opening direction is performed.

In one aspect, the detection means can set a plurality of different detection areas, and sets a first area as an activation area and at least one second area.
In one aspect, the door opens and closes the opening by moving up and down.
The second region is an obstacle detection area having a small area that is set on the side closer to the opening and whose depth dimension is smaller than the opening area from the opening.
When an object is detected in the second region by the detection means during the movement of the door body in the closing direction, the movement of the door body in the closing direction or the movement in the opening direction is stopped. When an object is detected only in the first area, the detection in the first area is invalidated and the movement of the door body in the closing direction is continued.

In one aspect, the door opens and closes the opening by moving up and down.
The second area is an upper limit position detection area and / or a lower limit position detection area.
In one aspect, as shown by a dotted line in FIG. 2, when the detected member UL is provided in the vicinity of the upper limit and the second region (upper limit position detection area) rises to detect the detected member UL. Stop the lift of the door body. Further, the detected member LL is provided in the vicinity of the lower limit, and when the second region (lower limit position detection 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.
Further, when one detection area is set, the detection area may be a start area / upper limit position detection area and / or a lower limit position detection area.

In the opening / closing control device according to the present invention, the sensor constituting the activation sensor has a function of controlling the opening amount of the door body to an opening amount necessary for the passage of the object. Therefore, it is possible to form an opening having a controlled size, and to solve the problem caused by opening the opening more than necessary.

When the door body moves up and down, the detection area formed in a horizontal plane can detect the height of the object satisfactorily and can appropriately control the height of the opening. When the door body moves in the left-right direction, the detection area formed in a vertical plane can detect the width of the object well, and can appropriately control the width of the opening.

In the case where the detection means can set a plurality of different detection areas and sets the first area as the activation area and at least one second area, the second area is detected as an obstacle detection or upper limit position / lower limit position. It can be used for detection of the above, and appropriate open / close control can be performed according to the intended use.

It is a side view which shows the opening part full-closed state in which the building opening part was closed in 1st Embodiment. It is the side view which shows the opening part full open state in which the building opening part was open | released in 1st Embodiment, and the elements on larger scale of the lowest-order panel part. It is a partial side view of a shutter curtain lower part in a 1st embodiment 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 | position in 1st Embodiment. It is the front view which looked at the shutter curtain in 1st Embodiment from the outdoor side from the outdoor position, and the elements on larger scale of the width direction one end side of the lowest panel. It is the front view which looked at the shutter curtain in 1st Embodiment from the indoor side from the indoor position, and the elements on larger scale of the width direction one end side of the lowest panel. It is a top view of the shutter curtain in a 1st embodiment in the perpendicular posture, and has shown a detection field. It is a side view which shows the opening part full-closed state in which the building opening part was closed in 2nd Embodiment. It is the side view which shows the opening part full open state by which the building opening part was open | released in 2nd Embodiment, 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 a second embodiment in a fully closed state of an opening. It is a fragmentary top view of the width direction one end side of the lowest panel in a perpendicular attitude in a 2nd embodiment. It is the front view which looked at the shutter curtain in 2nd Embodiment from the outdoor side in the fully closed attitude | position, and the elements on larger scale of the width direction one end side of the lowest panel. It is the front view which looked at the shutter curtain in 2nd Embodiment from the indoor side in the fully-closed attitude | position, and the elements on larger scale of the width direction one end side of the lowest panel. It is a top view of the shutter curtain in a 2nd embodiment in the perpendicular posture, and has shown a detection field. 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 other embodiment. It is a figure which shows the state which the work vehicle which loaded the luggage | bag entered the detection area 1 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 front view which shows the opening part full-closed state in which the building opening part was closed in 3rd Embodiment. It is a front view which shows the opening part full open state in which the building opening part was open | released in 3rd Embodiment.

[A] First Embodiment A first embodiment of the present invention will be described based on an overhead door opening / closing control device 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 includes the opening / closing device 4, a chain (not shown) connected to the left and right lower parts of the lowest panel 1, and the width direction of the shutter curtain. The sprocket 40 is provided above the lifting path at both ends and the chain is wound around, and the transmission shaft 41 having the sprocket 410 at both ends in the length direction. The sprocket 40 and the sprocket 410 are chained. (Not shown), and the power of the opening / closing machine 4 is transmitted to the sprocket 40 via the transmission shaft 41. 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. 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. By detecting an object approaching the descending path of the shutter curtain by the photoelectric switch 5 and stopping or reversing the descending of the shutter curtain, pinching and contact under the descending shutter curtain are prevented. 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 overhead door configuration is merely an example.

Sensors S <b> 1 and S <b> 2 are provided at lower portions on 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. 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.

The detection areas A1 and A2 are set as areas that detect an object approaching the opening in order to pass through the opening. 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 that has entered 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).

The overhead door according to the present embodiment can be activated by a manually operated activation switch. For example, by inputting a lift command from the push button switch to the control unit, the control unit rotates the output shaft of the switch 4 in the first direction, and the shutter curtain in the fully closed posture starts to rise. For example, when a push button operation is performed from outside the detection areas A1, A2, the shutter curtain is stopped at the upper limit position by the limit switch, and the opening is fully opened as shown in FIG. In one aspect, by detecting that the shutter curtain has moved up to a predetermined position close to the upper limit (before the lowest panel 1 is changed from the vertical posture to the inclined posture) and invalidating the sensors S1 and S2, the lowest position is obtained. As a result of the panel 1 being inclined, erroneous detection (detecting walls and floors) by the detection areas A1 and A2 that become inclined surfaces is prevented.

[B] Second Embodiment A second embodiment of the present invention will be described based on an overhead door opening / closing control device with reference to FIGS. The basic configuration of the overhead door is the same as that of the first embodiment, and the description in the first embodiment can be used. Between the first embodiment and the second embodiment, FIGS. 1 and 8, FIGS. 2 and 9, FIGS. 3 and 10, FIGS. 4 and 11, FIGS. 5 and 12, FIGS. 6 and 13, 7 and FIG. 14 correspond to each other, and the same reference numerals are given to the same elements throughout FIGS. 1 to 14, and the description of the elements with the same reference numerals is given above. The description according to the first embodiment can be incorporated into the description of the second embodiment. The major difference between the first and second embodiments is that the sensors S1 and S2 are fixed to the lowest panel 1 in the former, whereas the sensors S1 and S2 are lower than the lowest panel 1 in the latter. It is an independent point. This will be specifically described below.

In the second embodiment, the sensors S 1 and S 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. Although the first portion 20 of the guide rail 2 is slightly inclined, the indoor side provided with the sensor S2 so that the sensor S2 moves up and down while maintaining a horizontal posture when guided by the inclined surface of the first portion 20. A movable bracket 7 of the movable sensor assembly is configured.

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.

FIG. 15 shows another embodiment relating to a contact locking structure between the lower end portion of the shutter curtain and the movable sensor assembly. The mode shown in FIG. 15 can be adopted in the second embodiment, but can also be applied to shutter curtains other than the panel. The feature of the aspect shown in FIG. 15 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 diagram of FIG. 15 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, the movable sensor assembly S ′ is raised along the guide rail 8 ′ while being suspended from the lower end of the shutter curtain, as shown in the right diagram of FIG. 15. 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] Mode of Open / Close Control in Shutter Device The mode of open / close control in the shutter device will be described with reference to FIGS. The opening / closing control described here can be applied to the first embodiment and the second embodiment described above, but is not necessarily limited to an overhead door, and is a shutter device that opens and closes an opening by raising and lowering a door body up and down. It can be widely applied. 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. 16 shows a state in which the opening is fully closed, and a sensor S is provided at a lower portion 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. 16 shows a state in which a work vehicle loaded with luggage enters 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. 17 shows the control of the opening height of the opening using the sensor S. The left diagram in FIG. 17 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 entering the detection area 1 is not detected (sensor OFF). The right figure of FIG. 17 has shown the state (opening height H2) which the shutter curtain raised and the opening part was opened until the low-profile passenger car which entered the detection area 1 became non-detection (sensor OFF). As is clear from the comparison between the left and right diagrams in FIG. 17, 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. 18 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. 19 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 in the detection area 2 is detected, 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 being lowered, the shutter curtain is stopped from being lowered, or reversely raised. On the other hand, when 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 descent of the shutter curtain is not interrupted by an object that passes only within 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.

[D] Third Embodiment A third embodiment of the present invention will be described with reference to FIGS. 20 and 21 based on an open / close control device for a draw-type electric Hangar door. The electric hanger guard includes two door bodies 100, 100 each having a vertically rectangular shape when viewed from the front, and a hanger roller 101 is provided on the upper end surface of each door body 100. Each door body 100 has an open hanger roller 101. By rolling on the hanger rail 200 that is positioned above the portion and extends in the horizontal direction, the opening is opened and closed by moving in the left-right direction. The electric hanger guard includes a drive mechanism for moving the hanger roller 101 along the hanger rail 200. The movement of the door body 100 by the drive mechanism is controlled by the control unit. The two door bodies 100 are in the fully-closed state when the door side surfaces 102 face each other (see FIG. 20), and the door body 100 moves in a direction in which the door side surfaces 102 are separated from each other. Thus, an opening (opening width W1) is formed between the separated door-side side portions 102 (see FIG. 21).

A sensor S100 is provided above the door end side portion of each door body 100. The sensor S100 forms a vertical planar detection region A100 in the opening front space. The detection area A100 has a height corresponding to the total height of the opening and a depth dimension from the predetermined opening. In the fully closed state of the opening, the two vertical surface detection areas A100 are formed to face each other, and an object (a person or a vehicle) that has entered the opening front space to pass through the opening has two detection areas. Detected by A100. When the sensor S100 detects an object that has entered the detection area A100, the control unit that has received the detection information moves the door body 100 in the opening direction away from each other using the drive mechanism. That is, the detection area A100 is a start area, and the sensor S100 functions as a start sensor.

While the object that has entered the detection area A100 is being detected (sensor ON), the door body 100 continues to move in the opening direction. More specifically, the object is continuously detected (sensor ON) until the distance between the vertical planar detection areas A100 that move while being separated from each other exceeds the width of the object, and two objects that move while being separated are detected. If the interval between the vertical planar detection areas A100 exceeds the width dimension of the object, the sensor S100 enters a non-detection state (sensor OFF). That is, the sensor S100 has a function of detecting the width dimension of the object that has entered the detection area A100.

When the control unit determines that the sensor S100 is in the non-detection state (determined when the sensor is changed from the ON state to the OFF state), the opening of the door body 100 is stopped. For example, if the sensor S100 is in a non-detection state (sensor OFF) at the time when the distance between the side surfaces 102 of the door body 100 becomes W2, the door body 100 does not move to the fully open state. Then stop in the half-open state. The width W2 is a width dimension sufficient for the passage of the object, and the door body 100 is automatically closed after the object passes through the opening. For example, after stopping in a half-open state, a predetermined time sufficient for passage is measured by a timer, and after the predetermined time has passed, the door bodies 100 are in a direction to approach each other on condition that the separately provided safety sensor is in a non-detection state. It moves and it becomes a closed state of an opening part.

DESCRIPTION OF SYMBOLS 1 Panel 2 Guide rail 4 Opening / closing machine 8 Guide rail 100 Door body S, S1, S2, S100 Sensor A, A1, A2, A100 Detection area

Claims (10)

A door that electrically opens and closes the opening;
A detection means for setting a planar detection area in the front space of the opening and detecting an object that has entered the detection area;
A control unit that controls the electric opening and closing of the door body based on detection / non-detection of the detection means;
With
The detection means is a movable detection means for setting a planar detection area in the front space of the opening and detecting an object that has entered the detection area while moving in the opening direction as the door opens. Yes, with the movement of the detection means in the opening direction, the planar detection area is moved in the opening direction in a state where it is located in the opening front space,
The planar detection region has a depth dimension from the opening to the front space of the opening so as to detect an object approaching the opening in order to pass through the opening in the fully closed state or half open state of the opening. Is the set startup area,
The control unit includes control means for controlling the electric opening of the door body based on detection / non-detection of the detection means,
The control means starts the opening movement of the door body in the fully closed position or the half open position based on the detection of the object by the detection means in the opening fully closed state or the opening half open state, and the detection means is in the detection state. During the period, the door body continues to move open, and the detection means stops the door body opening movement based on the transition from the detection state to the non-detection state.
Open / close control device.
  The door body moves up and down to open and close the opening, and the detection means is located near the floor in the fully closed state of the opening, and the planar detection region is a horizontal plane. The opening / closing control apparatus according to claim 1.   The door body opens and closes the opening by moving in the left-right direction, and the detection means is located in the vicinity of the door-end portion in the fully closed state of the opening, and the planar detection region is a vertical surface. The opening / closing control device according to claim 1, wherein   The opening / closing control apparatus according to any one of claims 1 to 3, wherein the detection means is connected to the door body and is movable along with the movement of the door body.   A guide rail is provided on the frame side of the opening along the moving direction of the door body, and the detection means is configured to move in the opening direction while being guided by the guide rail as the door body is opened. The opening / closing control apparatus according to any one of claims 1 to 3. The door body moves up and down to open and close the opening, and the detection means is located near the floor surface in the fully closed state of the opening,
A contact portion is provided in a lower part of the door body, and a contact portion is provided in the detection means, and the detection portion is brought into contact with the contact portion as the door body is raised. The opening / closing control device according to claim 5, wherein the detecting means rises with the door body along the guide rail, and the detecting means descends with its own weight along the guide rail when the door body is lowered. The detection means moves in the closing direction as the door body is closed,
When an object that has entered the detection area is detected by the detection means during the movement of the door in the closing direction, the movement of the door in the closing direction is stopped, or the movement in the opening direction, The opening / closing control device according to any one of claims 1 to 6, wherein:   The opening / closing control apparatus according to any one of claims 1 to 7, wherein the detection unit can set a plurality of different detection areas, and sets a first area as an activation area and at least one second area. . The door body opens and closes the opening by moving up and down,
The second region is an obstacle detection area having a small area that is set on the side closer to the opening and whose depth dimension is smaller than the opening area from the opening.
When an object is detected in the second region by the detection means during the movement of the door body in the closing direction, the movement of the door body in the closing direction or the movement in the opening direction is stopped. 9. When the object is detected only in the first area, the detection in the first area is invalidated, and the movement of the door body in the closing direction is continued. Opening and closing control device. The door body opens and closes the opening by moving up and down,
The opening / closing control device according to claim 8, wherein the second region is an upper limit position detection area or / and a lower limit position detection area.