JP7333152B2 - Obstacle sensing device, obstacle sensing method, opening/closing body device, and opening/closing body control method - Google Patents

Description

The present invention senses obstacles during the opening and closing operation of an opening/closing body device configured to partition openings of structural frames including buildings such as buildings, factories, and warehouses using opening/closing bodies such as shutters. The present invention relates to an obstacle sensing device, an obstacle sensing method, an opening/closing body device, and an opening/closing body control method, in particular, an obstacle sensing device and an obstacle sensing method configured to control the opening/closing operation of an opening/closing body using an AC motor. , an opening/closing body device and an opening/closing body control method.

Opening and closing devices such as shutter curtains are installed in openings and windows of structures including buildings such as houses, buildings, factories, warehouses, garages, etc., and openings such as passages and spaces inside. It opens and closes the opening by moving the body. This opening/closing device includes a slat curtain made up of a large number of strip-shaped slat materials, a pipe grill curtain made up of a large number of pipe materials connected by a link material, etc., a panel curtain made up of a single panel material or a large number of connected panel materials, An opening/closing body such as a net curtain made of net material, a sheet curtain made of sheet material made of synthetic resin or fabric fibers, or a composite curtain made of a composite material of these materials is pulled out from the top of the opening and lowered to cover the entire opening. configured to close. In such an opening/closing body device, the opening/closing operation of the opening/closing body is often electrically performed. Electric opening/closing devices include an electric shutter device, an electric door device, an electric awning device, and the like.

Among such electric opening and closing devices, there are shutters installed mainly for the purpose of crime prevention, such as the outer wall openings of buildings called lightweight shutter devices, and buildings, factories, warehouses, etc. There is a heavy shutter device used for the purpose. The lightweight shutter device has an iron slat (curtain portion) with a plate thickness of 1.0 [mm] or less, and can be opened and closed manually by maintaining vertical balance with a spring. Heavy shutter devices, on the other hand, consist of slats (curtains) with a thickness of 1.2 [mm] or more combined with pipes (grill shutters), and are mainly electrically controlled to open and close. is.

The heavy shutter device is provided with an obstacle sensing device composed of a radio signal device and a seat plate switch. When the seat plate comes into contact with an obstacle while the shutter is descending, the obstacle detection device emits a signal from the transmitter attached to the seat plate, which is received by the light receiving unit to detect the obstacle and descend. It works to stop the shutter inside. Also, some obstacle sensing devices transmit the on/off of the seat plate switch in a wired manner instead of using a wireless signaling device.

Furthermore, some obstacle sensing devices use photoelectric sensors. When the shutter is stopped, if there is an obstacle in the light path, even if the push button switch is pressed, the shutter will not move. It works to stop it.

In Patent Document 1, as an obstacle sensing device that senses the load applied to the opening and closing mechanism of the shutter, a method of sensing the current value of the opening and closing mechanism in the prior art column, and a method of detecting the amount of rotation using a tachogenerator or an encoder are disclosed. Then, the shutter is lifted in a safe direction, that is, stopped or reversed, due to the decrease in the amount of rotation.

JP 2004-300916 A

The prior art obstacle sensing device described in Patent Document 1 is applied to a lightweight shutter device, and the slats of the lightweight shutter device are relatively light. Since the load is transmitted to the switch, there is a problem that it takes time to reverse and rise.

The prior art load-sensing obstacle sensing device described in Patent Document 1 is used in light-weight shutter devices having relatively small load-sensing power, such as light-weight shutter devices. Heavy shutter devices, which are often controlled by switches, have a very high load sensing power when they come into contact with an obstacle. Employing sensing devices is difficult. In other words, AC motors are not suitable for adopting the load sensing method because the motor rotation speed-current characteristics are not proportional like DC motors, and the load sensing power is not stable. be.

In addition, with AC motors, it is difficult to realize stable load sensing due to the slippage of the motor rotor. It has been very difficult to reduce the load sensitivity.
Furthermore, by using a DC motor such as a brushless motor that uses neodymium or the like for the rotor, it is highly likely that the load sensing power can be reduced compared to an AC motor, but brushless motors are expensive. However, the current situation is that it has not been adopted from the viewpoint of cost vs. cost.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and an obstacle sensing device capable of maintaining high safety and reliability when a load sensing type obstacle sensing device is installed in a heavy-duty shutter device. An object of the present invention is to provide an obstacle sensing method, an opening/closing body device, and an opening/closing body control method.

A first feature of the obstacle sensing device of the present invention is that the opening/closing means for opening/closing the opening is opened/closed by dividing the motor current supplied to the three-phase AC motor into a torque current and an excitation current, and An obstacle sensing device comprising control means for controlling while adjusting a motor voltage so that an exciting current is constant, wherein the control means regulates the motor current during each operation control of opening/closing of the opening/closing means. To detect that an obstacle has come into contact with the opening/closing means based on the change.
While detecting the motor load, that is, the motor current value (torque) during control of the three-phase AC motor, it senses that an obstacle has come into contact with the tip of the opening/closing means based on the change in the motor current value. It is designed to

According to a second feature of the obstacle sensing device of the present invention, in the obstacle sensing device according to the first feature, the control means determines that the rate of change in the motor current value in a predetermined period of time is equal to or greater than a threshold value. To detect that an obstacle has come into contact with an opening/closing means when the price reaches the bottom price or when the bottom price is not reached after the lapse of a predetermined time.
This is because, as shown in FIG. 3, when the opening/closing means is closed, the motor current value (torque) shows a waveform w1 in which the motor current value (torque) gradually increases along an upward-sloping curve while pulsating at regular intervals. The change amount .DELTA.i of the waveform w1 is constantly detected, and when the change amount .DELTA.i exceeds a threshold value or when the change amount .DELTA.i does not reach the bottom value after the elapse of the predetermined time t1 or t2, it is detected that the opening/closing means has come into contact with an obstacle. It is made to be perceived.

According to a third feature of the obstacle sensing device of the present invention, in the obstacle sensing device according to the first feature, the control means obtains an average value of the motor current values during the opening/closing operation of the opening/closing means. a threshold waveform having a predetermined width is generated by multiplying the average value by a predetermined numerical value of plus or minus; To sense that an obstacle comes into contact with a means.
This involves repeatedly executing the opening/closing operation of the opening/closing means, sampling a plurality of waveforms that vary as shown in FIG. 1.1 to 1.3 are multiplied to generate threshold waveforms w3 and w4 having a predetermined width. It is designed to sense that an obstacle has come into contact. The numerical value by which the average waveform w2 is multiplied may be the same value α such as ±α, or may be multiplied by different values α and β such as +α and -β.

A fourth feature of the obstacle sensing device of the present invention is that, in the obstacle sensing device according to the first, second or third feature, light emitters and light receivers are provided at both left and right ends of the opening. A first sensing means for sensing an obstacle present on the optical path with the formed optical path as a sensing area; It is provided with at least one sensing means of the second sensing means.
In addition to the load-sensing type sensing means described in the first feature, this is provided with optical system sensing means and/or contact-type sensing means such as a seat plate switch.

A fifth feature of the obstacle sensing device of the present invention is that, in the obstacle sensing device according to the first, second, third or fourth feature, the range of the opening/closing operation of the opening/closing means along the movement direction is human detection means for detecting that a person has approached a predetermined area outside; and vehicle detection means for detecting that a vehicle has approached a predetermined area outside the range along the movement direction of the opening/closing operation of the opening/closing means. At least one detection means is provided.
This is provided with human detection means and/or vehicle detection means in addition to the load sensing type sensing means described in the first feature.

A first feature of the obstacle sensing method of the present invention is that the opening/closing means for opening/closing the opening is opened/closed by dividing the motor current supplied to the three-phase AC motor into a torque current and an excitation current, and A method for detecting obstacles in a switchgear device for controlling a motor voltage while adjusting a motor voltage so that an exciting current is constant, wherein the switchgear is controlled based on a change in the motor current during each operation control of opening and closing of the switch means. To sense that an obstacle comes into contact with a means.
This is an invention of an obstacle sensing method corresponding to the obstacle sensing device according to the first feature.

A second feature of the obstacle sensing method of the present invention is that, in the obstacle sensing method according to the first feature, when a rate of change in the motor current value in a predetermined time becomes equal to or greater than a threshold value, or a predetermined To detect the contact of an obstacle with an opening/closing means when the bottom price is not reached after the passage of time.
This is an invention of an obstacle sensing method corresponding to the obstacle sensing device according to the second feature.

According to a third aspect of the obstacle sensing method of the present invention, in the obstacle sensing method according to the first aspect, an average value of the motor current values during the opening/closing operation of the opening/closing means is obtained, and the average value is A threshold waveform having a predetermined width is generated by multiplying a predetermined numerical value of plus or minus, and when the motor current value protrudes from the inside of the predetermined width of the threshold waveform, an obstacle is detected in the opening/closing means. It is to sense that it touched.
This is an invention of an obstacle sensing method corresponding to the obstacle sensing device according to the third aspect.

A fourth feature of the obstacle sensing method of the present invention is that, in the obstacle sensing method according to the first, second or third feature, a light projector and a light receiver respectively provided at both left and right ends of the opening A first sensing method for sensing an obstacle present on the optical path using the formed optical path as a sensing area; At least one sensing method of the second sensing method is provided.
This is an invention of an obstacle sensing method corresponding to the obstacle sensing device according to the fourth aspect.

A fifth feature of the obstacle sensing method of the present invention is that, in the obstacle sensing method according to the first, second, third or fourth feature, the range of the opening/closing operation of the opening/closing means along the moving direction is A human detection method for detecting that a person has approached a predetermined area outside, and a vehicle detection method for detecting that a vehicle has approached a predetermined area outside the range along the movement direction of the opening/closing operation of the opening/closing means. At least one detection method is provided.
This is an invention of an obstacle sensing method corresponding to the obstacle sensing device according to the fifth aspect.

A first feature of the opening/closing body device of the present invention is that opening/closing means operates to open/close an opening, motor current supplied to a three-phase AC motor is divided into torque current and excitation current, and the excitation current is A switchgear device comprising control means for controlling each operation of opening and closing of said opening and closing means while adjusting a motor voltage so as to be constant, wherein said control means controls each operation of opening and closing of said opening and closing means. It is provided with load sensing means for sensing that an obstacle has come into contact with the opening/closing means on the basis of changes in the motor current over time.
This is an invention of an opening/closing device provided with the obstacle sensing device and the obstacle sensing method according to the first aspect.

A second feature of the switchgear device of the present invention is that, in the switchgear device according to the first feature, the control means controls that the rate of change in the motor current value in a predetermined period of time is equal to or greater than a threshold value. To detect that an obstacle has come into contact with an opening/closing means at a point in time or at a point in time when a bottom price has not been reached after the lapse of a predetermined time.
This is an invention of an opening/closing device provided with the obstacle sensing device and the obstacle sensing method according to the second aspect.

A third feature of the switchgear apparatus of the present invention is the switchgear apparatus according to the first feature, wherein the control means obtains an average value of the motor current values during the opening/closing operation of the opening/closing means, A threshold waveform having a predetermined width is generated by multiplying the average value by a predetermined numerical value of plus or minus, and when the motor current value protrudes from the inside of the predetermined width of the threshold waveform, the switching means is activated. To detect contact with an obstacle.
This is an invention of an opening/closing device provided with the obstacle sensing device and the obstacle sensing method according to the third aspect.

A fourth feature of the opening/closing device according to the present invention is that in the opening/closing device according to the first, second or third feature, a light projector and a light receiver are provided at both left and right ends of the opening. a first sensing means for sensing an obstacle existing on the optical path, and a first sensing means for sensing an obstacle existing on the optical path; It is provided with at least one sensing means of the second sensing means for sensing.
This is an invention of an opening/closing device provided with the obstacle sensing device and the obstacle sensing method according to the fourth aspect.

A fifth feature of the opening/closing body device of the present invention is that in the opening/closing body device according to the fourth feature, at least one of the first sensing means and the second sensing means senses the existence of the obstacle. In this case, the reversing opening operation is performed after the closing operation of the opening/closing means is stopped, and only when the closing button is fully pushed after the reversing opening operation, the closing operation corresponding to the fully pushed operation is performed, and the load is sensed. When the means senses the presence of the obstacle, the closing operation of the opening/closing means is stopped, and then the reversing opening operation is performed. To execute an opening operation or a closing operation corresponding to an operation.
This is because, when the optical sensing means and/or the contact sensing means sense an obstacle, the operator presses the close button while confirming the closing operation of the opening/closing means after the reversal opening operation. When the load sensing means detects an obstacle, the operator presses the open button or close button while confirming the opening or closing operation of the opening/closing means after the reversal opening operation. The opening operation or the closing operation corresponding to the full-push operation can be executed only when the full-push operation is performed.
This indicates that the load sensing means has sensed an obstacle due to some event when both the closing motion and the closing motion cannot be performed unless the full push operation is performed. In addition, if the opening operation is performed by operating the open button but the closing operation is not performed by fully pressing the button, some event causes the optical system sensing means and/or the contact type sensing means to sense an obstacle. It is understood that

A sixth feature of the opening/closing body device of the present invention is that, in the opening/closing body device according to the first, second, third, fourth or fifth feature, human detection means for detecting that a person has approached a predetermined area outside the range; and vehicle detection means for detecting that a vehicle has approached a predetermined area outside the range along the moving direction of the opening/closing operation of the opening/closing means. is provided with at least one detection means of
This is an invention of an opening/closing device provided with the obstacle sensing device and the obstacle sensing method according to the fifth aspect.

A seventh feature of the opening/closing body device of the present invention is that, in the opening/closing body device according to the first feature, when at least one of the human detection means and the vehicle detection means detects the approach of the person or the vehicle, makes the speed during the closing operation of the opening/closing means lower than the speed during the opening operation, and when the load sensing means senses the presence of the obstacle, the closing operation of the opening/closing means is stopped and then reversed. To execute the opening operation.
When the human detection means and/or the vehicle detection means sense an obstacle, the speed at which the opening/closing means is closed is about 30 to 70% higher than the speed at which the opening/closing means is opened (normal speed). , and when the load sensing means senses an obstacle, the reverse opening operation is performed. When the speed is set to be low, it is preferable to perform the operation when the distance (height) from the closed surface (floor surface) becomes 1 to 2 [m]. As a result, the closing operation can be performed without impairing convenience during closing (during descent). Further, after the reversal opening operation when the load sensing means senses an obstacle, the opening operation or the closing operation may be performed by pushing the load all the way.

An eighth feature of the opening/closing body device of the present invention is that, in the opening/closing body device described in the first to sixth features, the speed of the opening/closing means during the closing operation is lower than the speed during the opening operation. It's all about speed.
In the case of a heavy-duty shutter device using a three-phase AC motor, the normal speed during the closing (lowering) operation and opening (upward) operation is determined by the power supply frequency 50/60 [Hz] and is a constant speed. On the other hand, it has been confirmed experimentally that the slower the closing (lowering) speed of the load sensing type obstacle sensing device, the lower the sensing force generated when the opening/closing means contacts an obstacle. . Therefore, by setting the speed of the opening/closing means during the closing operation to be lower than the speed during the opening operation, it is possible to realize an ideal opening/closing speed of the shutter that combines convenience and safety. When the speed is set to be low, it is preferable to perform the operation when the distance (height) from the closed surface (floor surface) becomes 1 to 2 [m].

A first feature of the opening/closing body control method of the present invention is that each opening/closing operation of opening/closing means for opening/closing an opening is divided into a torque current and an excitation current by dividing a motor current supplied to a three-phase AC motor into a torque current and an excitation current. An opening/closing member control method for controlling while adjusting a motor voltage so that an exciting current is constant, wherein an obstacle is detected in the opening/closing means based on a change in the motor current during each operation control of opening/closing and stopping of the opening/closing means. To execute a load sensing method for sensing that a contact has been made.
This is an invention of an opening/closing control method corresponding to the opening/closing body device according to the first aspect.

A second feature of the opening/closing body control method of the present invention is that, in the opening/closing body control method according to the first feature, when the rate of change in the motor current value in a predetermined time becomes equal to or greater than a threshold value, To detect the contact of an obstacle with an opening/closing means when the bottom price is not reached after the passage of time.
This is an invention of an opening/closing control method corresponding to the opening/closing body device described in the second feature.

A third feature of the opening/closing body control method of the present invention is that, in the opening/closing body control method according to the first feature, an average value of the motor current values during the opening/closing operation of the opening/closing means is obtained, and the average value is A threshold waveform having a predetermined width is generated by multiplying a predetermined numerical value of plus or minus, and when the motor current value protrudes from the inside of the predetermined width of the threshold waveform, an obstacle is detected in the opening/closing means. It is to sense that it touched.
This is an invention of an opening/closing control method corresponding to the opening/closing body device described in the third feature.

A fourth feature of the opening/closing body control method of the present invention is that, in the opening/closing body control method according to the first, second, or third feature, a light projector and a light receiver provided at both left and right ends of the opening are used. A first sensing method for sensing an obstacle present on the optical path using the formed optical path as a sensing area; The object is to execute at least one sensing method of the second sensing method for sensing presence.
This is an invention of an opening/closing control method corresponding to the opening/closing body device according to the fourth aspect.

A fifth feature of the opening/closing body control method of the present invention is, in the opening/closing body control method according to the first, second, third or fourth feature, the first sensing method and the second sensing method. When the presence of the obstacle is sensed by at least one of the above methods, the reversal opening operation is performed after the closing operation of the opening/closing means is stopped, and after the reversal opening operation, only when the close button is fully pressed. A closing operation corresponding to the operation is performed, and when the presence of the obstacle is sensed by the load sensing method, the opening operation is reversed after stopping the closing operation of the opening/closing means, and after the reverse opening operation, the button is opened. Alternatively, only when the close button is fully pressed, the opening or closing operation corresponding to the fully pressed operation is executed.
This is an invention of an opening/closing control method corresponding to the opening/closing body device according to the fifth aspect.

A sixth feature of the opening/closing body control method of the present invention is that, in the opening/closing body control method according to the first, second, third, fourth or fifth feature, in the moving direction of the opening/closing operation of the opening/closing means, A human detection method for detecting that a person has approached a predetermined area outside the range along the direction of movement, and a vehicle for detecting that a vehicle has approached a predetermined area outside the range along the movement direction of the opening/closing operation of the opening/closing means. The object is to execute at least one of the detection methods.
An opening/closing body control method characterized by:
This is an invention of an opening/closing control method corresponding to the opening/closing body device according to the sixth feature.

A seventh feature of the opening/closing body control method of the present invention is the opening/closing body control method according to the sixth feature, wherein at least one of the person detection method and the vehicle detection method is used to detect the approach of the person or the vehicle. If it is detected, the closing speed of the opening/closing means is set lower than the opening speed, and if the presence of the obstacle is detected by the load sensing method, the closing operation of the opening/closing means is performed. to execute a reversal opening operation after stopping the
An opening/closing body control method characterized by:
This is an invention of an opening/closing control method corresponding to the opening/closing body device according to the seventh feature.

An eighth feature of the opening/closing body control method of the present invention is that, in the opening/closing body control method according to any one of the first to sixth features, the speed during the closing operation of the opening/closing means is higher than the speed during the opening operation. The reason is that the speed is low.
This is an invention of an opening/closing control method corresponding to the opening/closing body device according to the eighth feature.

Advantageous Effects of Invention According to the present invention, it is possible to maintain high safety and reliability when a load sensing type obstacle sensing device is mounted on a heavy shutter device.

It is a figure showing a 1st embodiment of a schematic structure of a shutter device concerning the present invention. 1 is a diagram showing a schematic configuration of a control device for an opening/closing device according to a first embodiment; FIG. FIG. 10 is a diagram showing an example of an obstacle detection unit that senses an obstacle based on a change in motor current value (torque) during the downward movement of the shutter (during vector control); FIG. 4 is a diagram showing a modified example of an obstacle detection unit that senses an obstacle based on the waveform of the motor current value (torque) of FIG. 3; 4 is a flow chart showing an example of processing when an obstacle is detected by the obstacle detection method of FIG. 3; FIG. FIG. 5 is a diagram showing a second embodiment of a schematic configuration of a shutter device according to the present invention; FIG. 10 is a diagram showing a third embodiment of a schematic configuration of a shutter device according to the present invention; FIG. 8 is a diagram showing a schematic configuration of a control device for an opening/closing device according to a third embodiment of FIG. 7; 9 is a flow chart showing an example of a process when an obstacle is detected by the motor load sensing method, the photoelectric sensor method, and the seat plate sensing lever method as shown in FIGS. 7 and 8; FIG. FIG. 10 is a diagram showing a fourth embodiment of a schematic configuration of a shutter device according to the present invention; FIG. 11 is a diagram showing a schematic configuration of a control device for an opening/closing device according to a fourth embodiment of FIG. 10; As shown in FIGS. 10 and 11, when an obstacle is detected by the motor load detection method and the photoelectric sensor method, and when the human sensor and vehicle detection sensor detect the approach of a person or vehicle, the processing is performed. It is a flowchart figure which shows an example. FIG. 13 is a flow chart showing the details of shutter normal operation processing in step S54 of FIG. 5, step S92 of FIG. 9, or step S122 of FIG. 12;

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an opening/closing device according to the present invention will be described below with reference to the accompanying drawings. In this embodiment, a shutter device that opens and closes vertically will be described as an example of opening and closing means. FIG. 1 is a diagram showing a first embodiment of a schematic configuration of a shutter device according to the present invention. In FIG. 1, an opening/closing device 10 is a shutter device that opens and closes by vertically moving an opening of a doorway.

The opening/closing body device 10 is provided at an opening of a building, and basically includes a shutter case 11, a shutter curtain 12, guide rails 13 and 14, a winding shaft 15, a three-phase AC motor 17, a control device 18, and an operating device. It includes a switch 19, a limit switch 20, and the like. Normally, the opening/closing device 10 drives a three-phase AC motor 17, which is an opening/closing device, according to the operation of the operation switch 19 to control opening/closing. Furthermore, in this opening/closing body device 10, the open state in which the shutter curtain 12 is wound around the winding shaft 15 is held by a mechanical holding mechanism (not shown). When an emergency signal BS or the like indicating the occurrence of the shutter is input to the control device 18, the holding mechanism is released from holding the open state, and the shutter curtain 12 naturally descends under its own weight to automatically close the opening. It may have a function to

The guide rails 13 and 14 are provided at both ends of the opening of the building so as to be in contact with both ends of the shutter curtain 12, and extend from the lintel to the floor and have a U-shaped cross section. It is composed of a metal member or a member equivalent to this. The shutter curtain 12 moves up and down along the guide grooves of the guide rails 13 and 14 to open and close the opening.

The winding shaft 15 is rotatably provided on both end sides of the shutter case 11 to wind up and rewind the shutter curtain 12 .
A brake 16 and a three-phase AC motor 17 constituting an opening/closing machine are provided on the winding shaft 15, respectively. The three-phase AC motor 17 is a three-phase AC motor configured to rotationally drive the winding shaft 15 by a direct drive (gearless) method. The control device 18 controls the operation of the brake 16 and the three-phase AC motor 17 and is provided in the storage case for either the brake 16 or the three-phase AC motor 17 .

The three-phase AC motor 17 is provided with a position detector (not shown) for detecting its rotational position, that is, the open/closed position and open/closed state of the shutter curtain 12 . This position detection device is composed of a pulse-generating rotary encoder or the like. Since a pulse signal corresponding to the rotation of the three-phase AC motor 17 is output to the control device 18, the rotational position of the three-phase AC motor 17 and the position of the opening of the shutter curtain 12 on the closing side are controlled by the pulse signal. Based on the occurrence situation, the control device 18 will calculate it.

The control device 18 has a microcomputer configuration, and power with a three-phase AC voltage of 200 [V] is supplied to the three-phase AC motor 17 from a power supply line. The control device 18 operates the three-phase AC motor based on a control signal corresponding to the operation state of each operation switch on the operation switch 19, a signal from a position detection device provided in the three-phase AC motor 17, a signal from the protector, and the like. 17 rotation is controlled.

The operation switch 19 has a rise (open) button 19A, a stop (stop) button 19B, and a fall (close) button 19C as control switches corresponding to each operation of opening and closing. It outputs the control signal to the control device 18 .

FIG. 2 is a diagram showing a schematic configuration of the control device for the opening/closing device according to the first embodiment. The control device 18 is configured with a microcomputer. Although not shown, the control device 18 includes a motor drive circuit that drives and controls the three-phase AC motor 17, an LED/buzzer that notifies the operator of an abnormality, and the like.

The control device 18 controls a control signal corresponding to the operation state of each operation button on the operation switch 19, and contact signals from the upper limit switch 20A and the lower limit switch 20B, through a motor drive circuit composed of an inverter. A motor operation command signal is output to the three-phase AC motor 17 constituting the opening/closing machine, a brake operation command signal is output to the brake 16, and the rotation of the three-phase AC motor 17 is controlled. A thermal protector (not shown), which is one of overheat protection devices, is connected to the three-phase AC motor 17 . The motor operation command signal is a vector control signal that divides the motor current supplied to the three-phase AC motor 17 into a torque current and an excitation current, and performs control while adjusting the motor voltage so that the excitation current is constant.

The operation switch 19 includes an open button 19A, a stop button 19B, and a close button 19C functioning as control switches corresponding to each operation of opening and closing. The operation switch 19 outputs a control signal to the control device 18 according to the operation state of each button. In the embodiment of FIG. 2, the open button 19A and the close button 19C are composed of manual operation automatic return type a-contacts and are normally in the off state. The stop button 19B is composed of a b-contact of a manual operation residual type switch and is normally in an ON state.

The upper limit switch 20A and the lower limit switch 20B maintain an on/off state according to the rotational position of the three-phase AC motor 17. When the shutter curtain 12 reaches the upper limit or lower limit position, the upper limit switch 20A or the lower limit switch 20B is turned on. The contact of the lower limit switch 20B is opened to notify the controller 18 that the shutter curtain 12 has reached this upper or lower limit position. When the shutter curtain 12 reaches the upper limit or lower limit position, the control device 18 stops the shutter curtain 12 at the upper limit or lower limit position.

FIG. 3 is a diagram showing an example of an obstacle detector that senses an obstacle based on a change in motor current value (torque) during the downward motion of the shutter (during vector control). The obstacle detection unit 21 senses that the tip of the shutter curtain 12 is in contact with an obstacle based on changes in the motor current value while detecting the motor load, that is, the motor current value (torque) during vector control. It is something to do.

In FIG. 3, the vertical axis indicates the motor operation command signal output from the control device 18 to the three-phase AC motor 17, that is, the motor current value (torque) during vector control, and the horizontal axis indicates the passage of time during vector control. When the shutter curtain 12 descends, the motor current value (torque) exhibits a waveform w1 in which the motor current value (torque) gradually increases along an upward-sloping curve while pulsating at regular intervals, as shown in FIG. The waveform w1 of the motor current value (torque) pulsates because it depends on the shape of the slat when the shutter curtain 12 wound around the winding shaft 15 is rewound. The waveform w1 of the motor current value (torque) gradually increases because the weight of the slats on the winding shaft 15 gradually increases as the shutter curtain 12 is rewound.

As shown in FIG. 3, during the time t0 from the peak value of the waveform w1 that gradually increases while pulsating to the next peak value, the amounts of change Δi1 and Δi2 at the times t1 and t2 to the bottom value are detected, When the amounts of change Δi1 and Δi2 exceed a normal rate of change (which is defined as a threshold Δith), the obstacle detection section 21 detects that the shutter curtain 12 has come into contact with an obstacle. Also, during the time t0 from the peak value of the waveform w1 that gradually increases while pulsating to the next peak value, the times t1 and t2 to the bottom value show substantially the same value. If it does not reach the bottom price, the obstacle detector 21 detects that the shutter curtain 12 is in contact with an obstacle. That is, the obstacle detection unit 21 constantly detects the motor operation command signal output from the control device 18 to the three-phase AC motor 17 as shown in FIG. , when the amount of change Δi exceeds the normal rate of change Δith (threshold value), or when the bottom value is not reached even after the predetermined times t1 and t2 have passed, the shutter curtain 12 is contacted by an obstacle. I'm judging.

In FIG. 3, the motor current value (torque) decreases by the change amount Δi1 from the peak value until time t1 passes, but this is within the normal torque fluctuation range. Contact is not determined. During the next time t2, the motor current value (torque) also decreases by the amount of change Δi2, but this is also within the normal torque fluctuation range, and it is not determined that the obstacle has come into contact. On the other hand, at time t3a, the motor current value (torque) shows a change equal to or greater than the threshold value Δith, so it is determined that an obstacle has come into contact with the shutter curtain 12 at time t3a.

On the other hand, since the motor current value (torque) of waveform w1 continues to decrease even after time t3b, which is the same as times t1 and t2, it is determined that an obstacle has come into contact with the shutter curtain 12 at time t3b. That is, when an obstacle contacts the tip of the shutter curtain 12, the movement of the shutter curtain 12 stops. Since the slats of the heavy shutter device have very high rigidity, the contact force is transmitted to the three-phase AC motor 17 through the winding shaft 15 at the moment of contact. At t3b, it shows a decrease equal to or greater than the threshold value Δith, and continues to elapse even after time t3b. Accordingly, it is possible to detect that the tip of the shutter curtain 12 has come into contact with an obstacle based on the change in the motor current value (torque).

FIG. 4 is a diagram showing a modified example of an obstacle detector that senses an obstacle based on the waveform of the motor current value (torque) shown in FIG. The motor current value (torque) during vector control changes like the waveform w1 shown in FIG. In the obstacle detection method of FIG. 4, the shutter curtain 12 is repeatedly opened and closed, a plurality of waveforms that change as shown in FIG. 3 are sampled, and the average value of the sampled waveforms is calculated. Generate an average waveform w2. Threshold waveforms w3 and w4 are generated by multiplying this average waveform w2 by ±1.1 to ±1.3. That is, the threshold waveforms w3 and w4 have a predetermined width of Δi0. The numerical value by which the average waveform w2 is multiplied may be the same value α such as ±α, or may be multiplied by different values α and β such as +α and -β.

If the waveform w1 in FIG. 4 changes inside the threshold waveforms w3 and w4, it is determined that the operation is normal. On the other hand, when the waveform w1 contacts the obstacle, the waveform w1 protrudes from the inside of the predetermined width of the threshold waveforms w3 and w4 at time T0, and protrudes below the threshold waveform w3. At this time T0, it is determined that the shutter curtain 12 has come into contact with an obstacle. Note that the average waveform w2 depends on the size (height, width) of the opening, the shape and weight of the shutter curtain 12, etc., and differs depending on the individual opening/closing device. Therefore, it is important to repeat the opening/closing operation of the shutter curtain 12 and learn and acquire the waveform specific to the opening/closing body device. After the shutter is installed, the average of the waveforms during opening and closing operation a plurality of times (for example, 10 to 100 times) is taken as an average waveform w2, and thereafter threshold waveforms w3 and w4 are generated based on this average waveform w2. If the waveform w1 protrudes from the predetermined width of the threshold waveforms w3 and w4 due to long-term use even if the device is operating normally, it is determined that this is due to aged deterioration, and a display prompting maintenance is displayed. An announcement may be made.

FIG. 5 is a flow chart showing an example of processing when an obstacle is detected by the obstacle detection method of FIG.
In step S51, it is determined whether or not the shutter curtain 12 is descending. If it is descending (yes), the process proceeds to the next step S52, and if it is stopped or ascending (no), the process returns.
In step S52, it is determined whether or not there is an abnormality in the change in the motor current value (torque). If there is an abnormality (yes), the process proceeds to the next step S53, and if there is no abnormality (no), the process returns. Here, an abnormal change in the motor current value (torque) means that the waveform w1 shows an abnormal change as shown in FIGS. In other words, the fact that there is an abnormality in the motor current value (torque) means that an obstacle has come into contact with the shutter curtain 12 and has been sensed.
In step S53, the falling shutter curtain 12 is immediately stopped and reversed and raised. The height of the rise may be such that the shutter curtain 12 is fully opened, or it may be raised by a predetermined height (30 to 100 [cm]) from the height at which the obstacle is detected.

FIG. 6 is a diagram showing a second embodiment of a schematic configuration of a shutter device according to the present invention. In FIG. 6, the same components as in FIG. 1 are denoted by the same reference numerals, and the description thereof will be omitted. The opening/closing device shown in FIG. 6 is an opening/closing device that senses a person or an object (automobile) using photoelectric sensors 22 and 23 together with an obstacle sensing device that senses an obstacle based on an abnormal change in the motor current value (torque). The device will be explained.

The photoelectric sensors 22 and 23 are obstacle sensing devices used to confirm the passing state of people, automobiles, etc. and the presence of objects, etc., and are provided at the lower left and right ends of the opening. In addition, in the figure, it is provided in either one of the front and rear portions of the opening, but it may be provided in both the front and rear portions and/or above the opening portion. The photoelectric sensor 22 is composed of a prismatic light projector supporting member, and a photoelectric sensor 23 composed of a light receiver supporting member of the same shape is provided on the opposite side of the photoelectric sensor 22 so as to form a pair. These photoelectric sensors 22 and 23 are spaced apart from each other by a distance corresponding to the longitudinal dimension of the seat plate of the shutter curtain 12 or the lateral dimension of the opening.

The photoelectric sensor 22 supports a light projector composed of a light emitting element that emits light such as infrared light by itself. On the other hand, the photoelectric sensor 23 supports a light receiver composed of a light receiving element that receives and senses light itself. The light emitter of the photoelectric sensor 22 and the light receiver of the photoelectric sensor 23 are arranged to face each other and form an optical path 24 for object sensing light that runs along the seat plate below the opening. When photoelectric sensors 22 , 23 sense a person or object (vehicle) in optical path 24 , the sensing signal is sent to controller 18 by a switching mechanism. In FIG. 1, optical path 24 schematically shows the object sensing areas of photoelectric sensors 22 and 23 .

The control device 18 opens and/or closes the shutter curtain 12 depending on whether or not there is a person or an object (automobile) between the light emitter of the photoelectric sensor 22 and the light receiver of the photoelectric sensor 23. Control. In this embodiment, the controller 18 comprises a switching mechanism configured to cut off the power supply to the photoelectric sensor 22 . The switching mechanism is composed of a transistor circuit or the like that operates according to a control signal from the control device 18 . The control device 18 checks the light receiving state of the photodetector of the photoelectric sensor 23 by momentarily interrupting the power supply to the photoelectric sensor 22 and then restoring the power supply when a predetermined condition is met.

FIG. 7 is a diagram showing a third embodiment of a schematic configuration of a shutter device according to the present invention. In FIG. 7, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof will be omitted. The opening/closing device shown in FIG. 7 includes an obstacle sensing device that senses an obstacle based on an abnormal change in the motor current value (torque), and photoelectric sensors 22 and 23 shown in FIG. An opening/closing device comprising a sensing device for sensing and an obstacle sensing device for sensing an obstacle by movement of a conventional seat plate switch will be described.

The contact-type obstacle sensor 25, which senses an obstacle by moving the seat plate switch, has a wireless transmitter at the lower end (seat plate) of the shutter curtain 12, and detects a detection signal corresponding to the movement of the seat plate switch. is transmitted to the radio receiver 26 on the control device 18 side, and a return signal is transmitted when the seat plate switch is moved back by removing the obstacle thereafter. The transmission of signals from the wireless transmitter of the obstacle sensor 25 to the control device 18 is not limited to the wireless system as shown in the drawing, but may be a wired system. Also, instead of the seat plate switch that moves when the obstacle comes into contact with the lower end of the shutter curtain 12, the tape switch provided along the height direction of the guide rail is pressed by the moving force of the seat plate when the obstacle comes into contact. Alternatively, the tape switch may output the sensing signal to the control device 18 by wire.

FIG. 8 is a diagram showing a schematic configuration of a control device for an opening/closing device according to the third embodiment shown in FIG. In FIG. 8, the same components as those in FIG. 2 are denoted by the same reference numerals, and the description thereof will be omitted. 8 differs from that of FIG. 2 in that the obstacle detector 21 is of the motor load sensing type shown in FIG. 3 or 4, and the photoelectric sensor type shown in FIGS. and a seat plate sensing lever type obstacle detection portion using the seat plate switch shown in FIG.

FIG. 9 is a flow chart showing an example of processing when an obstacle is detected by the motor load sensing method, the photoelectric sensor method, and the seat plate sensing lever method as shown in FIGS.
In step S91, it is determined whether or not the shutter curtain 12 is descending. If it is descending (yes), the process proceeds to the next step S93, and if it is stopped or ascending (no), the process proceeds to step S92. .
In step S92, normal opening/closing operations are executed in accordance with the operating states of the up (open) button 19A, the stop (stop) button 19B, and the down (close) button 19C, and the process returns.

In step S93, it is determined whether or not the photoelectric sensor type obstacle detection section (photoelectric sensors 22, 23) and/or the seat board detection lever type obstacle detection section (obstacle sensor 25) has detected an obstacle. If detected (yes), the process proceeds to the next step S93, and if not detected (no), the process proceeds to step S95.

In step S94, since an obstacle has been detected, the shutter curtain 12 that is descending is immediately stopped and reversed upward. The height of the rise may be such that the shutter curtain 12 is fully opened, or it may be raised by a predetermined height (30 to 100 [cm]) from the height at which the obstacle is detected.

In step S95, the shutter limiting operation 1 is set, and when the descending (closing) operation is to be executed after the reverse upward movement, the descending (closing) button 19C must be pushed all the way down. Make it possible to continue the operation and return.

In step S96, it is determined whether or not there is an abnormality in the change in the motor current value (torque). If there is an abnormality (yes), the process proceeds to the next step S97. move on. Whether or not there is an abnormality in the change in motor current value (torque) is determined based on the waveform w1 shown in FIGS. 3 and 4 in the same manner as the determination in step S52 of FIG.

In step S97, an obstacle touches the shutter curtain 12 and is sensed, so the falling shutter curtain 12 is immediately stopped and reversed and raised. The height of the rise may be such that the shutter curtain 12 is fully opened, or it may be raised by a predetermined height (30 to 100 [cm]) from the height at which the obstacle is detected.

In step S98, the shutter limiting operation 2 is set, and when the rising (opening) operation or the falling (closing) operation is to be executed after the reverse rising, the rising (opening) button 19A or the falling (closing) button 19C is fully pressed. It cannot be executed without operation, and the upward (open) operation or downward (close) operation can be continuously executed only by the full push operation, and returns.

In the process of FIG. 9, when the photoelectric sensor type obstacle detection unit (photoelectric sensors 22, 23) and/or the seat board detection lever type obstacle detection unit (obstacle sensor 25) detects an obstacle, After the reversal opening operation, the operator confirms the closing operation of the shutter curtain 12, and only when the closing button 19C is operated by the full-push operation, the closing operation can be performed. When the shutter detects an obstacle, the operator fully presses the open button 19A or the close button 19C while confirming the opening or closing operation of the shutter curtain 12 after the reverse opening operation. An opening action or a closing action can be performed.

As a result, when both the closing operation and the closing operation cannot be performed without the full push operation, it is possible that the motor load sensing type obstacle detection unit 21 has detected an obstacle due to some event. I understand. In addition, if the opening operation is performed by operating the open button but the closing operation is not performed unless the operation is fully pushed, some event may cause the photoelectric sensor type obstacle detection unit (photoelectric sensors 22, 23) and/or the seat plate to move. It can be seen that the sensing lever type obstacle detection unit (obstacle sensor 25) has detected an obstacle.

FIG. 10 is a diagram showing a fourth embodiment of a schematic configuration of a shutter device according to the present invention. In FIG. 10, the same components as those in FIG. 7 are denoted by the same reference numerals, and the description thereof will be omitted. The opening/closing device shown in FIG. 10 detects an obstacle by detecting an obstacle based on an abnormal change in motor current value (torque), and detects a person or an object (automobile) using photoelectric sensors 22 and 23 shown in FIG. An opening/closing device provided with a sensing device and further provided with a human sensor (human detection means) 27 for detecting the approach of a person and a vehicle detection sensor (vehicle detection means) 28 for detecting the approach of a vehicle will be described.

The human detection sensor 27 is a radar sensor that spreads waves called microwaves, creates a predetermined area there, and outputs a detection signal to the control device 18 when a person enters or touches the area within the microwaves. . The vehicle detection sensor 28 is a radar sensor that operates on the same principle as the human sensor 27, and is set so as not to react to a person or an object that crosses in front of the shutter device in parallel. It is a radar sensor that is set to detect only oncoming vehicles and forklifts and outputs its detection signal to the control device 18 .

FIG. 11 is a diagram showing a schematic configuration of a control device for an opening/closing device according to the fourth embodiment shown in FIG. In FIG. 11, the same components as in FIG. 8 are denoted by the same reference numerals, and the description thereof will be omitted. 11 is different from that of FIG. 8 in that the obstacle detection unit 21 does not have the seat plate detection lever type obstacle detection unit using the seat plate switch shown in FIG. It is provided with a human detection sensor 27 and a vehicle detection sensor 28 for detecting the approach of a person or vehicle as shown.

FIG. 12 shows the case where an obstacle is detected by the motor load sensing method and the photoelectric sensor type obstacle detection method as shown in FIGS. It is a flowchart figure which shows an example of a process at the time of detection.
In step S121, it is determined whether or not the shutter curtain 12 is descending. If it is descending (yes), the process proceeds to the next step S123, and if it is stopped or ascending (no), the process proceeds to step S122. .
In step S122, normal opening/closing/stopping operations are executed according to the operating states of the up (open) button 19A, the stop (stop) button 19B, and the down (close) button 19C, and the process returns.

In step S123, it is determined whether or not the motor load sensing type obstacle detection unit and/or the photoelectric sensor type obstacle detection (obstacle sensor 25) has detected an obstacle. goes to the next step S124, and if not detected (no), goes to step S125.

In step S124, since the motor load sensing type obstacle detection unit and/or the photoelectric sensor type obstacle detection (obstacle sensor 25) have detected an obstacle, the falling shutter curtain 12 is immediately stopped and reversed. Raise and return. The height of the rise may be such that the shutter curtain 12 is fully opened, or it may be raised by a predetermined height (30 to 100 [cm]) from the height at which the obstacle is detected.

In step S125, it is determined whether or not the human sensor 27 or the vehicle detection sensor 28 has detected an approaching person or vehicle. ), the process proceeds to step S127.

In step S126, since the approach of a person or vehicle is detected, the speed at which the shutter curtain 12 is lowered is set to 30 to 70% of the normal lowering speed, and the slowdown (low speed lowering) is continued before returning. At this time, if the lower end surface of the shutter curtain 12 is larger than the height of 1 to 2 [m] from the floor surface, it is lowered at a normal lowering speed without slowing down, and the height from the floor surface is lowered. The speed may be slowed down when the distance reaches 1 to 2 [m]. This is to prevent the convenience during descent from being impaired as much as possible.

In step S127, the motor load sensing type obstacle detection unit and the photoelectric sensor type obstacle detection (obstacle sensor 25) do not detect an obstacle, and the human sensor 27 and the vehicle detection sensor 28 detect a person or vehicle. Since the approach is not detected, the descent of the shutter curtain 12 which is in the process of descent is permitted, and the descent is continued at the normal descent speed before returning.

As shown in FIGS. 7 and 8, the obstacle detection unit 21 uses the motor load sensing type obstacle detection unit shown in FIG. 3 or 4 and the photoelectric sensor type shown in FIGS. By providing an obstacle detection unit and an obstacle detection unit of the seat plate detection lever type using the seat plate switch shown in FIG. can. Similarly, as shown in FIGS. 10 and 11, the obstacle detection unit 21 is provided with the motor load sensing type obstacle detection unit shown in FIG. 3 or 4 and the photoelectric sensor type shown in FIGS. It is possible to improve the reliability of obstacle sensing of the heavy-duty shutter device by providing two types of detection units, such as the obstacle detection unit used.

In other words, in the seat plate contact type obstacle sensing method of the heavy shutter device, the method in which the sensing lever is provided at the bottom of the seat plate is the mainstream, but the obstacle cannot be detected normally due to the deformation, freezing, or failure of the seat plate. there is a possibility. For example, an example of deformation is deformation or breakage due to contact of a truck or forklift with the seat plate. As an example of freezing, the sensing lever may freeze due to use in cold climates and freezer warehouses. As an example of failure, in the case of a wireless obstacle sensing device such as that shown in FIG. 7, the microswitch inside the seat plate may fail. The one having the sensing lever attached to the lower portion of the seat plate has the advantage that the sensing force is small and the safety is high. On the other hand, the load-sensing method in the heavy-duty shutter device has the disadvantage that the sensitivity is rather high.

Therefore, as shown in FIGS. 7 and 8, in the heavy-duty shutter device, three types of sensing methods, namely, the seat plate lever method, the photoelectric sensor method, and the motor load sensing method, are combined, or as shown in FIGS. 10 and 11, By combining two types of sensing methods, the motor load sensing method and the photoelectric sensor method, it is possible to provide an obstacle sensing system that can avoid each of the above cases (deformation, freezing, and failure of the seat plate). Become. As a result, the safety and reliability of the heavy-duty shutter device can be improved, and the cost can be reduced.

FIG. 13 is a flowchart showing the details of the shutter normal operation process in step S54 of FIG. 5, step S92 of FIG. 9, or step S122 of FIG. That is, FIG. 13 shows processing to be executed based on respective control signals for opening and closing in response to normal operation of the up (open) button 19A, the stop (stop) button 19B, and the down (close) button 19C of the operation switch 19. It is a flowchart figure which shows an example.

In step S131, it is determined whether or not the control signal received from the operation switch 19 is a stop signal corresponding to the operation of the stop (stop) button 19B. If it is not a signal (no), the process proceeds to step S134.
In step S132, it is determined whether or not the shutter curtain 12 is currently being opened or closed (stopped). ) returns.
In step S133, the shutter curtain is being opened or closed, so the operation is stopped and the process returns.

In step S134, it is determined whether or not the control signal received from the operation switch 19 is an open signal corresponding to the operation of the rise (open) button 19A. If it is not a signal (no), the process proceeds to step S138.
In step S135, it is determined whether or not the current shutter curtain 12 is being closed. If it is being closed (yes), the process proceeds to step S136. Proceed to S137.

In step S136, since it is determined that the closing operation is being performed in step S135, after the closing operation is stopped, the opening operation is started and the process returns.
In step S137, since it is determined in step S135 that the opening operation is being performed or stopped, if the opening operation is being performed, the opening operation is continued, and if the opening operation is being stopped, the opening operation is started and the process returns.
The speed of the opening operation in steps S136 and S137 is approximately 1.5 times the normal speed during the opening or closing operation.

In step S138, it is determined whether or not the control signal received from the operation switch 19 is the close signal corresponding to the operation of the down (close) button 19C. , returns if the signal is not closed (no).
In step S139, it is determined whether or not the shutter curtain 12 is currently being opened. If it is being opened (yes), the process proceeds to step S13A, and if it is stopped (no), the process proceeds to step S13B.
In step S13A, since the shutter curtain 12 is in the opening operation, the opening operation is stopped, and after the opening operation is stopped, the closing operation is started, and the process returns.
In step S13B, since the shutter curtain 12 is closing or stopped, the closing operation is continued if the shutter curtain 12 is closing, or the closing operation is started if the shutter curtain 12 is stopped, and the process returns.
The closing speed in steps S13A and S13B is equal to or lower than the normal speed for opening or closing (approximately 0.3 to 0.7 times the normal speed).
As shown in FIG. 12 or FIG. 13, by making the closing (lowering) speed slower than the normal speed, the load sensing force at the time of load sensing in the load sensing method can be made relatively small.

In the embodiments of FIGS. 6, 7 and 8, in addition to the motor load sensing type sensing device, an obstacle detection section using photoelectric sensors 22 and 23 and a seat board sensing lever system using a seat board switch are provided. Although the case where both of the obstacle detection units are provided has been described, either one of them may be provided. In the embodiment of FIGS. 10 and 11, in addition to the motor load sensing device, an obstacle detection section using photoelectric sensors 22 and 23, and both a human sensor 27 and a vehicle detection sensor 28 are provided. However, either one of the human sensor 27 and the vehicle detection sensor 28 may be provided, and an obstacle detection unit using the photoelectric sensors 22 and 23 and a seat plate switch using the seat plate switch may be provided. At least one of the sensing lever type obstacle detection units may be provided.

In the above-described embodiment, the shutter curtain that is drawn out vertically has been described as an example. can be applied to Moreover, as the opening/closing device, for example, it is applicable to a shutter device, a window shutter device, a blind device, a roll screen device, a banner device, a sliding door device, a moving partition device, an awning device, a waterproof board device, and the like.

DESCRIPTION OF SYMBOLS 10... Opening/closing body apparatus 11... Shutter case 12... Shutter curtains 13, 14... Guide rail 15... Winding shaft 16... Brake 17... Three-phase AC motor 18... Control device 19... Operation switch 19A... Open button 19B... Stop button 19C Close button 20 Limit switch 21 Obstacle detectors 22, 23 Photoelectric sensor 24 Optical path 25 Obstacle detector 26 Wireless receiver 27 Human sensor 28 Vehicle detection sensor

Claims (18)

Each operation of the opening and closing means for opening and closing the opening is performed while dividing the motor current supplied to the three-phase AC motor into a torque current and an excitation current, and adjusting the motor voltage so that the excitation current is constant. An obstacle sensing device comprising control means for controlling:
The control means obtains an average value of the motor current during the opening/closing operation of the opening/closing means based on the change in the motor current during each operation control of opening/closing of the opening/closing means, and determines plus or minus the average value. A predetermined value is multiplied to generate a threshold waveform having a predetermined width, and when the value of the motor current protrudes from the inside of the predetermined width of the threshold waveform, the obstacle comes into contact with the opening/closing means. An obstacle sensing device characterized by sensing that. The obstacle sensing device according to claim 1,
a first sensing means for sensing an obstacle existing on the optical path formed by a light projector and a light receiver respectively provided at the left and right ends of the opening as a sensing area;
An obstacle sensing device comprising at least one sensing means of second sensing means for sensing an obstacle by coming into contact with the obstacle, provided at the leading end of the opening/closing means in the moving direction. The obstacle sensing device according to claim 1,
Human detection means for detecting that a person has approached a predetermined area outside the range along the moving direction of the opening/closing operation of the opening/closing means;
An obstacle sensing device comprising at least one detection means of vehicle detection means for detecting that a vehicle has approached a predetermined area outside a range along the moving direction of the opening/closing operation of the opening/closing means. Each operation of the opening and closing means for opening and closing the opening is performed while dividing the motor current supplied to the three-phase AC motor into a torque current and an excitation current, and adjusting the motor voltage so that the excitation current is constant. A control obstacle sensing method comprising:
An average value of the motor current during the opening/closing operation of the opening/closing means is obtained based on the change in the motor current during each operation control of opening/closing of the opening/closing means, and the average value is multiplied by a predetermined plus or minus value. to generate a threshold waveform having a predetermined width, and when the value of the motor current protrudes from the inside of the predetermined width of the threshold waveform, it is sensed that the opening/closing means is in contact with an obstacle. An obstacle sensing method characterized by: The obstacle sensing method according to claim 4 ,
a first sensing method for sensing an obstacle existing on the optical path formed by a light projector and a light receiver respectively provided at the left and right ends of the opening as a sensing region;
An obstacle sensing method comprising at least one sensing method of a second sensing method for sensing an obstacle by contacting the obstacle, provided at the tip of the opening/closing means in the moving direction. The obstacle sensing method according to claim 4 ,
a human detection method for detecting that a person has approached a predetermined area outside the range along the moving direction of the opening/closing operation of the opening/closing means;
An obstacle sensing method, comprising at least one of a vehicle detection method for detecting that a vehicle approaches a predetermined area outside a range along a movement direction of the opening/closing operation of the opening/closing means. opening and closing means operable to open and close the opening;
a control means for dividing the motor current supplied to the three-phase AC motor into a torque current and an excitation current, and controlling each operation of opening and closing the switching means while adjusting the motor voltage so that the excitation current is constant; A switchgear device comprising
The control means obtains an average value of the motor current during the opening/closing operation of the opening/closing means based on the change in the motor current during each operation control of opening/closing of the opening/closing means, and determines plus or minus the average value. A predetermined value is multiplied to generate a threshold waveform having a predetermined width, and when the value of the motor current protrudes from the inside of the predetermined width of the threshold waveform, the obstacle comes into contact with the opening/closing means. A switchgear device characterized by comprising a load sensing means for sensing that. In the opening/closing body device according to claim 7 ,
a first sensing means for sensing an obstacle existing on the optical path formed by a light projector and a light receiver respectively provided at the left and right ends of the opening as a sensing area;
An opening/closing device comprising at least one sensing means of second sensing means provided at the leading end of said opening/closing means in the moving direction and sensing the existence of said obstacle by coming into contact with said obstacle. In the opening/closing body device according to claim 8 ,
When at least one of the first sensing means and the second sensing means senses the presence of the obstacle, the reversing opening operation is executed after the closing operation of the opening/closing means is stopped, and the reversing opening operation is followed by the closing operation. Only when the button is pressed fully, the closing operation corresponding to the fully pressed operation is executed,
When the load sensing means senses the presence of the obstacle, the closing operation of the opening/closing means is stopped and then the reversing opening operation is executed. 1. An opening/closing body device characterized by executing an opening operation or a closing operation corresponding to a pressing and cutting operation. In the opening/closing body device according to claim 7 ,
Human detection means for detecting that a person has approached a predetermined area outside the range along the moving direction of the opening/closing operation of the opening/closing means;
An opening/closing body device comprising at least one detection means of vehicle detection means for detecting that a vehicle has approached a predetermined area outside a range along the movement direction of the opening/closing operation of the opening/closing means. In the opening/closing device according to claim 10 ,
when at least one of the person detection means and the vehicle detection means detects the approach of the person or the vehicle, the speed during the closing operation of the opening/closing means is set lower than the speed during the opening operation;
An opening/closing device, wherein when the load sensing means senses the presence of the obstacle, the closing operation of the opening/closing means is stopped and then the opening operation is reversed. In the opening/closing body device according to any one of claims 7 to 10 ,
An opening/closing body device, wherein the opening/closing means is operated at a speed lower than that at which the opening/closing means is opened. Each operation of the opening and closing means for opening and closing the opening is performed while dividing the motor current supplied to the three-phase AC motor into a torque current and an excitation current, and adjusting the motor voltage so that the excitation current is constant. An opening/closing body control method for controlling,
An average value of the motor current during the opening/closing operation of the opening/closing means is obtained based on the change in the motor current during each operation control of opening/closing of the opening/closing means, and the average value is multiplied by a predetermined plus or minus value. to generate a threshold waveform having a predetermined width, and detecting that an obstacle has come into contact with the opening/closing means when the value of the motor current protrudes from the inside of the predetermined width of the threshold waveform. A method for controlling an opening/closing body, characterized by performing a sensing method. In the opening/closing body control method according to claims 1 to 3 ,
a first sensing method for sensing an obstacle existing on the optical path formed by a light projector and a light receiver respectively provided at the left and right ends of the opening as a sensing area;
A method for controlling an opening/closing member, comprising: performing at least one of a second sensing method provided at a distal end portion of the opening/closing means in a moving direction and sensing presence of the obstacle by contacting the obstacle. . In the opening/closing body control method according to claim 14 ,
When the presence of the obstacle is sensed by at least one of the first sensing method and the second sensing method, the reversing opening operation is performed after the closing operation of the opening/closing means is stopped, and after the reversing opening operation. performs the closing operation corresponding to the full push operation only when the close button is fully pushed.
When the presence of the obstacle is sensed by the load sensing method, the closing operation of the opening/closing means is stopped and then the reversing opening operation is performed. A method of controlling an opening/closing member, characterized in that an opening operation or a closing operation corresponding to a push-and-stop operation is executed for as long as possible. In the opening/closing body control method according to claims 1 to 3 ,
a human detection method for detecting that a person has approached a predetermined area outside the range along the moving direction of the opening/closing operation of the opening/closing means;
An opening/closing body control method, comprising executing at least one of a vehicle detection method for detecting that a vehicle has approached a predetermined area outside a range along a moving direction of opening/closing operation of the opening/closing means. In the opening/closing body control method according to claim 16 ,
when the approach of the person or the vehicle is detected by at least one of the human detection method and the vehicle detection method, the speed during the closing operation of the opening/closing means is set to be lower than the speed during the opening operation;
A method for controlling an opening/closing body, wherein when the presence of the obstacle is detected by the load sensing method, the closing operation of the opening/closing means is stopped and then the opening operation is reversed. In the opening/closing body control method according to any one of claims 13 to 16 ,
A method of controlling an opening/closing member, wherein the opening/closing means is operated at a speed lower than that at which the opening/closing means is opened.

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