JPH0224984B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a door opening/closing control device, and particularly to a control device suitable for signal processing for obstruction detection input, which is a detection signal of a state detection device.

Generally, as shown in Fig. 1, a garage door opening/closing device consists of a main body 1 containing a drive device, a rail 2 connected to the main body 1, and guided by the rail 2, and driven by the driving force of the main body 1. It consists of the main part of a trolley 4 that is fixed to a roller chain 3 that moves horizontally. The main body 1 is hung from the ceiling of the garage using a hanging fitting, while the end of the rail 2 is fixed to a part of the garage by a header bracket 5. On the other hand, the garage door 6 is generally divided into several parts, connected to each other, and opened and closed along door rails 7 provided on both sides. Furthermore, the weight of the garage door 6 is balanced by a door balance spring 8, so that it can be opened and closed by input. A door bracket 9 is fixed to the garage door 6 in the above state, and the door bracket 9 and the trolley 4 are rotatably connected via a door arm 10. As a result, the garage door 6 is moved along the door rail 7 in conjunction with the roller chain 3 that is operated by the driving force of the main body 1 and the trolley 4 that moves horizontally along the rail 2 by the operation of the roller chain. It is opened and closed. Power is supplied to the main body 1 through a power cable 11
It is done via.

Further, the operation command to the main body 1 is to press a push button switch 12 attached to the wall of the garage;
Alternatively, a signal from a power source or the like is received by a control device 13 having a built-in receiver, and an operation command is issued to the main body 1. In addition, in the event that the garage door opening/closing device becomes inoperable due to a power outage, etc., the connection between the roller chain 3 and the trolley 4 is disconnected using the release string 14, and the garage door 6 is manually opened. can be opened and closed independently.

First, the main body structure of the garage door opening/closing device will be explained with reference to FIGS. 2 and 3. Figure 2 is a longitudinal side view;
FIG. 3 is a partially cross-sectional top view.

Motor 1 fixed to the lower side of main body frame 15
6 is rotated by the motor pulley 17 fixed to the motor shaft 16-a, the V-belt 18, and the large pulley 19.
transmitted to. Furthermore, the rotation of the large pulley 19 is controlled by the sprocket 2 via the sprocket shaft 20.
1. A roller chain 3 is engaged with the sprocket 21. The roller portion of the roller chain 3 is guided from both sides within the main body frame 1 by a chain guide (A) 22, a chain guide (B) 23, and a chain guide (C) 24. rail 2
The chain guide (A) 22 and the chain guide are attached to the frame 15 by the rail fixing fittings 25.
(C) It is fixed to the groove formed by 24 without any step or gap. The roller portion of the roller chain 3 is guided by the rails 2 on both sides.

On the other hand, the roller chain 3 wound by the sprocket 21 is stored in the chain guide.
(A) 22 and the chain guide (B) 23, and the chain storage groove 27-a of the chain storage case 27, which is fixed without any step or gap. With the above configuration, the sprocket 21 is rotated by the rotational drive of the motor 16, and the roller chain 3 is reciprocated along the rail 2.

Next, the limit mechanism for limiting the upper and lower limits of the opening/closing operation of the garage door 6, that is, the amount of horizontal movement of the trolley 4 explained with reference to FIG. 1, will be described below. The amount of movement of the roller chain 3 is converted into the amount of movement of a pulley rack 28 provided on the outer periphery of the large pulley 19 which rotates at the same rotation speed as the sprocket 21. The amount of movement of the pulley rack 28 is transmitted to an upper limit switch 30 and a lower limit switch 31 via a pinion 29 that meshes with the pulley rack 28. The upper limit switch 30 and the lower limit switch 31 are provided with an upper limit point adjustment knob 32 and a lower limit point adjustment knob 33, respectively, so that the upper limit point and the lower limit point can be freely adjusted from outside the main body.

If the garage door hits an obstacle while descending, it must be detected early for safety reasons and reversed, that is, it must rise; Detect early,
Must stop. The obstacle detection mechanism described above will be explained below. Above, chain guide (A) 22, chain guide (B) 23, and chain guide (C)
A part of the chain guide groove formed by 24 is formed into a curved path, and the object is moved by the force generated by the compressive force applied to the roller chain 3 when the door is lowered, and the tensile force applied when the door is raised. A traction detection fitting 34 is provided. The compression force of the obstruction spring 35 that restricts the movement of the obstruction detection fitting 34 can be freely changed by turning the obstruction operating force adjusting screw 36 and moving the spring presser plate 37. Further, the obstruction detection switch 52, which is turned on and off by the movement of the obstruction detection metal fitting 34, detects the above-mentioned obstacle and causes the door to rise when the door is lowered and to stop when the door is raised. do.

Further, a lamp 38 for illuminating the inside of the garage is provided, and the light is turned on and off in conjunction with the movement of the garage door. Furthermore, a controller 39 for controlling the motor 16 and the lamp is fixed within the frame 15, and the motor 16, large pulley 19, and lamp 38 are further covered by a main body cover 40 and a lamp cover 41. Incidentally, the lamp cover 41 is semi-transparent and allows the light of the lamp 38 to pass therethrough, thereby brightly illuminating the inside of the garage. Having described the main body structure of the garage door opening/closing device above, the rail and trolley portion will now be described with reference to FIG. 4.

As shown in FIG. 4, the cross-sectional structure of the rail 2 is formed from a thin iron plate or plastic plate, and the trolley 4 is slidably guided on the outer periphery of the rail. Further, the rails 2 sandwich the roller portions of the roller chain 3 from both sides, and guide the roller chain 3 to reciprocate linearly. Next, the trolley 4 and the roller chain 3 are connected by a connecting metal fitting fixed to the tip of the roller chain 3, and in a groove of the roller chain attachment 3-a, which is guided by the rail 2 in the same way as the roller chain 3. 4-a. The connecting fitting 4-a is
It is located inside the trolley 4 and can be slid up and down, and is normally pushed upward by a force such as a spring, so that the trolley 4 and the roller chain 3 are in a connected state. In the event of a power outage, etc., if the garage door opening/closing device and the door are to be separated and the door is opened and closed by human power, the connecting fitting 4-
This is done by pulling a downwardly to separate it from the roller chain attachment 3-a. Next, the trolley 4
door arm 10 for transmitting the movement of the door to the door;
is composed of an L-shaped door arm 10-a and a straight door arm 10-b, each of which is connected with its length freely changed depending on the positional relationship between the door and the rail. One end of the door arm 10 is attached to the trolley 4
The other end is connected to the door 6 via a door bracket 9 shown in FIG. The door arm 10 and the trolley 4 are connected by providing a long groove 4-b in the trolley 4,
This is done by inserting the pin 4-c into the long groove 4-b. The pin 4-c is normally pressed into the state shown in FIG. 4 by a spring or the like. This absorbs the impact when the door collides with an obstacle while lowering. Furthermore, the garage door opening/closing device has measures to prevent it from reversing when the floor surface is piled up with snow, ice, etc., or when there is a small item such as a water hose, due to detection of falling object obstruction on the door. is necessary. In other words, it is necessary to stop and not turn around even if an obstacle is detected at a height of 2 inches or less above the floor surface. In this case, the difference in the amount of movement between the trolley 4 and the door 6 is absorbed by the long groove 4-b.

A typical example of a conventional garage door opening/closing device uses a memory relay (latching relay) in which the relay contacts are reversed each time the relay coil is turned on, and this state is maintained until the next time the relay coil is turned on. An example of the primary implementation control circuit will be explained using FIG.

The motor 180 is connected to a capacitor 181 and is controlled by a latching relay 184 via an upper limit switch 185 and a lower limit switch 186. There are also a push button switch 189 for commanding door opening/closing and an obstacle detection limit switch 190 for operating the latching relay 184, and a transformer 191 generates power for controlling these. Furthermore, the lamp 183 is turned on by the thermal relay 182.

Next, these operations will be explained. First, the push button switch 189 for door opening/closing command is turned on, and the latching relay 184 is turned on to contacts A and A', and the motor 180 rotates in the door upward direction, and at the same time, the voltage between the terminals of the motor 180 causes the thermal relay 1
The heater section 82 is heated, and the relay contact, which has a bimetallic structure, is turned on, lighting up the lamp. When the door reaches the upper limit, upper limit switch 1
85 is turned off, and the motor 180 is stopped. Furthermore, the push button switch 189 for commanding door opening/closing is pressed again.
When turned ON, the latching relay 184 is now reversed to the contact B, B' side, and the motor 180 rotates in the door lowering direction. At this time as well, the lamp 183 is lit according to the lamp lighting operation described above. The door lowering operation is completed when the lower limit switch 186 is turned off. However, when the obstacle detection switch 190 is turned on during this operation, the relay coil of the latching relay 184 is energized, the relay contacts are reversed to the A and A' sides, and the door is reversed from the lowering operation to the raising operation. The door reversing operation as described above is performed in the same way even if the door opening/closing command push button switch 189 is turned on during the raising or lowering operation.
Further, the obstacle detection operation is disabled during the ascending operation. Note that the above-mentioned lamp 183 is automatically turned off after a certain period of time during which the bimetal contact of the thermal relay 182 is cooled down after the motor 180 has stopped. As mentioned above, the conventional example has the following drawbacks.

(1) The door will only stop at the lower or upper limit, and cannot be stopped midway unless the power is turned off using an outlet, etc. This is necessary when storing long items that cannot fit inside the garage.

(2) Since the rotation of the motor is reversed at the same time as the latching relay is reversed, a large shock load is applied to mechanical structures such as drive parts and doors.
Wear and mechanical fatigue are likely to occur.

(3) If the push button switch for door opening/closing command is left on, the obstacle detection operation during descent will not work.

(4) Motors used in garage door opening/closing devices are generally rated for short periods of time (approximately 2 to 3 minutes), so if the motor is operated continuously many times, the thermal switch 192 inside the motor will operate. Once this starts, it will not come back on until the motor has cooled down, so you will have to wait about 20 to 30 minutes.

(5) When the operation in (4) occurs and the thermal switch 192 returns, the original operation will automatically start, so if there are children under the door during the downward movement at that time, it will be a dangerous situation. will occur.

(6) Since the push button switch for door opening/closing commands directly operates the latching relay, if a chattering of approximately 100 ms or longer, which the latching relay can respond to, occurs due to the way the switch is pressed, the door will not open/close as expected. Not possible.

(7) Thermal relays used to light lamps have short lifespans because they use nichrome wire as their heaters.

(8) The lamp lighting time varies greatly depending on the time the motor is activated and the ambient temperature in which this device is placed.

(9) Obstruction detection ability In general, friction can be divided into static friction and kinetic friction, with static friction being larger. The same applies to garage doors, which require a large amount of force when activated. However, when operating the door, it does not require much force. Therefore, in order to prevent the obstruction detection switch 52 from operating when the door is activated, the setting time must be increased, and as a result, the obstruction detection force while the door is moving also becomes a large value. I end up. This condition becomes more serious as the door ages and mechanical play occurs, or as the sliding force increases due to lack of grease.

This conflicts with the need for a small obstruction detection ability from the viewpoint of door operability and safety.

An object of the present invention is to improve safety by ensuring the door opening operation executed in response to obstruction detection input, which is state detection.

The present invention provides a door opening/closing control circuit with an operation command that disables a door operation command signal from a commanding means when the door opening/closing device is in the process of opening the door in response to an input of an obstruction detection signal from a state detecting means. By providing a disabling means, the opening operation due to an abnormality is reliably executed and safety is improved.

Hereinafter, one embodiment of the present invention will be described in FIGS. 6 to 3.
This will be explained using FIG.

FIG. 6 is a state transition diagram showing the basic operating sequence of the garage door according to the present invention. In FIG. 6, the garage door 6 is in a stopped state 303 after the power is turned on. From this state, each time the garage door 6 receives an operation command, the garage door 6 goes back through the raised state 300 -> stopped state 301 -> lowered state 302 -> stopped state 303.
Apart from such an operation command, if an input is received from the upper limit switch 30 in response to the garage door 6 while in the ascending state 300, the controller passes through the state 307,
Promptly transition to stopped state 301. Further, when there is an input from the lower limit switch 31 in response to the garage door 6 in the lowered state 302, the state
309, the state shifts to a descending state 304 for a fixed time, and after a fixed time elapses, the state changes to a stop state 303. The reason for this constant time drop will be described in detail later.

In order to operate the garage door 6 safely, a description will be given of what to do when the movement of the garage door 6 is blocked. When the garage door 6 is in the raised state and an obstruction detection input is received, the garage door 6 passes through state 308 and immediately shifts to the stopped state 301. Furthermore, if the garage door 6 is in the lowered state 302 and an obstruction detection input is received, the garage door 6 goes through the state 310, temporarily shifts to the stopped state 305, and after a certain period of time has passed, moves to the 1-foot raised state 306. become. This 1-foot rise is time-controlled, and after a predetermined period of time has elapsed, the state shifts to a stop state 301. Here, if an input is received from the upper limit switch 30 during the 1-foot rise state, the upper limit switch is given priority processing and the state immediately shifts to the stop state 301.

The reason for descending for a certain period of time will be explained below. Generally, in winter, the floor surface located at the lower end of the door tends to change due to freezing or snow accumulation. If the floor surface changes from the initial setting and rises due to the above reasons, when the door is lowered,
The obstruction detection switch 52 is always activated and the state 310 is reached, making it impossible to close the door. For these reasons, in this embodiment, the lower limit switch 31 is operated before the door is fully closed, and the door is then fully closed when the door is lowered for a certain period of time. If there is an input from the lower limit switch 31, the obstruction detection input is ignored.

By doing this, even if the floor surface at the lower end of the door changes, the opening and closing of the door will not be affected. Furthermore, lower limit point adjustment becomes easier (US standard
UL325.27.1 page contents are fully satisfied) Door operability is significantly improved.

Specifically, the lower limit switch 31 is adjusted to operate at a height of 2 inches from the floor surface, and the door is sufficiently closed in the fixed time lowering state 304 in FIG. 6. Therefore, if the obstruction detection switch 52 operates in the fixed time descending state 304, the obstruction operation is prioritized and the state immediately shifts to the stopping state 303. By doing this,
This reduces the pressing force against obstacles that are within 2 inches of the floor.

The details of the garage door control according to the present invention as described above will be explained using the processing flow chart shown in FIGS. 14 to 37, which will be described later.

FIG. 7 shows a basic block diagram of the control section, which basically consists of an input circuit 312, a logic processing circuit 311, and an output circuit 313. The input circuit 312 is an interface circuit having a general signal level replacement function, and is connected to an upper limit switch 30 and a lower limit switch 3 that indicate various states of the garage door 6.
1. In addition to the signals from the obstruction detection switch 52 and the like, signals from the push button switch 12 and the receiver 330 for radio control are input as signals for operating the garage door 6. These signals are subjected to optimal processing according to pre-stored processing steps in the logic processing circuit 311, and the results are output. The output circuit 313 to which the output signal is input amplifies the output signal and performs forward/reverse control of the motor, on/off control of the garage lighting lamp 38, and the like.

FIG. 8 shows an expanded version of the basic block diagram as an embodiment.

In this embodiment, a control device 13 with a built-in receiver is used.
, the logic processing circuit 311 is the center, and all signal processing sections are built in. The main body 1 includes a motor 16,
It incorporates a driving part and an illumination part consisting of a lamp 38, a drive circuit for driving the parts, specifically a transformer 314, motor drive circuits 327 and 328 consisting of relays, a lamp drive circuit 329 consisting of a relay, etc. A control device 13;
The main body 1 is connected with seven electric wires.

Primary power supplied by power cord 11
The 115V is stepped down to 14V AC by a transformer 314, and is regulated to 10V DC by a constant voltage circuit 315 to become a circuit voltage. Upper limit switch 30,
The outputs of the lower limit switch 31 and obstruction detection switch 52 are connected to interface circuits 317 and 31 composed of resistors and capacitors.
8 and 319, and their circuit outputs are input to the logic processing circuit 311, respectively.

The operation push button switch 12 is input to an interface circuit 320 composed of a resistor and a capacitor, and the output of the circuit is input to a logic processing circuit 311. The output of the logic processing circuit 311 is input to a drive circuit 322 made up of transistors, and drives a drive circuit 327 made up of relays to rotate the motor 16 in the forward direction.
In addition, a drive circuit 323 composed of transistors inputs the output of the logic processing circuit 311,
A drive circuit 328 composed of a relay is driven to reverse the motor 16. Also, as a drive circuit for turning on and off the lamp 38,
A drive circuit 329 composed of a relay is connected to the logic processing circuit 3 via a drive circuit 324 composed of a transistor that drives the relay.
11.

Other output circuits of the logic processing circuit 311 include a door indicator circuit 325 for displaying the status of the garage door 6 and a theft prevention alarm circuit 326, which will be described in detail later.

The push button switch 12 is a door operation switch mounted on the case of the control device 13, but apart from this, there is a radio control operation command system that applies a transmission/reception function. This is for operating the door from a distance from the garage, and uses the UHF band as radio waves. For operation, the bit setting section built in the transmitter 331 and the bit setting circuit 321 in the control device 13 are operated.
Let's match it first. As the information sent from the transmitter 331, this bit setting section is sent sequentially. Details of the information format will be described later. The sent information is demodulated and converted into a binary signal by the receiving circuit 330, and is input to the logic processing circuit 311.
As the main configuration of the receiving circuit used here, a super-regeneration circuit (generally referred to as a super-regeneration circuit) is adopted. The information sent is sent to bit setting circuit 3.
It is sequentially compared with the contents of 21, and only when all bits match is processed as an operation signal. Of course, if the bit settings are different, the garage door cannot be operated.

In addition to this, there is an additional circuit 316 having a function of setting the lighting time of the lamp 38.

Next, the configuration of the logic processing circuit 311 will be explained using FIG. 9. The processing order necessary to optimally control the garage door 6 as described above is programmed and held in advance, and sequentially read and executed. For this purpose, the logic processing circuit 311
is the program storage circuit 340 (this storage circuit 3
40 is generally read, only, memory =
READ ONLY MEMORY=ROM is used. ), an instruction register 341 for temporarily storing the instruction code read from the program storage circuit 340, and an instruction decoder 342 for decoding the contents of the instruction code stored in the instruction register. The logic processing circuit 311 operates according to the timing pulse outputted from the timing control circuit 351 that controls the logic processing circuit 311 and the decoded instruction code. For this purpose, the outputs (indicated by arrows) of the instruction decoder 342 and the timing control circuit 351 are given to all the circuit elements constituting the logic processing circuit 311 and selectively activate them. Illustrations are omitted. A program counter 343 is provided to designate the address of the instruction code in the program storage circuit 340 and update the address.The program counter 343 stores the return address when performing skip processing (for example, subroutine jump) in the program. A stack register 344, which is a register for storing data, is connected.

Furthermore, a logical operation circuit 345 that performs logical operations such as binary addition, a status display register 346 that temporarily stores the result state of the logical operations, a register 347 such as an accumulator used during logical operations, and a register 347 that stores operation results and status flags ( For example, it shows how the door is currently in operation; 1
Temporary memory circuit 349 (this temporary memory circuit 349 is generally random, access, memory = RANDOM ACCESS MEMORY = RAM
is used. ), a buffer register 348 addressed by the logic operation circuit 345 is provided, and the individual circuit elements are connected by bus lines 352. Further, the bus line 352 is connected to the input circuit 312 and the output circuit 313 via an input/output circuit 350, and the input state is inputted into a logic circuit composed of a logic operation circuit 345, a register 347, a status display register 346, etc. It is processed by a determining means and output.

With the above configuration, especially when proceeding with processing,
The temporary storage circuit 349, which plays an important role, will be explained using FIG. 10 as an example.

As described above, the temporary storage circuit 349 is used to store calculation results and temporarily store status flags and the like.
The storage unit is 4 bits and 2 bytes. The embodiment of the present invention has a 22-byte map area. The status flags mentioned above are 0,
Three bytes 1 and 2 are allocated, and the meaning of each flag will be explained in the flowchart described later.
Additionally, 12 bytes 10 to 21 are used as timer elements. The basic timer group is the basic timer.
TM ₁ , which is 15.625 msec in this example. Since the time required for each processing step of one program is known in advance, a certain number of steps are counted and used for that purpose. In other words, in one embodiment of the present invention, no timer system configured from external hardware is used.

These status flags and timer groups are sequentially updated according to their processing steps, and the logical operation circuit 345 makes a logical judgment based on the contents and the instruction code stored in the program storage circuit to determine the optimal program processing. .

Next, the operating order of the garage door according to the present invention will be specifically explained.

The operation transition diagram of the garage door has already been explained using FIG. 6, but before explaining the flowchart, items that should be specially noted in the processing contents will be described here.

(1) Discontinuous input signal control Identify whether the input signal from the operating push button switch or receiver is a new signal or a continuous signal from before. This method uses a timer after the input signal turns off.
Set TM ₄ and before the timeout,
If an input signal is received again, it is processed as a continuous signal, and if the time has elapsed, it is processed as a new input signal. For the former input signal before the time-out, the timer _TM4 is newly set after that signal is turned off. Furthermore, in the embodiment of the present invention, in order to improve the operability, the following steps are taken.

When the door starts to operate, a situation arises where the user wants to stop the door immediately. For example, there may be an obstacle in the direction of movement of the door. Therefore, we adopted 0.25 seconds as the ₄ value of the discontinuous timer TM when the door is operating.

When restarting a door after it has stopped, it is necessary to allow a sufficient amount of time for the door to stop in order to reduce the impact load placed on the drive unit and the door. It has been confirmed through experiments that the rotational inertia of the motor is sufficiently eliminated in about 0.15 seconds, and the discontinuous timer TM ₄ values while the door is stopped are as follows:
0.5 seconds was adopted.

(2) Starting rotation control Motors used in garage doors are generally short-time rated, and if they are operated many times in a row, the thermal switch 192 inside the motor
will work. As a result, the thermal switch will not reset until the motor housing cools, making it impossible to operate the garage door for approximately 20 minutes. Furthermore, the above-mentioned condition is unlikely to occur under normal usage conditions and is often caused by mischief by children or the like. In particular, if there is mischief by a child or the like and the thermal switch is activated, this will undesirably shorten the life of the motor and may even lead to a serious accident. As a plan to prevent this, we adopted a startup frequency control algorithm as shown in Figure 11.

After the door stops, set the 2 minute timer TM ₁₀ .

If a restart operation command is input (eg, state) before the TM ₁₀ times out, an ED counter (startup counter) is incremented.

When a restart operation command is input (for example, state) after the TM ₁₀ times out,
Leave the ED counter as is.

If the restart operation command is not input within 6 minutes after the door stops (for example, due to the state),
Clear the ED counter. This timer
TM ₁₁ .

, , and when the ED counter value reaches 12, no further operation commands will be accepted for 6 minutes. The door can be operated again after 6 minutes.

(3) Open door indicator (hereinafter referred to as ODi) This displays the status of the garage door 6 shown in Figure 1, and is composed of a door indicator circuit 325 that blinks a lamp or a light emitting diode as a specific element. Ru. The 12th example of the blinking state is
As shown in the figure.

(4) Double safety control Upper limit switch 3 that sets the movement area
0 or if the lower limit switch 31 fails, the door will collide with the floor if it is lowering, or the upper end stopper if the door is rising, and the obstruction switch 52 will be activated. If the obstruction switch 52 fails, the motor will generate locking torque until the thermal switch 192 is turned on.
Continue pushing strongly against the obstacle. This situation is unfavorable from a safety standpoint, and the following points should be taken into account. Door travel distance can be limited (e.g. 9 feet ≒
2.7m), so travel time is naturally limited.
(If the door speed is 10 m/min, the travel time T _T =
(2.7m/10m/min = 16 seconds) Therefore, after the door operates, set timer TM ₈ , and if the upper limit, lower limit, and obstruction switch signals are not input before the timer TM ₈ times out, , it is determined that there is an abnormality and obstacle detection processing is performed. With this function, for example, if a part of the drive system breaks down and the door does not operate, there is a possibility that the belt will slip and power will not be transmitted, and this slip may cause belt damage. Stopping the motor after a certain period of time is effective from the viewpoint of improving safety.

(5) Obstruction ignoring control In general, friction is divided into static friction and dynamic friction, with static friction being larger. The same applies to garage doors, which require a large amount of force when activated. However, when the door is operating, it does not require much force. However, when the door is activated, the obstruction detection switch 52
In order to prevent this from working, the operating setting value must be increased, and as a result, the obstruction detection force while the door is moving also becomes a large value. This conflicts with the need for a small obstruction detection ability in terms of the operability and safety of the door. As a countermeasure, in the embodiment of the present invention, obstruction detection is ignored for a certain period of time (one second in the embodiment of the present invention) after startup. This is based on the assumption that any door is in a steady state of movement for one second after being activated.

(6) Upper and lower limit switch control It is impossible for the upper and lower limit switches to be input at the same time. The following cases can be considered as such a situation.
When the door is at the lower limit position and the lower limit switch 31 is on, the contact of the upper limit switch 30 is welded;
Alternatively, a part of the wiring may be disconnected and may be in contact with the chassis. Further, when the door is in the upper limit position and the upper limit switch 30 is on, the lower limit switch 3
A possible situation is that one contact point is welded, or a part of the wiring is broken and is in contact with the chassis. Furthermore, the aforementioned disconnection phenomenon and contact welding may occur in both the upper and lower limit switches. As a countermeasure for such a case, if there are simultaneous inputs, the door remains in a stopped state even if an operation input signal is received.

(7) Lamp lighting time control The additional circuit 316 shown in FIG. 8 is capable of setting a lamp lighting time of 2 minutes or 6 minutes. In the embodiment of the present invention, the lamp is turned on after the door starts operating, and after the door stops, a set timer _TM12 is set, and the lamp is turned off when the timer times out.

(8) Received signal control The signal transmitted from the radio control transmitter is demodulated and binarized by the super regeneration circuit 330 and input to the logic processing circuit 311. The format of the input signal is shown in FIG. This format system belongs to the NRZ (NON RETURN ZERO) system according to the classification of bullet transmission systems. The specifications will be explained below.

The synchronization signal SYNC consists of 16 bits, the length of the synchronization signal SYNC is counted, and the length is
After confirming that it is within a certain range, it is processed as a synchronization signal.

First, the synchronization signal SYNC length is set to 1/16 and the sampling period is determined.

Sampling starts from the rising edge of the synchronization signal SYNC. However, for the start bit ST, the sampling length is set to 1/32.

After sampling the 6 bits of data, check that the stop bit SP is "1". The next sampling starts at the falling edge of the stop bit SP. By doing this, the sampling error accumulation is 8
It can be kept in units of bits.

After the frame stop bit FSP check is completed "1110", it is processed as an operation signal.

FIG. 14 shows the main flow chart of the present invention. Processing starts after power is turned on. First, in order to put the temporary storage circuit 349 into the initial state.
Perform RAM clear 360. Next, the obstacle processing lower limit point detection post-processing 361 is checked. While the obstacle is being processed, the state 310 in FIG. 6 is shown.
State 309 is indicated during lower limit point detection post-processing. During this process, door operations using push button switches and transmission/reception are prohibited. When not being processed,
The ED (activation count) value over flag 362 is checked, and if the flag is "1", door operation by push button switch or transmission/reception is disabled. If the flag is "0", check whether the push button switch (hereinafter referred to as WL SW) is on or off. If the WL SW 363 is on, a startup input discontinuous timer set 366 is performed. If it is off, the reception (hereinafter referred to as Rx) input 364 is checked, and if it is at the "1" level, the process moves on to the next reception process 365.

Next, the process returns to the obstacle handling lower limit point detection process 361 via the driving process 367 and the timer process 368, forming one cycle.

In this main flowchart, operation processing 367
will be explained using FIGS. 15 to 23.

FIG. 15 is a main flowchart of the operation process. Check the ED value over flag 370. As explained in FIG. 11, this ED value over flag is set when it is detected that there has been frequent activation within a limited time, and if the flag is on, the continuation processing during stoppage 371 The operation mode remains stopped.
When the flag is on, the in-operation flag 372 is checked. When the operating flag is on, it means stop, and the open door indicator circuit 325 (hereinafter referred to as ODi), which indicates the door status, is temporarily turned off. After this ODi turns off 373, the lower limit SW 374 is checked to see if the door is in the stopped state at the lower limit switch position. If it is off, the ODi turns on 375, and if it is on, the ODi 325 remains off. With this process, the stopped state 301 or the state 303 shown in FIG. 12 is displayed.

If the operating flag 372 is on, a check is made to see if the obstacle ignore period 376 is active. Corresponds to the time of timer _TM6 in the temporary storage circuit. The value of the timer _TM6 is checked, and if it has not reached the set value, it means that it is within 1 second after the door is activated, and the obstruction input is ignored. The reason for the obstacle ignoring period 376 has been described above and will be omitted here.

If it is not the obstacle ignoring period, it indicates that the door is moving steadily, and the obstacle detection 377 is checked to see if there is any obstruction. If an obstruction signal is input, obstacle processing 379 is performed after the obstacle flag is turned on 378 and the reparse mode is turned off.

When the obstacle ignore period 376 occurs, it is checked whether the obstacle flag 380 is on or off.
If the obstacle flag is on, obstacle processing is in progress, and obstacle processing 379 is performed. If the obstacle flag is off, check whether the activation input discontinuity timer 381 is set or reset. Corresponds to timer TM ₄ in the temporary storage circuit. The TM ₄ is set to 0.28 seconds if the door is in operation, and 0.5 seconds if the door is stopped.
The fact that the TM ₄ is reset means that no operation signal is input.
It is necessary to continue the door state as it is. Therefore, the in-operation flag 382 is checked,
When the flag is on, the door is in operation and an operation continuation process 383 is performed, and when it is off, a stop continuation process 371 is performed.

When the activation input discontinuity timer 381 is set, the activation input processing completed flag 384 is checked. That is, it is determined whether the operation signal is a new one or one that has already been processed. When the flag is on, it is necessary to continue the door state as it is, and the process jumps to checking the in-operation flag 382.

If the startup input processed flag is off,
The activation input processed flag 385 is turned on, and then the operating flag 386 is checked. When the flag is on, the door is in operation and it is necessary to stop the door. Therefore, the operation → stop process 387 is performed.

Further, when the operating flag 386 is off, the door is stopped and it is necessary to operate the door. Therefore, the stopping→operating process 388 is performed.

Next, the obstacle processing 379 will be explained with reference to FIG. In this process, states 308, 309, and 310 shown in FIG. 6 are performed. However, state 309 is a case of obstruction detected during a fixed period of descent.

First, the operating direction flag 390 is checked, and if the flag is on, it means an upward movement, and a lower limit stop process 397 is performed to stop the movement. If the flag is off, it means a fall, so the lower limit SW 392 is checked. If the lower limit SW is on,
Since the state is 309, there is no need to reverse, and the lower limit stop process 393 is performed.

When the lower limit SW392 is off,
Must reverse up. Next, it is necessary to check the obstacle stopping flag 394 and, if it is off, to set the obstruction processing state 305. That is, the flag on while the obstacle is stopped 395;
Obstacle stop timer set 396 (this corresponds to timer TM ₆ in FIG. 10), 125 msec reference timer set 397 (this corresponds to timer TM ₃ in FIG. 10), and continuation processing during stop 398 are performed.

When the obstacle stop flag is on, the door is stopped until the obstacle stop timer 399 is checked and reset. The set time is 0.5 seconds in the embodiment of the present invention.

When the stop timer 399 is reset, in order to embody the state 306 in FIG. 6, the obstacle flag, obstacle stopped flag off 400, reverse mode on 401, operating flag, operating direction flag on 402, and motor lowering reset are set. , motor rise output 403, reverse timer set (1.875 seconds)
404 (this corresponds to timer TM ₆ in FIG. 10) and a 125 msec reference timer set 405 (this corresponds to timer TM ₃ in FIG. 10).

Next, regarding the operation → stop processing 387, the 17th
This will be explained using figures.

As stop processing, in-operation flag off 410, door up reset 411, door down reset 41
2. Perform the lower limit out-of-limit stop processing 413.

Next, regarding the stop → operation process 388, the first
This will be explained using Figure 8.

First, it is checked whether the ED count timer 420 is set. This corresponds to timer _TM10 in FIG. If it is set, the first
In the state shown in FIG. 1, the ED counter is updated (+1) 421. If it is reset, it means that it is in the state.

Next, check the ED value over 422. if,
When the ED value exceeds, the ED value over flag is turned on 423, the ED value over timer is set 424,
A 30 sec reference timer set 425 (corresponding to timer _TM9 in FIG. 10) is performed.

If the ED value has not been exceeded, an ED count timer reset 426 is performed to initially clear the ED counter.

Next, check the upper and lower limit SW ON 427. This means that either one of the upper and lower limit SWs may be on, but if they are on at the same time, it is determined that there is a failure, and the continuation processing during stoppage 428 is performed. Door does not work.

Next, check the limit SW 429, and when the upper limit SW is on, the lower limit output is output, when the lower limit SW is on, the higher output is output, and when neither limit SW is on, the mode is set using the operating direction flag 430. decide. Priority is given to the input signal of the limit switch over the operating direction as the history mode. Further, the operation direction flag is the ninth
Although it is stored in the temporary storage circuit 349 shown in the figure, the flag is off when the power is turned on because it is all cleared. In other words, the meanings of the flags are reversed, with flags going up when the flag is off, and going down when the flag is on. Therefore, if the flag is off, the door lowering reset and door raising output 43
Do step 1. The motion direction flag is turned on 432 to indicate the next motion direction, ie, descent. That is, by the above processing, the direction of operation of the door after power is turned on is fixed to upward.

Furthermore, when the motion direction flag 430 is on,
Processing is performed to reset the door up, output the door down 433, turn off the operating direction flag 434, and set the next operating direction to be up. After setting the motion direction flag, motion start processing 435 is performed.

Next, the operation start processing 435 will be explained using FIG. 19.

In this process, when starting the operation, all related flags and timers are set and a light is output.

Then, ODi flashing flag on 440, door movement start flag on 441, operating flag on 44
2. Start input processed flag on 443, lamp lighting timer reset 444 (this is the timer in Figure 10)
(equivalent to TM ₁₂ ), ED clear timer reset 4
45 (this corresponds to timer TM ₁₁ in FIG. 10), ODi flashing timer set 446 (this corresponds to the first
(corresponds to timer TM ₅ in figure 0), light lit 44
8. Obstacle ignore timer set 449 (this is the first
(corresponding to timer TM ₆ in FIG. 0) and 125 msec reference timer set 450 (corresponding to timer TM ₃ in FIG. 10).

Next, regarding the in-operation continuation process 383, the 20th
This will be explained using FIG.

In this process, the state 304 shown in FIG.
306 is mainly executed.

First, the operation direction flag 451 is checked, and if it is on, the door lowering reset and door raising output 452 are always performed again. Then the upper limit
A SW check 453 is performed, and if it is on, a lower limit outside stop process 456 is performed. If the upper limit SW is off, reverse mode 454
A check is performed, and if the mode is on, the reverse timer is checked 455. The timer is timer _TM6 in FIG. 10, and if it has been reset, this corresponds to an increase of one foot in the state 306 in FIG. 6, so next a lower limit stop process is performed. If it is set, continue.

Check the operating direction flag 451 and if it is off, reset the door up again and output the door down output 4.
Be sure to do step 57. After that, lower limit SW
458 is checked, and if it is on, the lower limit detection flag 459 is checked. If the flag is off, it means that the lower limit point has just been input, and the lower limit detection flag is turned on 460 and the motor stop delay timer is set 461. This corresponds to timer _TM2 in FIG. Next, a door movement time monitoring timer reset 462 is performed. This corresponds to timer _TM8 in FIG.

If the lower limit detection flag 459 is on,
If the motor stop delay timer is checked 463 and reset, it is confirmed that the motor has fallen for a certain period of time in the state 304 in FIG. 6, and therefore, lower limit stop processing 464 is performed next.

Note that in the embodiment of the present invention, the timer TM ₂ is set to 225
It is set to msec.

Next, Figures 22 and 23 explain the lower limit stop process and lower limit stop process, and Figure 2 shows the stop continuation process.
This will be explained using Figure 3.

The activation input discontinuous timer is set 470, the obstacle processing and lower limit point detection post-processing flag is turned off 471, and the activation input processed flag is turned on 472. This process is treated as the same whether it is stopped by inputting an operating command or by inputting an upper or lower limit switch.

Next, an ED count timer is set 473, which corresponds to timer _TM10 in FIG.

The light-on time is determined by checking the 2-minute or 6-minute select signal set by the additional circuit 316 in FIG. Choose. Next, ODi blinking timer reset 477, ODi blinking flag off 478, ED
Perform clear timer set 479. This corresponds to timer _TM11 in FIG. 10, and is set to 6 minutes in the embodiment of the present invention. Next, a 30 sec reference timer set 480 is performed.

As the next processing, an in-operation flag off 481, a door lowering reset, a door raising reset 482, and a door moving time monitoring timer reset 483 are performed.

Next, the timer processing 368 in the main flowchart of FIG. 14 will be explained using FIGS. 24 to 27. This flowchart processing section counts its own steps and changes the timer.
The individual timer counters correspond to those shown in FIG. Here, symbols are added to clarify the correspondence with the map.

A 15.625 msec timer counter update 490 is performed, and a time over 491 is checked to see if the timer _TM1 has timed out. Here, one cycle of the main flowchart has 97 steps, and when counting 4 bits, an overflow occurs at the 16th time. 1
Step is 10μsec, 16×97 steps×10μsec
=15.52msec. Therefore, the reason why 15.625 msec was considered is because it is related to the upper counter 125 msec, and it is assumed that the basic part already includes an error of about 1%. The output of Taomover 491 is
Since it is output every 15.625 msec, it is used as motor stop delay timer counter update 492 (timer TM ₂ ),
125msec reference timer counter update 493 (timer
TM ₃ , timer TM ₃ counts in increments of +2), when it overflows at time over 494,
125msec is guaranteed.

The contents of the next process, timer correction upon successful reception 495, will be described later, but in this process, it is assumed that the discontinuous timer is not updated during timer correction. When the tire correction is not performed when the reception is established, the start input discontinuous timer counter 496 is checked. When the counter value is not zero, a timer counter update 497 (timer TM ₄ ) is performed, and a check is made at time over 498. If there is a time-over, the startup input processing completed flag is turned off 499.

Check ODi blink counter 500. When the counter value is not zero, timer counter update 5
01 (timer TM ₅ ) and timeout 5.
Check with 02. If there is a time over, ODi blinking processing 503 is performed. That is,
The ODi blinks using the ODi blinking flag, and states 300 and 302 in FIG. 12 are performed.

Next, check the obstacle ignore timer counter for 50
4. When not zero, update timer counter 5
05 (timer TM ₆ ) is executed and the time is over 5.
Check with 06. If there is a time over, moving time monitoring timer processing 507 is performed.
In this process, the door movement start flag is turned off and a movement time monitoring timer is set.

Next, in the processing up to this point, a 2 sec standard timer counter update 508 (timer TM ₇ ) is performed and a check is made at time over 509.

If there is a time-over, 2 seconds will elapse.

Next, the travel time monitoring timer counter 510 is checked. If it is not zero, the timer counter is updated 511 (timer TM ₈ ) and checked at time-out 512. If there is a time over, processing for moving time over is performed. Here, the obstacle flag is on and the reverse mode is off. That is, a time-over occurs 25 seconds after the door is activated when there is no input from any of the upper limit switch, lower limit switch, and obstruction limit switch. The output is made to be equivalent to the obstruction detection process.

Next, a 30 sec standard timer counter update 514 (timer TM ₉ ) is performed and a time over 515 is checked.

If there is a time-over, 30 seconds will elapse.

Next, a 30 sec reference timer set 516 is performed.
This is because the 30 sec reference timer TM ₉ is based on the timer TM ₇ and needs to overflow at 15 counts. Here the timer
The _TM9 counter is set to “1”.

Next, the ED count timer counter 517 is checked.

If it is not zero, timer counter update 518 (timer TM ₁₀ ) is performed.

Next, ED clear timer counter update 519
(timer TM ₁₁ ) is executed and time over 52
Check with 0. If there is a timeout,
ED clear processing 521 is performed. The processing here is to clear the ED counter and turn off the ED value over flag, which corresponds to the state shown in FIG.

Next, the light extinguishing timer counter is updated 522 (timer TM ₁₂ ), and a timeout 523 is checked.

If there is a time-over, light extinguishing process 5
Do 24.

Next, before explaining the main flowchart reception processing 365 of FIG. 14, the transmission and reception method will be described once again.

An example of the circuit of the transmitter 331 will be explained using FIG. 28. Inverters 530, 531, resistance R ₁ ,
A clock oscillation circuit is formed by R ₂ and C ₁ , and is inputted to a counter 543 through an inverter 532 . The lower three bits of counter 543 are input to decoders 545, 546, and 547, and the upper three bits are input to decoder 544. Here, the Q ₁ to _{Q 5} outputs obtained by decoding the upper three bits each correspond to eight times the lower Q _A bit of the counter 543. Therefore, the outputs Q ₁ -Q ₅ of decoder 544 form 40 bits. Here, the Q ₁ and Q ₂ outputs are input to a 3-input NOR 552, and this becomes a 16-bit synchronization signal. Then in Q ₃ , Indota 53
3 selects the decoder 545, and the counter 5
The output of the decoder 545 is output to an open drain type inverter 537 (six inverters), and the output is a bit switch 548 which is a bit setting section.
(6 contacts) are scanned sequentially and the on-off information is input to the 3-input NOR 552 via the inverter 536. Similarly, the _Q4 output of the decoder 544 is sent to the decoder 546 via the inverter 534, and the open drain type inverter 539 is selected.
(6 inverters), bit switch 549 (6 inverters)
Similarly, the _Q5 output of the decoder 544 is passed through the inverter 535, and the decoder 547 is selected and the open drain type inverter 541
(3 inverters), bit switch 550 (3 inverters)
(contact points) sequentially. Here, there is one open-drain type inverter 538, 540, which corresponds to the stop bit SP, and an open-drain type inverter 542 (inverter 3).
) corresponds to one frame of stop bit FSP.

By performing the above operations, the RF oscillator 551, which is the UHF oscillator, can be
If on-off control is performed in step 2, the radio wave output of the transmitter 331 will be as shown in FIG.

The information thus transmitted is received by the receiving circuit 330, which is a super-reproducing circuit, and is input to the logic processing circuit 311. A bit setting circuit 321 is arranged in the logic processing circuit 311. An embodiment of the bit setting circuit 321 is shown in FIG. Bit switches 560, 561, 562,
It consists of diodes _Di1 to _Di10 , and sequentially controls the 10-bit output of the logic processing circuit outputs _R00 to _R03 , _R10 to _R13 , _D01 , and _D02 , and only one bit is always set to "1". The remaining 9 bits are set to "0" (open drain, but in a high impedance state) to take in the on/off information of the bit switch from the input ports _I1 and _I2 .

FIG. 30 is a table summarizing the setting pattern when taking in the information of the bit switch 4. Here, the frame No. corresponds to data; data D ₁ to D ₅ are frame No. 0, data D ₆ to D ₁₀ are frame No. 1, and data D ₁₁ to D ₁₅ are frame No. 1. 2. Frame stop bit is frame No.3. Also, as a bit counter, even values are assigned from the start bit ST to the stop bit SP. Further, the output pattern and input port when taking in bit switch information are as shown in the figure.

Next, the reception processing 365 will be explained using FIGS. 31 to 37.

FIG. 31 will be explained.

Obstacle limit SW check 570 checks the limit SW of obstacles and movement direction when the door is in operation. When not in operation, match the number of processing steps. Details are shown in FIG. 37. If an obstacle is encountered during this process, or if the limit switch in the operating direction is on, a status flag (this is in the status display register in FIG. 9) is set. The next process, checking the obstacle limit SW input 571, only requires checking the status flag. Jumps to GFC1 when the status flag is on. When the status flag is off, the synchronization signal counter is updated 572
will be carried out. As a synchronizing signal counter, 8 bits are prepared inside the temporary storage circuit 349 shown in FIG. 9, as shown in FIG. 10. Next, it is checked whether the value of the counter has continued for a certain period of time or more. In other words, the maximum value of the waveform input as the original synchronization signal is set, and if the counter value is larger than that, it is judged as abnormal, and the GFC1
Hejump. If the result of this synchronization signal counter 1 upper limit check 573 is N, the reception data is set to 0 574, and it is checked whether the data is zero, that is, the synchronization signal has ended.
If the data is not zero, the process returns to obstacle limit SW check 570. L ₁ shown in the figure
This loop is repeated until the received data becomes zero. If the received data = 0 574 and the data becomes zero, check the lower limit value 575 of the synchronization signal counter 2. In other words, the minimum value of the waveform input as the original synchronization signal is set, and if the count value is smaller than that value, it is determined to be abnormal and jumps to GFC1.

If the result is "Y" at this synchronization signal counter 2 lower limit value 575, the output pattern initial value set 576 for reading DiPSW and the frame number initial value set 57 are set.
Perform step 7 as shown in Figure 30.

Next, FIG. 32 will be explained.

Sampling timing counter initial value set 578, which is combined with the next bit counter initial value set 579, as shown in FIG.
This has the meaning of correcting the lower limit value 575, the initial value set of the output pattern for reading the DiP SW, the frame number, and the processing time required to set the initial value as an error from the next sampling start.

Obstacle limit SW check 580 checks the limit SW of obstacles and movement direction when the door is in operation. When not in operation, match the number of processing steps. Details are shown in FIG. 37. If an obstacle is encountered during this process, or if the limit switch in the operating direction is on, a status flag (this is in the status display register in FIG. 9) is set.

Obstacle limit SW input 581 which is the next process
To check this, it is sufficient to simply check the status flag. When the status flag is on
Jump to GFC1.

Next, the start bit sampling 582 is checked. As mentioned above, the sampling period is 1/32 at the start bit, and 1/16 at other times. Therefore, the sampling counter update 583 is updated by +2 to 1/32, and the sampling counter 584 is updated by +1.

Next, check the sampling time over 585, and if the result is not yet, the process will proceed to Obstacle Limit.
Return to SW check 580. Repeat the L ₂ loop shown in the figure until the sampling time is over.

The number of processing steps in the _L1 loop in Figure 31 and the third
The number of processing steps in the _L2 loop in Figure 2 is the same.
When the sampling time over 585 becomes "Y", sampling error correction 586 is performed.

The number of processing steps in the _L1 loop described above is 32.

Therefore, 32 processing steps/loop x 1/16 = 2 processing steps/loop, and the error is corrected by counting only the value of the lower digit of the synchronous counter as 1 count and 2 processing steps.

Next, FIG. 33 will be explained.

Processing 778 is performed to capture the received data into the carrier. The carrier here is located in the status display register 346 shown in FIG. Then the frame
A check 779 is made in frame No. 3 to see if it is frame stop bit FSP. If so, jump to GFC3. If it is not frame No. 3, proceed to the next process and perform a start bit check 780. Whether it is a start bit or not is determined by looking at the bit count value. If the bit count value is zero, jump with GFC4. If the bit count value is not zero, proceed to the next process and perform a stop bit check 581. Whether it is a stop bit or not is determined by looking at the bit counter value. bit count value is 14
If so, jump to GFC5.

If it is not a stop bit, a reset 782 of the DiP SW outputs D ₀₁ and D ₀₂ and an output pattern load 783 for reading the DiP SW are processed. Next, a check 784 of frame No. 1 is performed. If the frame is not No. 1, the DiP SW outputs 0 to 3 are processed 785. Next, check the output pattern 780
If the output pattern is zero, the DiP SW output D ₀₁ is reset 787, and if the output pattern is not zero, the DiP SW output D ₀₁ is reset 788. In other words, as you can see from the output pattern
R ₀₀ to R ₀₃ are 4-bit latches, and D ₀₁ is a 1-bit latch. For this reason, the above output pattern setting method is used. This is the DiPSW output 4 to 7 output 789 when it is frame No. 1, the output pattern check 790, and the DiPSW output 789 when it is frame No. 1.
The same applies to the SW output D ₀₂ output 791 and the reset 792 of the DiP SW output D ₀₂ .

Next, FIG. 34 will be explained.

After it is determined by the stop bit check 781 in FIG. 33 that the signal is a stop bit input, the stop bit normal 593 is checked to see if the signal is a stop bit, that is, "1". If it is a "0" input, it is not a stop bit, so the receiving state is not normal, and subsequent sampling will not be performed. Jump to GFC1.

If the stop bit is checked in normal stop bit 593 and the stop bit is normal, the next process is performed. Checking the received data 594, obstacle limit SW check 595, and obstacle limit SW input check 596 are repeated, and after confirming that the received data is "0" in the received data 594, the program exits from this loop. Next sampling counter initial value set 59
Do step 8. After that, jump to GFC10.
Here, a level check is performed on the received data 594, and new sampling is started from the point at which the signal falls, so that errors in sampling up to that point can be eliminated.

In FIG. 33, after the start bit check 780 determines that the signal is a start bit input, the start bit normal 597 checks to see if the signal is a start bit, that is, "0". If "1" is input, it is not a start bit, and therefore the receiving state is not normal and subsequent sampling will not be performed. Jump to GFC1.

If the start bit is checked as normal 597 and the start bit is normal, the next process, sampling counter initial value setting 598, is performed.

Figure 35 shows frame No. 3 check 7 in Figure 33.
This process is performed when it is determined in step 79 that the frame is frame No. 3.

At stop bit 599, the bit counter is checked to see if it is a stop bit. When the bit counter value is 8, 10, or 12, check the received data = 1600. At this bit counter value, the received data must be "1" and a jump to GFC7 indicates a normal case. If the received data is "0", the reception status is abnormal and the process jumps to GFC1.

Also, if the bit counter is 14 when checking the stop bit 599, the received data = 0 601 is checked. At this bit counter value,
The received data must be "0", and a jump to GFC8 indicates a normal case. If the received data is “1”, the reception status is abnormal and GFC1
Hejijump.

FIG. 36 is a continuation of FIG. 33.

Frame No. = 2 The input port of the DiP SW set by the check of 602 is distinguished. Third
As shown in Figure 0, if frame No.=2, the input port is _I2 and corresponds to DiP SW inputs 11-15. Therefore, the DiP SW inputs 11 to 15 605 are checked, and if they are "1", the received data = 1 604 is checked. Also, if it is “0”, the received data = 0
Check 606. As a result of checking, if they match, output pattern = 0. 607 check is performed. If there is a mismatch, clear the reception processing counter 0 and reset the reception processing I/O port 6.
Do step 14.

In the above case, if the frame number is not 2, the input port is I ₁ , and the DiP SW inputs 1 to 10
corresponds to Therefore, check DiP SW inputs 1 to 10603 and if they are “1”, receive data = 1
Check 604. If it is "0", check the received data = 0 606. If the results of the check match, the output pattern=0 607 check is performed. If there is a mismatch, the counter for reception processing is cleared to zero and the I/O port for reception processing is reset 614.

As the next process, output pattern=0 607 is checked. If the output pattern is "0", it means that checking of 5 bits of data has been completed, and it is necessary to set a new data acquisition pattern for the next frame.

For this purpose, the output pattern initial value set 608
and set "1" as the output pattern. Also, frame number update (+1) 609 is performed.

As the next process, a sampling count initial value is set 610 and a bit counter is updated (+2) 611. Shown in Figure 32
Jump to GFC9 position.

If the output pattern is not "0" due to the output pattern = 0 check 607, processing is still in progress within the same frame, and the output pattern is updated (doubled).
Do 640.

As the next process, a sampling counter initial value is set 610 and a bit counter is updated (+2) 611.

Jump to the GFC9 position shown in Figure 32.

When jumping to GFC8 in Figure 35, it is when the data match, and in the reception processing flowchart, the average processing time is 80 msec (this is because 1 bit is 2 msec and 1 frame is 40 bits). ).

Therefore, since the reception processing 365 is performed in FIG. 14, the timer processing 368 is extremely affected. As a countermeasure for this, in the embodiment of the present invention, 15.625 m in the timer processing 368 is
The sec timer is called five times in timer/counter correction 612 to perform approximation processing and correct the main timer.

Next, a startup input discontinuous timer is set 613, a reception processing counter is cleared to zero, and a reception processing I/O port is reset 614.

FIG. 37 shows the contents of the obstacle limit SW check process. First, check the operating flag 615 and if it is on, that is, if it is operating,
Perform obstacle SW616 check. Obstacle
If SW is on, status set 620 is performed. When the obstacle switch is off, check 617 the limit switch in the operating direction. If it is on, status set 620 is performed. If it is off, a status reset 618 is performed. Further, the operating flag 615 is turned off. In other words, if the timer is stopped, the timer will fluctuate between stoppage and operation unless it matches the number of processing steps required during operation. Therefore, the total number of steps is 619.
is being carried out.

Examples of applications of the invention include the following. In the embodiment described above, time is managed by using a part of the temporary storage circuit as a timekeeping means to measure time at each predetermined processing step. Although this type of system can be constructed at low cost, the time accuracy is not very good. As a means for improving this time accuracy, there is a method of using a separate means for measuring only time. Specifically, there are circuits and time clock circuits that can be activated by the program storage circuit and set a specific value. Alternatively, a circuit that generates timing pulses at regular intervals can be connected to the input/output circuit, and the input of the timing pulses can be processed with priority over the processing of the program being executed. Bye.

In this way, time measurement processing can be performed by counting the number of timing pulses or by using the input signal if the timing is a specific length.

Such a method is generally called interrupt control.

In the embodiment described above, the basic state transition example of the door opening/closing device is a cycle operation of raising-stop-lowering-stop, but the following example of basic state transition can also be considered as an application of the present invention.

Each time an operation input signal is received, the door opening/closing device repeats operation and stopping, and when the door opening/closing device reaches the upper limit position or the lower limit position, the door opening/closing device is stopped. When the next operation input signal is received,
Reverse the operating direction and move the door according to the operating direction instruction.

Repeated ascent-stop Repeated descent-stop Furthermore, although the above embodiment does not have a structure in which the direction of movement of the door can be directly instructed as an operation input signal, the additional circuit includes a switch for instructing a rise,
By providing a switch for lowering instructions, when the switch is input, moving the door in the direction instructed by the switch can be easily implemented by simply adding the above processing to the processing program. can be converted into

Also in this embodiment, there is a means for directly instructing the moving direction of the door. On the circuit where the upper limit switch and lower limit switch are input, it is sufficient to add a switch in parallel with the switch.As a processing program, if the upper limit switch is on, a lower limit command is issued, and if the lower limit switch is on, a raise command is issued. It is easy to see that the command is output.

As described above, in the present invention, once a predetermined door opening operation is started by the obstruction detection signal, during the opening operation, even if the obstruction detection signal disappears, the command means such as a push button switch can be used to open the door. Since the door operation command signal is disabled and the door opening operation is reliably executed, safety in the event of an abnormality can be improved.

[Brief explanation of drawings]

Figure 1 is a perspective view of the door opening/closing device, the second and third
The figure shows the main body of the door opening/closing device, Fig. 2 is a vertical side view, Fig. 3 is a plan view, Fig. 4 is a perspective view showing the connection between the rail and trolley, and Fig. 5 is the control of the conventional device. The circuit diagram, FIG. 6 is a basic operation flowchart of the device of the present invention, FIG. 7 is a basic block diagram of the control section, FIG. 8 is a detailed block diagram thereof, and FIG.
Logic processing circuit diagram, FIG. 10 is a temporary storage circuit pattern diagram, FIG. 11 is a start count control time chart, FIG. 12 is a door indicator flow chart, FIG. 13 is a transmission/reception data format, and FIG. 14 27 is a flowchart of each operation,
FIG. 28 is a circuit diagram of the radio control transmitter, FIG. 29 is a bit setting circuit diagram, FIG. 30 is a bit setting pattern, and FIGS. 31 to 37 are operational flowcharts. 1...Body, 2...Rail, 3...Chain, 4
... Trolley, 6 ... Door, 12 ... Push button switch for commanding door opening/closing operation, 13 ... Control device, 16
...Motor, 30, 31...Upper limit, lower limit switch, 38...Lamp, 52...Obstruction detection switch, 311...Logic processing circuit, 316...Additional circuit, 321...Bit setting circuit, 330... ...Receiving circuit, 340...Program storage circuit, 341...Instruction register, 342...
...Instruction decoder, 343...Program counter, 345...Logic operation circuit, 349...Temporary storage circuit, 351...Timing control circuit.

Claims (1)

[Claims] 1. A door opening/closing device including a drive device that drives the door, a command means for commanding door opening/closing operations, a state detection means for detecting various states of the door opening/closing device, and a door operation command signal from the command means and the state. and a door opening/closing control circuit that inputs various state detection signals from the detection means and controls the door opening/closing device, and the door opening/closing control circuit closes in response to the input of the obstruction detection signal from the state detection means. In the door opening/closing control device, the door opening/closing device is configured to control the door opening/closing device so that the door in operation is opened for a predetermined period of time. The invention is characterized in that, when the door is being opened in response to the input of the obstruction detection signal, an operation command invalidation means is provided for invalidating the door operation command signal from the command means even if the obstruction detection signal disappears. Door opening/closing control device.