JPH034716B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a door opening/closing control device, and particularly to a control device for a door opening/closing device in a garage, etc., which accurately detects obstacles that block the movement of a door. This invention relates to a door opening/closing control device.

[Prior art]

In general, door opening/closing devices for garages, etc., that is, garage door opening/closing devices, are disclosed in Japanese Patent Application Laid-Open No. 55-114779, for example.
As described in the above publication, it is constructed as schematically shown in FIGS. 1 to 4.

Here, Fig. 1 is an overall view of the garage door opening/closing device, Fig. 2 is a cross-sectional side view of its main parts, Fig. 3 is a top view of its partially opened cross-section, and Fig. 4 is a partially opened view of the trolley section. It is a cross-sectional perspective view.

The drive device for driving the door includes a main body 1 suspended on the ceiling of the garage, a rail 2 fixed to a part of the garage by a header bracket 5, and the main body 1
The roller chain 3 operated by the above rail 2
The main part of the trolley 4 is horizontally moved along. 6 is a garage door whose main feature is balanced by an unbalanced spring 8 so that it can be opened and closed, and is opened and closed along a door rail 7, and a door bracket 9 and a trolley 4 are connected via a door arm 10. .

As described above, the garage door 6 is driven to open and close along the door rail 7 in conjunction with the roller chain 3 driven by the main body 1 and the trolley 4 that moves horizontally.

Reference numeral 11 is a power cable, and operation commands to the main body 1 are sent to a button switch 12 attached to the wall of the garage.
The control unit 13 outputs a control signal by pressing the button or by receiving a signal from a transmitter using radio waves with a built-in receiver, and these push button switches 12, control unit 13, etc. This relates to the operation command means.

Reference numeral 14 denotes a detachment cord that disconnects the roller chain 3 and trolley 4 and allows the garage door 6 to be opened and closed by input when the garage door opening/closing device is inoperable due to a power outage or the like.

The rotation of the motor 16 fixed to the lower side of the main body frame 15 of the main body 1 is controlled by a motor shaft 16-
a. It is transmitted to the sprocket 21 that meshes with the roller chain 3 via the motor pulley 17, V-belt 18, large pulley 19, and sprocket shaft 20, and the door is driven by these, the rail 2, the trolley 4, etc. It constitutes a drive device.

22, 23, and 24 are chain guides A, B, and C that guide the roller portion of the roller chain 3 from both sides within the main body frame 15, and the rail 2 has a step and a groove in the groove formed by the chain guides A22 and C24. Install the rail fixing metal fittings 25 so that there are no gaps.
The roller chain 3 is housed in the chain storage groove 26 of the chain storage case 27, which is fixed to the groove formed by the chain guides A22 and B23.

Next, 30 and 31 are upper and lower limit switches related to the limit mechanism that limits the upper and lower limit points of the opening/closing operation of the garage door 6, that is, the amount of horizontal movement of the trolley 4. The amount of movement of the provided pulley rack 28 is transmitted via the pinion 29, and furthermore,
The lower limit switches 30, 31 are provided with upper limit point and lower limit point adjustment knobs 32, 33 that allow the upper limit point and lower limit point to be freely adjusted from outside the main body. 34 is chain guide A22, B23, C24
By forming a part of the chain guide groove formed by The compression force of the obstruction spring 35 that restricts movement can be freely changed by turning the obstruction force adjustment screw 36 and moving the spring presser plate 37. If the garage door 6 hits an obstacle, the obstruction detection switch (obstruction detection limit switch) 34-a, which is turned on and off by the movement of the obstruction detection metal fitting 34, detects the obstacle. It is designed to rise when descending and stop when ascending.

38 is a garage lighting lamp that turns on and off in conjunction with the movement of the garage door 6; 39 is a controller fixed to the main body frame 15 to control this lamp 38 and the motor 16; 40 is a controller fixed to the main body frame 15; The cover 41 is a translucent lamp cover.

The rail 2 is made of a thin iron plate or plastic plate molded into the shape shown in Fig. 4, and the sliding guide of the trolley 4 is provided at the outer periphery, and the linear guide of the roller chain 3 is provided by sandwiching the rail 2 between both sides. Provides reciprocating guidance. The trolley 4 and the roller chain 3 are connected by inserting a connecting fitting 4-a into the groove of the roller attachment 3-a, and this connecting fitting 4-a is normally held upward by a spring or the like. It is pushed up and can slide up and down. If the garage door opening/closing device and the garage door 6 are to be separated from each other in the event of a power outage and the door is to be opened and closed manually, the connecting fitting 4-a should be pulled downward and detached from the roller attachment 3-a. It is. Also, the door arm 10 is L
It is composed of a letter-shaped door arm 10-a and a straight door arm 10-b, each of which is attached to a garage door 6.
The length can be freely changed depending on the positional relationship between the door rail 7 and the door rail 7. This door arm 10
The connection between the trolley 4 and the trolley 4 is achieved by providing a long groove 4-b in the trolley 4 and inserting a pin 4-c, which is normally pressed into the state shown in FIG. 4 by a spring or the like, into the long groove 4-b. , the collision is absorbed when the garage door 6 collides with an obstacle while descending. Furthermore, it is desirable that the garage door opening/closing device not detect obstacles during descent due to the presence of snow, ice, etc. on the floor, or the presence of small items such as water hoses. In other words, it is desirable that the door should not be reversed but stopped even if an obstacle is detected below 2 inches above the floor surface. It is designed to be absorbed by b.

Safety is an important point for controlling the opening and closing of the garage door 6 as described above.

In other words, if the door touches a person while it is moving,
If the door is not stopped promptly, it will lead to serious personal injury. In a preferred state, the obstacle detection level should be slightly higher than the door movement resistance level. This is because under such conditions, obstacles can be detected with a small detection force. However, the obstacle detection level is often set to a large value because of the weight and balance of the door, and changes in door movement resistance during movement (changes in sliding resistance, particularly due to aging). This is because the actual movement resistance during movement cannot be determined accurately and because the setting of the obstacle detection level is dependent on human settings. It is undesirable for humans to set the sensitivity level because it involves large variation factors and there is a risk that safety will be compromised accordingly. Furthermore, even if the obstacle detection level can be set slightly higher than the door movement resistance, if the door movement resistance changes due to aging etc., the obstacle will be falsely detected as if it were hot, resulting in smooth door control. become unable to do so.
If you want to maintain the initial settings,
You must constantly adjust the door movement resistance or obstacle detection level.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a door control device that can eliminate the above-mentioned drawbacks and set a good obstacle detection level.

[Summary of the invention]

Generally, the door reaches a constant speed within about 1 second after activation. This is because at this time of activation, the inertia or frictional resistance of the door may change from static friction to dynamic friction, requiring a large driving force. If the door touches an obstacle after the door's movement speed reaches a certain value, the movement resistance increases and the movement speed decreases.

The present invention detects obstacles based on changes in the moving speed of the door, and calculates the minimum value of the moving speed within a predetermined time period excluding a specific time after the door is activated, and performs calculation based on the extracted moving speed. A comparison reference value is created, the comparison reference value is compared with a moving speed detected thereafter, and an obstacle is detected based on the comparison result.

[Embodiments of the invention]

Next, examples will be described below.

FIG. 5 shows a structure to which the present invention is applied, in which a tachogenerator (DC generator) 300 is set on the shaft 16-a of the motor 16.
The tachogenerator 300 generates an output corresponding to the rotational speed of the motor 16, that is, the moving speed of the door.

Next, the control circuit will be explained using FIG. 6.

In FIG. 6, reference numeral 12 indicates a push button switch for issuing a door opening/closing operation command, 201 a relay contact for issuing a door opening/closing operation command from the radio receiving device, 30 a door upper limit switch, 31 a lower limit switch, 300 the above-mentioned tacho generator, 30
1 is an obstacle determination circuit; 205 is a power reset circuit that generates a reset signal when the power is turned on; 20
6,207 is a monostable multivibrator, 208
is J-K master slave flip-flop, 2
09 is a timer circuit using an IC such as NE555 (manufactured by Signtech), 210 and 211 are D-type flip-flops, 212 is an integrating circuit, 213 is a differentiating circuit, 214 to 222 NOT elements, 223 is 2 inputs
OR element, 224 to 228 are 2-input AND elements, 2
29, 230 are 4-input NOR elements, 231 are 2-input NOR elements, 232 are 3-input AND elements, 251
is a 2-input NAND element, 233 is a transformer for control power supply, 234 is a diode stack, 235 is an IC regulator for control power supply, 236 to 238 are relay drive transistors, 239 to 241 are relay coils, 242 to 244 are relay contacts, 16 is a door opening/closing drive motor, and 38 is a lamp.

The circuit operation will be explained below with reference to time charts shown in FIGS. 7 and 8. When the power is turned on to this circuit, the transformer 233, the diode stack 234, and the IC regulator 235
A control power supply VDD is supplied via. Then,
The power supply reset circuit 205 integrates the rise of VDD and outputs a reset pulse through the NOT element 215. The reset pulse is the NOT element 21
6, the JK master slave flip-flop 208 is reset, and the D-type flip-flops 210, 211 are reset via the 4-input NOR elements 229, 230, respectively. The push button switch 12 or the relay contact 201 from the wireless receiving device, which is the door opening/closing operation command, is turned on, and the NOT element 2 is turned on.
14, the monostable multivibrator 206 outputs a signal B with a pulse width T1 at the rising edge of the signal A. The signal B is
A signal C is outputted via a 2-input OR element 223 and a 2-input AND element 224. The signal C is input as the clock of the JK master slave flip-flop 208, and during the high (HiGH) period of the signal C before the output signal E is reflected, the output of the two-input AND element 226 is input as the clock of the flip-flop 210. The flip-flop 210 is set and the signal F is output. Using this as a door raising command, the relay coil 240 for raising the door is excited by the transistor 237, the relay contact 242 is turned on, and the motor 16 rotates normally. The motor is started in this way, but at the same time signal B is sent to the timer circuit 20 through the NOT element 221.
9 as a trigger signal. The purpose of this is to turn on the lamp 38 that illuminates the inside of the garage for a certain period of time after receiving an operation command at the same time as the motor 16 is started.
is excited, turning on relay contact 244. In this way, lamp 246 can be lit for a certain period of time. Next, when the upper limit switch 30 is turned on while the ascending command is being output, the output N of the NOT element 217 becomes high level, and the 4-input NOR element 22
A reset signal is input to the flip-flop 210 through the transistor 9, the transistor 37 is turned off, the relay coil 240 is demagnetized, and the relay contact 242 is turned off.
Motor 16 stops. Furthermore, when the operation command is turned on again, that is, the relay contact output 201 from the push button switch 12 or the wireless receiving device is turned on while the ascending command is being output, the pulse of signal B is output from the monostable multivibrator 206 as described above, and the OR element 2
It is output from 23. However, since the flip-flop 210 is set, the output of the 2-input AND element 228 is at a low level, and the output of the 2-input AND element 224 is prohibited. At this time, the 2-input AND element 227 is connected to the NOT element 21
Since the output of 8 becomes high level, the pulse of signal B is output as signal D. This signal D has 4 inputs
Through the NOR element 229, the flip-flop 21
It is input as a 0 reset signal. In this way, the motor 16 is stopped as before. next,
Furthermore, when an operation command is input in the same manner as above, J-
Since the K master slave flip-flop 208 is set, the output of the two-input AND element 226 is prohibited, and the signal B is output from the two-input AND element 225, which sets the flip-flop 211 and outputs the signal G. As a result, transistor 2
38 is turned on, relay coil 2 for lowering the door
41 is energized, the relay contact 242 is turned on, the motor 16 is reversed, and the door moves downward. When the lower limit switch 31 is turned on during the lowering operation, the NOT element 219 outputs a signal H, and the integration circuit 212 outputs the 4-input signal with a time delay T2.
Flip-flop 21 via NOR element 230
It is input as a reset signal I of 1. As a result, the motor stops in the same way as when the upper limit is turned on during ascending. Next, the circuit operation when the obstacle determination circuit 301 operates will be explained. During the rising operation, that is, when the J-K master slave flip-flop 208 is set, the flip-flop 210 is set, and the flip-flop 211 is reset, when the obstacle determination circuit 301 operates, its output becomes high level, and the output becomes high level. Input NAND element 25
A high level signal is output from the two-input NOR element 231 via the monostable multivibrator 2.
Trigger 07. The multivibrator 207
The Q output pulse resets flip-flop 210 via 4-input NOR element 229. Also, at this time, the output of the 4-input AND element 232 is prohibited because the JK master-slave flip-flop 208 is set.
Next, during the descending operation, that is, J-K master slave flip-flop 208 is reset, flip-flop 210 is reset, and flip-flop 2 is reset.
If the obstacle determination circuit 301 operates in the same manner as described above when 11 is set, two inputs will be generated as described above.
Signal J is output from NAND element 251 and 2 inputs
A signal K with a pulse width T3 is output from the monostable multivibrator 207 via the NOR element 231.
The flip-flop 211 is reset by the signal K via the 4-input NOR element 230. This causes the motor 16 to stop and the lowering movement of the door to stop. When the pulse signal K further falls, the output of the monostable multivibrator 207 rises, and all the inputs of the 3-input AND element 232 become high level, and the signal L is output. The signal L is converted into a signal M via a differentiating circuit 213 and a NOT element 222.
and is input to the two-input OR element 223. As a result, the signal F, which is a rising command, is output following a series of control paths as described above, and the door rises, which is the signal for the upper limit switch 30.
It is stopped by the output signal N of the NOT element 217.
In this way, when the door detects an obstacle, it immediately stops operating while ascending, and immediately stops descending while descending.
Safe operation is guaranteed by starting the rising operation after T3 hours. However, if there is a small obstacle (stones, sticks, etc.) near the door's lower limit, or if the floor rises due to snow in winter, the lower limit point switch 31 is turned on to prevent the obstacle detection operation from operating inadvertently. The object detection operation is immediately inhibited by the two-input NOR element 231, but the signal G, which is a descending operation command, is reset by the signal I after a time delay T2 by the integrating circuit 212.

Next, the obstacle determination circuit 301 according to the present invention will be explained using FIG. 9.

302 is a diode, 303, 304 are analog switches, 305, 306, 307 are operational amplifier elements, 308 is a comparison element, 309 is a NOT element,
310 and 311 are monostable multivibrators, 3
12 is a 2-input NAND element, 313 is a 2-input NOR
The element is shown.

As described above, the output signal Y of the two-input AND element 228 indicates whether the door is stopped or in operation, and is at a low level while the door is in operation.

Thus, the fall of the signal Y indicates the door activation state, and the monostable multivibrator 310 is triggered at this timing. The trigger causes the resistance R
107, the output of the monostable multivibrator 310 becomes low level for a time determined by the capacitor C101. This output disables the creation of a comparison reference value in the obstacle detection circuit for one second when the door is activated.

The monostable multivibrator 311 is then triggered at the rising timing of the output. Due to this trigger, the output of the monostable multivibrator 311 becomes low level for a time determined by the resistor R108 and the capacitor C102. The output is 0.5 seconds after 1 second has elapsed since the door was activated, and turns on the analog switch 303. As a result, the output of the tachometer generator 300 is outputted to the operational amplifier element 3.
05, and is charged to the capacitor C100 through the diode 302 and analog switch 303. Here, the amount charged to the capacitor C100 is the output of the operational amplifier element 305 which is the inversion of the output of the tachometer generator 300, and therefore becomes a high value when the tachometer generator 300 has a low output, that is, at a low speed. . The high output value is charged to the capacitor C100, and when an output lower than the charged amount is later given from the operational amplifier element 305, the capacitor C10
Since the discharge of 0 is blocked by the diode 302, no charge movement occurs and the previous charge amount is maintained.

This configuration extracts the highest voltage value, that is, the lowest speed of the tachogenerator 300. The moving speed extraction for extracting the maximum voltage value is performed while the monostable multivibrator 311 is operating, that is, while the output is at a low level. After the set time has elapsed, the output becomes high level and the analog switch 303 is turned off.
As a result, the maximum voltage value of the monostable multivibrator 311 within the set time is held in the capacitor C100.

The highest voltage value is impedance-converted as a voltage floor through the operational amplifier element 306 without being inverted. The output is inverted and amplified by an operational amplification element 307. The amplification factor is given by the following formula.

Amplification factor = R105/R104 However, if the amplification factor is set to about 1.3, the output of the operational amplification element 307 will be equal to the capacitor C.
-1.3 times the value held at 100, resulting in 70% of the minimum output value of the tachogenerator 300
is equal to the value of

The output is input to the negative terminal of comparison element 308. The output of the tachometer generator 300 is connected to the positive terminal of the comparison element 308, and with the above configuration, from 70% of the lowest speed (output) of the tachometer generator 300 extracted during the operation of the monostable multivibrator 311, When the value supplied to the positive terminal becomes low, the output of the comparison element 308 becomes low level. As a result, the output of the 2-input NOR element 313 becomes high level,
Serves as an obstacle detection signal. This signal becomes valid when the output of the 2-input NAND element 312 is at a low level, and the monostable multivibrator 31
0,311 is not operating.

During this operation, if the signal Y becomes high level, that is, if the door stops, the output of NOT element 309 becomes low level, turning on analog switch 304. This operation causes capacitor C1
The charge charged to 00 is discharged through the resistor R103 and the next highest voltage (tachogenerator 3
00 minimum speed) prepare for extraction.

According to this embodiment, the moving speed of the door is actually extracted, a comparison reference value is created using the extracted value as a reference, and thereafter, it is determined whether or not the moving speed is lower than the comparison reference value. This eliminates the need for complicated settings and allows detection at even smaller movement levels, greatly improving both ease of use and safety.

Next, another embodiment will be described using FIG. 10. In this embodiment, the feedback resistances of the operational amplifier element 307 shown in FIG.
It is divided into three parts, 0 and R111, and is selectively used by a switch 315. By setting the feedback resistance to, for example, R109/R104=1.1 R110/R104=1.2 R111/R104=1.3, the obstacle detection level can be selected by so-called digital setting. This makes it possible to set the optimum obstacle detection level according to the state of the door.

Still another embodiment will be described using FIG. 11. In this embodiment, the level at which obstacles are detected is changed in accordance with the amount of door movement. The initial stage of door movement is immediately after the transition from static friction to dynamic friction, and under this condition, the obstacle detection level is slightly higher. However, it is desirable that the obstacle detection level be as low as possible, and the probability of encountering this obstacle increases according to the amount of movement of the door (the closer it is to the floor). Therefore, in this embodiment, the comparison reference value is changed in accordance with the amount of movement of the door in order to make it easier to detect the obstacle. That is, obstacle extraction level control is achieved by reducing the value of the charged capacitor C100 in accordance with the amount of door movement.

Specifically, the input of the 2-input NAND element 316 is in a high level state, that is, the analog switch 3
When 03 is off and signal Y is low level, the two inputs
The output of the NAND element 316 becomes low level.
The analog switch 314 is turned on by this output, and the electric charge charged in the capacitor C100 is gradually discharged through the high resistance R112. This results in a higher comparison standard value (lower obstacle detection level).
You will get used to it. As a result, it becomes easier to extract changes in the tachometer generator 300, and it becomes easier to detect obstacles.

According to this embodiment, it is possible to more easily detect obstacles depending on the amount of movement of the door, thereby further improving safety.

Still another embodiment will be described using FIG. 12. In this embodiment, the comparison reference value is obtained by addition, whereas the embodiment shown in FIG. 9 obtains the comparison reference value by multiplication.

On the circuit, if the resistors R104=R115=R116, then the amplification factor is R115/R104=R115/R116=1.

Therefore, the maximum voltage value (minimum speed) V _T charged to the capacitor C100, the resistor R118 and R
Based on the voltage V _a set in step 117, the comparison reference value is the following value.

−(V _T +V _a ) However, V _T <T _a V _T <0 ∴｜V _T |−V _a , and a value lower by V _a than the extracted minimum speed V _T is set as the comparison reference value. .

This embodiment can also achieve the same effect as the embodiment shown in FIG. 9.

Still another embodiment will be described using FIG. 13. In this embodiment, the comparison reference value is obtained by addition whereas the embodiment shown in FIG. 10 obtains the comparison reference value by multiplication.

In the circuit, resistance R104 = R125 = R126 = R127
Then, the amplification factor is 1.

Voltage value set by resistors R119 to R124
V _b , V _c , and V _d are selectively used by switch 315 . The comparison reference value becomes lower than the value extracted by the setting.

|V _T |−V _b or |V _T |−V _c or |V _T |−V _d This embodiment can also achieve the same effect as the embodiment shown in FIG.

Still another embodiment will be described using FIG. 14. In this embodiment, the comparison reference value is obtained by addition in the same way as in the example of FIG. 12, whereas the comparison reference value is obtained by multiplication in the embodiment of FIG.

This embodiment can also achieve the same effect as the embodiment shown in FIG. 11.

〔Effect of the invention〕

As explained above, according to the present invention, the moving speed of the door is extracted, a comparison reference value is created by calculation based on the extracted moving speed, and the comparison reference value and the moving speed detected thereafter are Since the obstacles are detected based on the results of the comparison, it is possible to always detect obstacles accurately, improving ease of handling and safety.

[Brief explanation of drawings]

Fig. 1 is an overall view of the garage door opening/closing device, Fig. 2 is a cross-sectional side view of its main parts, Fig. 3 is a top view of its partially opened cross-section, and Fig. 4 is a partially opened view of the trolley. 5 is a vertical sectional side view of a main body of a garage door opening/closing device according to an embodiment of the present invention, FIG. 6 is a control circuit diagram of the garage door, and FIGS. 7 and 8 are operation timing charts thereof. 9 are explanatory diagrams of the obstacle determination circuit according to the present invention, and FIGS.
FIG. 4 is an electrical circuit diagram of another embodiment of the obstacle determination circuit. 3... Roller chain, 4... Trolley, 10...
Door arm, 16... motor, 300... tachometer generator, 301... obstacle determination circuit.

Claims (1)

[Scope of Claims] 1. A door control device comprising a drive device for driving a door, a connecting means for coupling the drive device and the door, and a control device for giving a predetermined command to the drive device, The control device includes a detection means for detecting the moving speed of the door, extracts the speed within a specific time after the door is started, creates a comparison reference value by calculation using the extracted value as a reference, and calculates the speed at which the specific time has elapsed. A door control device comprising: an obstacle detection circuit that outputs an obstacle detection signal when an extracted value later extracted by the detection means is less than the comparison reference value. 2. In claim 1, the obstacle detection circuit is configured to extract the speed within a specific time after the door is activated, and add a specific value to the extracted value to create a comparison reference value. A door control device featuring: 3. In claim 1, the obstacle detection circuit is configured to extract the speed within a specific time after the door is activated, and to create a comparison reference value by multiplying the extracted value by a specific value. A door control device featuring: 4. The door control device according to claim 1, wherein the obstacle detection circuit is configured to change the comparison reference value according to the amount of movement of the door. 5. The door control device according to claim 1, wherein the obstacle detection circuit includes a setting means, and the setting means sets calculation conditions for creating the comparison reference value. .