WO2005078538A1 - Barrier movement operator having obstruction detection - Google Patents
Barrier movement operator having obstruction detection Download PDFInfo
- Publication number
- WO2005078538A1 WO2005078538A1 PCT/US2004/001157 US2004001157W WO2005078538A1 WO 2005078538 A1 WO2005078538 A1 WO 2005078538A1 US 2004001157 W US2004001157 W US 2004001157W WO 2005078538 A1 WO2005078538 A1 WO 2005078538A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- barrier
- movement
- operational variable
- sensed
- Prior art date
Links
- 230000004888 barrier function Effects 0.000 title claims abstract description 81
- 238000001514 detection method Methods 0.000 title claims description 10
- 230000006698 induction Effects 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 9
- 239000004020 conductor Substances 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 6
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003475 lamination Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B5/00—Anti-hunting arrangements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/02—Details of starting control
- H02P1/04—Means for controlling progress of starting sequence in dependence upon time or upon current, speed, or other motor parameter
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
- E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
- E05F15/668—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings for overhead wings
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/36—Speed control, detection or monitoring
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
- E05Y2900/106—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for garages
Definitions
- the present invention relates to barrier movement operators and particularly to barrier movement operators having improved characteristics for detecting obstructions to the movement of the barrier.
- Barrier movement operators generally comprise an electric motor coupled to a barrier and a controller which responds to user input signals to selectively energize the motor to move the barrier.
- the controller may also respond to additional input signals, such as those from photo-optic sensors sensing an opening over which the barrier moves, to control motor energization. For example, should a photo optic sensor detect an obstruction present in the barrier opening, the controller may respond by stopping and/or reversing motor energization to stop and/or reverse barrier movement.
- the controller may also respond to motor speed representing signals by controlling motor energization.
- Such may be used to stop and/or reverse the movement of a barrier when the motor speed, which represents the speed of movement of the barrier, falls below a predetermined amount as might occur if the barrier has contacted an obstruction to its movement.
- Detecting contact by the barrier with an obstacle by sensing the driving speed of the motor has certain inherent difficulties.
- the barrier, barrier guide system and the connection between the barrier and the motor all have momentum and all exhibit some amount of flexibility.
- When the leading edge of a barrier is slowed, it takes time for the inertia of the various parts to be overcome and for the slowing of the barrier to be reflected back to the motor via the flexible (springy) interconnection.
- Motors for use with barrier movement operators are generally constructed or selected to operate efficiently and exhibit a motor rotation rate (motor speed) to torque characteristic represented in Fig. 4.
- the normal forces on the barrier generally allow the operating motor speed between the marks labeled A and B on Fig. 4 resulting in a relatively flat slope of the speed versus torque characteristic.
- the "normal" motor having a characteristic as shown in Fig. 4 exhibits a change of motor RPM of approximately 20 RPM per inch-pound of required motor torque. Improvements in obstruction contact times and reduction of obstruction contact forces is difficult with a motor having the characteristics of Fig. 4 because the change of motor RPM is small for the normal range of obstruction forces.
- Existing barrier movement systems include obstacle detection functions which compare currently measured motor speed with an obstacle indicating threshold.
- the obstacle indicating threshold generally consists of an expected motor speed minus a constant which defines how much additional speed reduction represents an obstacle rather than a normal variation in operating speed.
- an average speed is assumed for the entire movement between open and closed positions and when motor speed falls below the normal speed minus a fixed threshold an obstacle is assumed.
- a speed history is determined for door movement by recording measured speeds at several (many) points along barrier travel. When the measured speed falls below the speed history for the same point in barrier travel minus a fixed threshold, an obstacle is assumed. Improvements are needed in obstacle detection to permit fine control of speed changes which indicate an obstruction.
- FIG. 1 shows a barrier movement system connected to a vertically moving garage door
- Fig. 2 is a block diagram of the control apparatus for a barrier movement operator
- Fig. 3 illustrates circuitry for detecting motor rotation speed
- Fig. 4 is a graph of motor rotation speed versus required motor torque for existing induction A.C. motors
- Fig. 5 is a graph of motor rotation speed versus required motor torque for enhanced A.C. induction motor operation
- Fig. 6 is a diagram of a modified A.C. voltage which may be used to power A.C. motors;
- Fig. 7 is a graph representing motor speed and obstacle detection thresholds;
- Figs. 8A and B represent the stator and field windings of an A.C. induction motor;
- Figs. 9A and B represent the rotor of an A.C. induction motor
- Fig. 10 is a graph of motor torque versus motor current for normal and one enhanced induction A.C. motor.
- Fig. 1 illustrates the use of a barrier movement operator 10 for vertically moving a garage door. It should be understood that a barrier movement operator as described and claimed herein may be used to move other types of barrier such as gates, window shutters and the like.
- Barrier movement operator 10 includes a head unit 12 mounted within a garage 14. The head unit 12 is mounted to the ceiling of the garage 14 and includes a rail 18 extending therefrom with a releasable trolley 20' attached having an arm 22 extending to a multiple paneled garage door 24 positioned for movement along a pair of door rails 26 and 28.
- the system includes a hand-held transmitter unit 30 adapted to send signals to an antenna 32 positioned on the head unit 12 and coupled to a receiver as will appear hereinafter.
- a switch module 39 is mounted on a wall of the garage.
- the switch module 39 is connected to the head unit by a pair os wires 39a and includes a command switch 39b.
- An optical emitter 42 is connected via a power and signal line 44 to the head unit.
- An optical detector 46 is connected via a wire 48 to the head unit 12.
- the garage door operator 10 which includes the head unit 12 has a controller 70 which includes the antenna 32.
- the controller 70 includes a power supply 72 which receives alternating current from an alternating current source, such as 110 volt AC, at a pair of conductors 132 and 134, and converts the alternating current into DC which is fed along a line 74 to a number of other elements in the controller 70.
- the controller 70 includes and rf receiver 80 coupled via a line 82 to supply demodulated digital signals to a microcontroller 84.
- the microcontroller 84 includes a non-volatile memory, which non-volatile memory stores set points and other customized digital data related to the operation of the control unit.
- An obstacle detector 90 which comprises the infrared emitter 42 and detector 46 is coupled via a bus 92 (which comprises lines 44 and 48) to the microcontroller.
- the obstacle detector bus 92 includes lines 44 and 48.
- the wall switch 39 is connected to supply signals to and is controlled by the microcontroller.
- the microcontroller in response to switch closures, will send signals over a relay logic line 102 to a relay logic module 104 which connects power to an alternating current motor 106 having a power take-off shaft 108.
- a tachometer 110 is connected to shaft 108 and provides a tachometer signal on a tachometer line 112 to the microcontroller 84. The tachometer signal being indicative of the speed of rotation of the motor.
- the tachometer 110 may comprise an interrupter wheel represented at 115 (Fig. 3) connected to rotate with the motor shaft 108.
- a light source 128 and light receiver 127 detect rotation of the shaft by detecting successive passings of a plurality of light blocking apparatuses 117 and reporting to controller 84 via communication path 112.
- Microcontroller 84 can then determine current motor speed by calculating the period between successive light blockages. It should be mentioned that other means for detecting rotation rate may also be employed such as a cup shaped interrupter with equally spaced apertures therethrough to successively block and pass light between source 128 and detector 127.
- the signals on conductor 112 from tachometer 110 may also be used to identify the position of the barrier when used with a pass point arrangement or position detector shown at 120, which operation is known in the art.
- the barrier movement operator of Fig. 1 begins to move the barrier in response to a user pressing button 39B of wall control 39 or pressing a transmit button of transmitter 30. Generally, when movement begins the barrier is in the open or closed positions. When a command to move the barrier is received, the barrier driven toward the other limit.
- the controller 10 tracks the position of the barrier in response to signals from tachometer 110 and formulates operations based on that sensed position.
- the controller also may respond to signals from optical detector 90 representing a possible obstruction by reversing the direction of a downwardly traveling barrier.
- the barrier movement operator of Fig. 1 also responds to sensed information about the forces required to move the barrier to control further barrier movement. For example, as the barrier is moved, motor speed is continuously checked as an indication of the forces being required to move the barrier.
- Fig. 4 is a graph of a normal motor showing motor rotation speed versus motor output torque. As the forces required to move the door increase the motor slows. The converse is also true. The predictable nature of speed change versus applied forces allows the motor speed to be used as an indication of such things as the barrier contacting an obstruction.
- FIG. 7 illustrates one such thresholding system in which 6 thresholds labeled 50, 52, 54, 56, 58 and 60 are shown. It should be mentioned that in Fig. 7 motor speed is represented by the period between successive light blockages from an interrupter wheel and as such higher on the graph of Fig. 7 represents lower motor speed. During movement of the barrier, a number of different motor speeds are sensed as represented by the measured speed line.
- Zones of interest are then selected and a value representing the minimum speed in each zone is recorded.
- the minimum speed in a first zone is represented at 51, a second at 53 and others at 55, 57, 59 and 61.
- a predetermined speed difference value may then be subtracted from each minimum speed to establish the overall threshold for the zone.
- the references 50, 52, 54, 56, 58 and 60 represent the per zone thresholds. After the zone thresholds have been learned (or updated) whenever measured speed falls below the zone threshold an obstruction is assumed and the barrier is stopped or reversed. As shown in Fig. 7 each minimum threshold is a fixed amount different from the minimum speed in the zone as represented by the couplets 50-51, 52-53, 54-55 and 56-57.
- particular zones can be configured to be more sensitive than other zones.
- the period (speed) difference between 57 and 56 is the same as the period (speed) difference between all other couplets toward the open representing left of the graph.
- all zones from 56-57 to the left are of substantially equal sensitivity.
- the zone represented by the couplet 58-59 is more sensitive because less speed difference between the measured minimum 59 and the threshold 58 exists than between the other couplet to the left.
- the most sensitive zone is near the closed position and advantageously is placed within 18 inches of the closed position.
- Other improvements to obstruction detection are made by the presently disclosed barrier movement system.
- Fig. 4 represents the speed versus torque characteristic for a normal motor.
- Fig. 5 represents in the speed versus torque characteristic of a motor and its driving apparatus which is enhanced to improve motor speed change.
- the slope of the line between points Al and Bl on Fig. 5 results in a change of speed of approximately 47 to 48 RPM per inch-pound of torque thus making speed changes more easily detected.
- a characteristic as shown in Fig. 5 can be achieved by producing a motor with the appropriate parameters.
- FIGS. 8A and 8B are views of a field winding/stator of an induction motor.
- Figs. 9A and 9B represent the induction rotor of such a motor.
- the rotor of an AC induction motor includes a plurality of ferris metal rotor lamination formed together into a cylinder as represented at 62.
- the rotor laminations have a plurality of regularly spaced apertures which are arranged to extend from one end of the rotor cylinder at an angle as represented by 64.
- the apertures are filled with an electrically conductive non-ferris metal such as aluminum.
- end rings 64 are formed at the ends of the diagonal conductive lines 64 from non-ferris electrical conductors to provide conductive paths between the diagonals 64.
- Normally motors are designed to provide very low resistance in the cross paths 64 and the end rings 66 resulting in a characteristic as shown in Fig. 4. In the present embodiment, however, the resistances have been increased which results in an enhanced characteristic as shown in Fig. 5. In a preferred embodiment the resistance increase was produced by using smaller than normal amounts of non-ferris metal for conductors 64 and 66. The results could also be achieved by fabricating the conductors 64 and 66 from non-ferris material having greater internal resistance. In the above discussion the enhanced characteristic (Fig. 5) was achieved during motor fabrication or selection. Such can also be achieved by selective coupling of incoming AC power to the motor 106.
- incoming AC power is connected to conductor 132 and 134 which are in turn connected to a power control circuit 114.
- An output of power control circuit 114 is used to power the motor.
- Power control circuit 114 selectively blocks portions of each cycle of the incoming sinusoidal AC wave form shown in Fig. 6 to the motor 106 via relay logic 104.
- the wave form of Fig. 6 is achieved by a "light dimmer" circuit in power control which is preset to pass a predetermined percentage e.g., 60 percent of each sine wave cycle.
- Energization of an AC induction motor with a wave form shown in Fig. 6 results in a characteristic as shown in Fig. 5. Greater control over the A.C.
- a power control circuit of the type described in U.S. Patent Application 10/622,214 filed 18 July 2003 which is connected to microcontroller 84 via a control line 118.
- Such greater control might include skipping entire cycles of applied A.C.
- the wave form of Fig. 6 may be reproduced using high frequency e.g., 1KHZ duty cycle control.
- the preceding embodiment measured rotation speed of the motor to detect possible obstructions because motor speed represents present torque requirements of the motor. (See Figs. 4 and 5)
- the current drawn by an induction A.C. motor also represents the present torque requirements of the motor. As the force requirements increase so does the current applied to the motor.
- the motor current may be sensed by an optional current sensor 130 connected to the A.C.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
- Handcart (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA002553273A CA2553273A1 (en) | 2004-01-16 | 2004-01-16 | Barrier movement operator having obstruction detection |
GB0614432A GB2424965B (en) | 2004-01-16 | 2004-01-16 | Barrier Movement Operator Having Obstruction Detection |
DE112004002656T DE112004002656T5 (en) | 2004-01-16 | 2004-01-16 | Barrier motion actuator with obstruction detection |
PCT/US2004/001157 WO2005078538A1 (en) | 2004-01-16 | 2004-01-16 | Barrier movement operator having obstruction detection |
AU2004315814A AU2004315814A1 (en) | 2004-01-16 | 2004-01-16 | Barrier movement operator having obstruction detection |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/US2004/001157 WO2005078538A1 (en) | 2004-01-16 | 2004-01-16 | Barrier movement operator having obstruction detection |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005078538A1 true WO2005078538A1 (en) | 2005-08-25 |
Family
ID=34862307
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2004/001157 WO2005078538A1 (en) | 2004-01-16 | 2004-01-16 | Barrier movement operator having obstruction detection |
Country Status (5)
Country | Link |
---|---|
AU (1) | AU2004315814A1 (en) |
CA (1) | CA2553273A1 (en) |
DE (1) | DE112004002656T5 (en) |
GB (1) | GB2424965B (en) |
WO (1) | WO2005078538A1 (en) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4706727A (en) * | 1984-05-11 | 1987-11-17 | Firmagroup Australia Pty. Ltd. | Door operator |
US5278480A (en) * | 1992-10-26 | 1994-01-11 | Stanley Home Automation | Door opener control with adaptive limits and method therefor |
US5334876A (en) * | 1992-04-22 | 1994-08-02 | Nartron Corporation | Power window or panel controller |
US5335307A (en) * | 1992-02-18 | 1994-08-02 | Sommer William F | Precision electric motor speed |
US5557887A (en) * | 1994-06-29 | 1996-09-24 | Jerry W. Fellows | Yieldable gearing and safety mechanisms for garage door operators |
US6014307A (en) * | 1998-03-24 | 2000-01-11 | The Chamberlain Group, Inc. | Fire door operator having an integrated electronically controlled descent device |
US6137255A (en) * | 1999-07-30 | 2000-10-24 | Otis Elevator Company | Apparatus and method of controlling a linear motor door operator |
-
2004
- 2004-01-16 WO PCT/US2004/001157 patent/WO2005078538A1/en active Application Filing
- 2004-01-16 AU AU2004315814A patent/AU2004315814A1/en not_active Abandoned
- 2004-01-16 DE DE112004002656T patent/DE112004002656T5/en not_active Withdrawn
- 2004-01-16 GB GB0614432A patent/GB2424965B/en not_active Expired - Fee Related
- 2004-01-16 CA CA002553273A patent/CA2553273A1/en not_active Abandoned
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4706727A (en) * | 1984-05-11 | 1987-11-17 | Firmagroup Australia Pty. Ltd. | Door operator |
US5335307A (en) * | 1992-02-18 | 1994-08-02 | Sommer William F | Precision electric motor speed |
US5334876A (en) * | 1992-04-22 | 1994-08-02 | Nartron Corporation | Power window or panel controller |
US5278480A (en) * | 1992-10-26 | 1994-01-11 | Stanley Home Automation | Door opener control with adaptive limits and method therefor |
US5557887A (en) * | 1994-06-29 | 1996-09-24 | Jerry W. Fellows | Yieldable gearing and safety mechanisms for garage door operators |
US6014307A (en) * | 1998-03-24 | 2000-01-11 | The Chamberlain Group, Inc. | Fire door operator having an integrated electronically controlled descent device |
US6137255A (en) * | 1999-07-30 | 2000-10-24 | Otis Elevator Company | Apparatus and method of controlling a linear motor door operator |
Also Published As
Publication number | Publication date |
---|---|
GB2424965A (en) | 2006-10-11 |
GB2424965B (en) | 2008-07-23 |
CA2553273A1 (en) | 2005-08-25 |
DE112004002656T5 (en) | 2006-11-30 |
GB0614432D0 (en) | 2006-08-30 |
AU2004315814A1 (en) | 2005-08-25 |
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