JP4502482B2 - Control device for opening and closing body - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an opening / closing body. It can be applied when controlling
[0002]
[Prior art]
Currently, there are various uses for shutters, and there are shutters for disaster prevention where opening and closing operations are rarely performed. For garages where opening and / or closing operations can be performed multiple times within a day. There is also a shutter for stores.
[0003]
In the case of a shutter, the opening / closing body (shutter slat, shutter panel, etc.) generally has a considerable weight even with a lightweight shutter.
[0004]
Closing the shutter means that in the fully open state, the opening / closing body that is wound around the take-up shaft a plurality of times (for example, about 4 times) and fully accommodated is unfolded and leaves the take-up shaft. It means to move downward in the direction. If the portion of the series of opening / closing bodies that leaves the winding shaft (which corresponds to the amount of drawer from the shutter storage box) increases, the weight acts as torque (opening / closing body torque) on the winding shaft. . Moreover, the opening / closing body torque has a feature that it fluctuates considerably even during one opening operation or closing operation.
[0005]
For the motor that controls the opening and closing of the shutter, the winding shaft and the opening / closing body are the target loads to be driven.
[0006]
In the case of a shutter, the motor needs to perform intermittent driving with a short continuous driving time and to be able to stably drive the driven object at a substantially constant speed.
[0007]
[Problems to be solved by the invention]
By the way, when the shutter opening / closing operation is repeatedly performed, an obstacle such as a human being, an animal, or an automobile may be caught between the shutters while the shutter closing operation is being performed. If the closing operation is further performed with the obstacle sandwiched, the obstacle is not only broken and damaged, but it cannot be said that there is no possibility that the shutter and the motor itself are mechanically and electrically damaged.
[0008]
In order to avoid this, if a fixed torque value serving as a threshold value is set in advance in the shutter system and an obstacle is caught during the closing operation, the value of the load torque becomes higher than the fixed torque value. Some of them are equipped with a failure handling device that performs a predetermined obstacle sensing operation by stopping the output of torque for the closing operation by the motor or urgently starting the opening operation.
[0009]
However, since the magnitude of the torque of the opening / closing body mainly corresponds to the weight of the part of the series of opening / closing bodies apart from the winding shaft, as described above, one opening operation or closing operation is performed. In addition, it fluctuates depending on the weight, mechanical size, driving resistance (including frictional force), etc. of the opening / closing body itself as the target load.
[0010]
Therefore, in order to cope with cases where the magnitudes of the fixed torque values are different, it is necessary to prepare a plurality of types of failure handling apparatuses having different values of fixed torque values.
[0011]
In addition, there is an apparatus configured such that one failure handling apparatus includes a plurality of fixed torque values having different sizes, and any one fixed torque value is validated by operating a changeover switch or the like.
[0012]
However, preparing multiple types of failure handling devices is disadvantageous in that inventory management becomes complicated and model selection work is required, and one failure handling device is fixed in multiple sizes. When the torque value is provided, there is a concern that the obstacle sensing operation cannot be normally performed due to an erroneous operation of the changeover switch or the like.
[0013]
On the other hand, as described above, the target load when viewed from the motor that drives the opening / closing body varies depending on the weight of the opening / closing body itself, the mechanical size, the size of the driving resistance, etc. It is conceivable that the resistance force varies depending on the surrounding environment (wind pressure, temperature, humidity, etc.) during the opening / closing operation and the secular change of the shutter system.
[0014]
Of these, temporary environmental conditions (such as temporarily applied wind pressure) should be ignored so that they are not affected as much as possible. However, relatively stable environmental conditions follow the fluctuations. It is considered preferable to change the value of the fixed torque value because the reliability of the obstacle sensing operation increases.
[0015]
For example, if the driving resistance varies in response to seasonal changes such as temperature and humidity, or secular changes in the shutter system itself, it is best to follow the changes without changing the fixed torque value. It is not a value (fixed torque value). If the threshold value is not optimal, the sensitivity of obstacle detection is too high, and it may react unnecessarily to mere wind pressure and perform unnecessary obstacle detection operations. Therefore, there is a possibility that the closing operation will be forced to some extent even though an obstacle is actually caught. In the case of an obstacle with weak mechanical strength, it may be damaged at this time, and the shutter and the motor itself may be mechanically and electrically damaged.
[0016]
In the above description, the motor is described as a single motor drive system in which the motor directly performs both the opening and closing operations of the shutter. However, in a relatively small system among the shutter systems, the elastic force of the winding spring is described. In many cases, a combined spring system using a slab is used.
[0017]
In the motor single drive system, since the closing operation is stably performed against the opening / closing body torque, the motor has negative torque (torque in the direction opposite to the rotation direction of the motor output shaft) at least transiently. There is a possibility that regenerative braking is required to occur. This is similar to the motor operation when unwinding in a hoisting machine such as a crane, and means that the motor functions as a generator at least temporarily.
[0018]
As a method for generating such negative torque, in addition to regenerative braking, single-phase / unbalanced braking may be performed. In order to perform single-phase / unbalanced braking, an induction motor is used as a motor.
[0019]
On the other hand, in the spring combined system, by applying the elastic force of the winding spring in the direction opposite to the opening / closing body torque (opening operation direction), the shutter is fully opened and completely closed. In all intermediate operating states of the fully closed state, the elastic force and the opening / closing body torque are almost perfectly balanced, and the motor can output only a small amount of torque, and the opening operation or the closing operation can be performed. Can be performed relatively easily and stably.
[0020]
Therefore, in the spring combined system, the generation of the negative torque is not necessary, and the control of the motor is simplified as compared with the motor single drive system.
[0021]
This spring combined system is the same as the case of the motor single drive system in that it is the motor output torque that dominates the shutter operation, and the above-mentioned problems are common.
[0022]
Depending on the form of the shutter and the relationship between the shutter and the obstacle, the opening operation may be a problem, and there may be a possibility that the opening, the obstacle, the shutter system, the motor, or the like may be damaged.
[0023]
The above-described problems are not only common to shutters but also to other open / close control devices such as doors, windows, and overhead doors.
[0024]
An object of this invention is to provide the control apparatus of the opening / closing body which can improve the reliability regarding operation | movement of an opening / closing body.
[0025]
[Means for Solving the Problems]
In order to solve such a problem, in the present invention, among the opening and closing operations of the opening and closing body driven by the motor, the obstacle sensing operation is performed when the obstacle is detected by the opening and closing operation in at least one of the opening direction and the closing direction. In the control device for the opening / closing body to be executed, (1) at least one of an upper limit or a lower limit of a load torque variation allowable range viewed from the motor that is allowed when the opening / closing body normally executes the opening / closing operation. (2) The load torque value is sequentially detected during the opening / closing operation of the opening / closing body, and when the detected actual load torque exceeds the variation allowable range, automatic And a control means for executing the obstacle sensing operation, and (3) an operation time of measuring the time required from the start to the end of the opening / closing operation of the opening / closing body to obtain the operation time. Measuring means; (4) normal operating time storage means for storing a normal operating time range which is a normal range of operating time; and (5) operating time obtained by the operating time measuring means is within the normal operating time range. (6) The fluctuation allowable range learning means (6-1) each time the opening / closing operation of the opening / closing body is performed. This A reference load value candidate storage unit for storing a maximum load torque value detected within the time of the opening / closing operation as a reference load value candidate; and (6-2) if a predetermined margin value is given, an upper limit of the allowable fluctuation range Or a reference load value storage unit storing a reference load value, which is a lower limit, and (6-3) On condition that the operation time of the opening / closing operation is within the normal operation time range, The reference load value candidate value stored in the reference load value candidate storage unit is compared with the reference load value stored in the reference load value storage unit, and the larger one is the latest reference load value. And a reference load value selection unit for writing to the reference load value storage unit.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
(A) Embodiment
Hereinafter, an embodiment will be described with reference to an example in which the control device for an opening and closing body according to the present invention is applied to a control processing device for a shutter for a shutter.
[0027]
The shutter of the shutter is a relatively lightweight shutter that is used in place of the shutter, and the shutter system corresponds to the above-described winding spring combined system.
[0028]
In the present embodiment, it is assumed that the obstacle sensing operation described above can be performed when shifting from the fully open state to the fully closed state.
[0029]
The closing operation in the present embodiment includes a fully closing operation for shifting from a fully opened state to a fully closed state, an upper closing operation for shifting from a fully opened state to a partially opened state, and a transition from a partially opened state to a fully closed state. There is a lower closing operation. When it is not necessary to distinguish between them, it is simply described as “closing operation”.
[0030]
Although there may be a closing operation that shifts from one partially opened state to another partially opened state, it is not considered here for the sake of simplicity.
[0031]
Further, the opening operation in the present embodiment includes a fully opening operation for shifting from a fully closed state to a fully opened state, a lower opening operation for shifting from a fully closed state to a partially opened state, and a partially opened state to a fully opened state. There is a top-opening action to transition. When it is not necessary to distinguish between them, it is simply described as “opening operation”.
[0032]
As in the case of the closing operation, there may be an opening operation for shifting from one partially opened state to another partially opened state. However, for the sake of simplicity of explanation, it is not considered here.
[0033]
(A-1) Configuration of the first embodiment
FIG. 6 shows the overall configuration of the shutter shutter system 29 of the present embodiment.
[0034]
In FIG. 6, the shutter shutter system 29 includes a control processing device 10, a fixed operation unit 40, a motor 50, a transmission mechanism (gear, chain, etc.) 51, and a shutter mechanism 60.
[0035]
Among these, the shutter mechanism 60 includes a slat curtain 62 as an opening / closing body composed of a large number of slats such as S1, S2, and S3, and a winding member (winding basket) 61. Normally, the winding member 61 is stored in a shutter storage box (not shown), and when the curtain 62 is fully opened, at least the majority of the curtain 62 is completely attached to the winding member 61. The curtain 62 is wound up and is almost completely stored in the shutter storage box. The fully open state is realized by rotating the winding member 61 in the direction of arrow D2 from the partially open state shown in FIG.
[0036]
In order to shift from the fully open state to the fully closed state or the partially open state, the winding member 61 rotates in the direction of the arrow D1 and the slat curtain 62 moves downward. At this time, all or a part of the slats (S1 and the like) are separated from the winding member 61 and pulled out from the shutter storage box. When the seat plate B0 attached to the lowermost slat S1 reaches the stop position 63, the slat curtain 62 is completely closed. Therefore, the state shown in FIG. 6 is an example of a partially open state of the curtain 62.
[0037]
An example of the internal configuration of the winding member 61 may be as shown in FIG.
[0038]
(A-1-1) Internal configuration of winding member
In FIG. 4, the winding member 61 is a fixed shaft. 30 An auxiliary pipe 31, a wheel 32, a winding spring 33, a fastening member 34, a fastening member 35, and a sprocket 36.
[0039]
The entire winding member 61 is a fixed shaft. 30 It can be rotated in both directions with the axis along the axis as the rotation axis. However, the fixed shaft 35 itself is fixed to the bracket of the shutter storage box and does not rotate.
[0040]
The wheel 32 is a portion that can be rotated in both directions around the rotation axis along the fixed shaft 30, and at least one end of a winding spring 33 like a helical spring is formed on the wheel positioned at both ends on the fixed shaft 30. It is fixed by a fastening member 34. The other end of the winding spring 33 is fixed to the fixed shaft by a fastening member 35. 30 It is fixed to. The fixed shaft 30 penetrates the hollow portion of each winding spring 33 in a non-contact manner.
[0041]
In other words, the wheel 32 is rotatable around the fixed shaft 30 in the rotation direction around the fixed shaft 30, but the rotation is a winding spring 33 in the case of rotation in the closing operation direction in which the amount of the curtain 62 is increased. It is done while resisting the elastic force.
[0042]
Since the wheel 32 is a member for winding the curtain 62 wound up in the fully opened state or the like, a plurality of the wheels 32 are provided along the fixed shaft 30. The number of the wheels 32 is generally the width of the curtain 62 in the arrow W direction. The larger the is, the more.
[0043]
Further, the uppermost slat (not shown) of the slats (S1 to S11, etc.) is fixed to the auxiliary pipe 31 and the wheel 32 by a suspension member (not shown).
[0044]
The sprocket 36 may be a part of the transmission mechanism 51.
[0045]
In FIG. 4, assuming that the opening / closing body torque SL caused by the slat weight is generated in the direction of the arrow D <b> 1 in the direction of the arrow D <b> 1, the opening / closing body torque SL is caused by the elastic force of the winding spring 33. The spring torque SP in the direction of the arrow D2 is almost canceled and balanced.
[0046]
That is, as shown in FIG. 5 (A1), the magnitudes of the opening / closing body torque SL and the spring torque SP are substantially equal in the fully opened state, the completely closed state, and all the partially opened states in between.
[0047]
In FIG. 5 (A1), only the magnitude of the torque is shown on the vertical axis and the direction thereof is not taken into consideration, but the combined torque of the opening / closing body torque SL and the spring torque SP, where the vertical axis is the torque in the upward direction (closing operation direction) TS1 is shown in FIG. 5 (A2). This combined torque TS1 is basically the load torque viewed from the motor 50. Therefore, in this case, the motor 50 only needs to output torque of about UT0 in the opening operation direction at the maximum and UTM (M is a natural number) in the opening operation direction at the minimum, and generates a slight output torque. It will be good. In the case of the motor single drive system, the motor 50 needs to output a torque approximately equal to the opening / closing body torque UTX shown in FIG.
[0048]
However, the actual load torque as viewed from the motor 50 is strictly a value obtained by adding a driving resistance force or the like in each direction to the value of the combined torque TS1.
[0049]
The torque characteristics shown in FIGS. 5 (A1) and (A2) are obtained by improving the torque characteristics of the conventional spring combination system as originally shown in FIGS. 5 (B1) and (B2). It is. That is, the load torque TS1 has a shape obtained by translating the load torque (synthetic torque) TS2 shown in FIG.
[0050]
By increasing the elastic force of the winding spring as compared with the conventional one, the characteristic shown in FIG. 5B1 is changed to the characteristic shown in FIG. 5A1, and the characteristic shown in FIG. 5B2 is changed to that shown in FIG. 5A2. It becomes possible to change to the characteristics of
[0051]
With this improvement, the shutter opening speed can be increased and the closing speed can be decreased, so that the time required to open the shutter can be shortened to meet the user's request and the time for closing the shutter. It is possible to reduce the possibility of an accident in which an obstacle such as a person gets caught in a shutter with a fast closing speed, and the usability and reliability of the shutter can be improved.
[0052]
In the case of FIG. 5 (A2), there is a torque in the upward direction even at the position PN that is in the fully closed state, so it is necessary to avoid continuously supplying power to the motor 50 while the fully closed state continues. For example, a closed state maintaining means such as a brake for canceling the load torque is required. However, if the load torque at the position PN is less than the driving resistance force of the shutter mechanism 60 (resistance force due to mechanical frictional force other than the combined torque), the combined torque alone can be left alone. Since the curtain 62 cannot start the opening operation, there is a possibility that the closed state maintaining means can be omitted.
[0053]
The motor 50 shown in FIG. 6 having the ability to generate output torque corresponding to such load torque rotates the winding member 61 in the direction of arrow D1 or D2 via the transmission mechanism 51. It is a motor.
[0054]
The motor 50 must have a function of generating at least an output torque in the range of the combined torques UT0 to UTM. This function is obtained by adding the driving resistance to the UT0 or UTM. If the motor is selected to be within 50 full load torque, it can be easily achieved by the self-balance of the motor.
[0055]
Here, self-equilibrium means that if the required torque (load torque) for the motor changes, the current changes so as to generate the same output torque (this corresponds to the electrical specifications of the switching body), and each characteristic This is a property of a motor whose speed changes in accordance with.
[0056]
Regardless of whether the motor is an induction motor or a direct current motor, the motor generally has this self-balancing property. Therefore, any motor can be selected as the motor 50 as long as the conditions of the full load torque allow. However, a DC motor is used here.
[0057]
DC motors generally have disadvantages compared to induction motors in that they need to be equipped with a converter to convert AC from household power lines into DC, but the number of poles, etc. Regardless of the above, it is advantageous in that it is easy to efficiently manufacture a motor having an arbitrary speed and torque, has high adaptability to a load, and can easily perform a wide range of speed control.
[0058]
Since the motor 50 does not operate at a constant speed continuously for a long time and does not need to perform speed control over a wide range, a direct-winding DC motor or a multi-winding DC motor is used as a connection method with the field winding. It is considered suitable.
[0059]
From FIG. 5 (B), considering that the load at the time of start-up is relatively large and the start and stop operations are frequently repeated according to the opening and closing operations of the curtain 62, the motor 50 is a direct winding type DC. A motor is considered suitable.
[0060]
In general, a direct-winding DC motor is suitable for a case where the start and stop are repeated and a heavy load is applied at the time of start-up. Therefore, the motor 50 has a small capacity such that a torque of about the load torque UT0 acts as a heavy load. It is most efficient when a series-winding DC motor is used.
[0061]
In addition, since a multi-winding DC motor is generally suitable for a load with a large torque fluctuation, when a multi-winding DC motor is used as the motor 50, the torque fluctuation to the extent that occurs between the UT0 and UTM is severe. It is efficient to use a multi-winding DC motor having a small capacity that acts as a torque fluctuation.
[0062]
Of course, when the motor capacity may be larger than the necessary minimum, a shunt-type DC motor may be used as the motor 50, or the adaptability to the load may not be large. For example, an induction motor, a synchronous motor, an AC commutator motor, or the like may be used.
[0063]
The load torque detection mechanism differs depending on the type of motor and the detection location.
[0064]
For example, in the case of an AC motor, the load torque can be detected by detecting the rotational speed fluctuation of the motor shaft (which may be after deceleration). Similarly, in the case of the winding member 61, the rotational speed fluctuation is also detected. By detecting this, the load torque can be detected. The rotation speed fluctuation can be detected by generating a pulse signal corresponding to the rotation speed using a tachometer or a Hall IC.
[0065]
Further, in order to detect the position of the slat curtain 62, the movement speed variation of the slat curtain 62 during the opening / closing operation (if the movement speed differs depending on the opening / closing position, the movement speed fluctuation at each opening / closing position) is detected. By detecting, the load torque can be detected. Detection of fluctuations in the moving speed can be performed, for example, by irradiating light and detecting that the light is blocked by the slat engaging portion protruding from the other portion of the slat. Alternatively, it is also possible to execute by detecting magnetic sensing sensors at predetermined intervals on the opening / closing body and the guide rail and detecting the sensing time interval.
[0066]
Furthermore, in the case of a DC motor employed as the motor 50 in the present embodiment, the load torque can be easily detected by detecting the fluctuation of the supply voltage value.
[0067]
The control processing device 10 shown in FIG. 6 having a function of controlling the operation of the motor 50 changes its own internal state according to a signal supplied from the fixed operation unit 40 or operates the motor 50. This is the part that changes the state.
[0068]
The fixed operation unit 40 is provided with operation switches 41 to 43. In the case of the shutter shutter system 29, it is usually sufficient to designate about three kinds of operations, that is, an opening operation, a closing operation, and a stopping operation. Therefore, here, the operation switch 41 for designating the opening operation and the operation switch 42 for designating the closing operation are used. It is assumed that a total of three operation switches, that is, operation switches 43 for designating the stop operation are provided.
[0069]
Note that the number of the operation switches 41 to 43 may be more or less than three as necessary.
[0070]
Further, the partially opened state described above can be realized by performing a stopping operation during the opening operation or the closing operation.
[0071]
The internal configuration of the control processing device 10 that changes the internal state according to the signal supplied from the fixed operation unit 40 or changes the operation state of the motor 50 is shown in FIG.
[0072]
(A-1-2) Internal configuration of control processing device
In FIG. 1, the control processing device 10 includes a load detection unit 11, a load value memory 12, a comparator 13, a maximum load value memory 14, a comparator 15, a maximum load value memory 16, and an addition unit 17. , Margin value memory 18, marginal load value memory 19, margin value change unit 20, operation completion detection unit 21, operation timer 22, operation time normality determination unit 23, failure detection unit 24, operation reference A time calculation unit 25, a reset processing unit 26, and a motor control circuit 27 are provided.
[0073]
Among these, the load detection unit 11 detects (samples) a load torque value (load value) LS and outputs a load value signal LS corresponding to the detection result when the slat curtain 62 is opening and closing. It is.
[0074]
If the slat curtain 62 is in a period during which the fully closed operation for shifting from a fully open state to a fully closed state is performed, for example, the load value detection unit 11 uses UT0, UT1, ..., UTM, ... as the load value LS. The load torque value obtained by adding the driving resistance to the combined torque is sequentially detected, and a load value signal LS corresponding to the detection result is output.
[0075]
That is, in the case of FIG. 5A2 described above, when the seat plate B0 is at the highest position P0, the value obtained by adding the driving resistance to the combined torque UT0 is detected as the load torque, and the position P1 Then, a value obtained by adding the driving resistance force to the combined torque UT1 is detected as a load torque, and at a position PM, a value obtained by adding the driving resistance force to the combined torque UTM is detected as a load torque, and the position of the seat plate B0 is detected. The load torque value is continuously detected with a sampling period of 20 ms, for example, with a quantization accuracy of about 10 bits, until the fully closed state of the position PN having the lowest value.
[0076]
However, since this load torque corresponds to the above-described target load when viewed from the motor 50, it varies depending on the opening / closing operation and also depends on the weight of the curtain 62 itself, the mechanical size, the size of the driving resistance, and the like. However, it can fluctuate.
[0077]
In addition, the driving resistance force such as a frictional force may fluctuate with the opening / closing operation (for example, the driving resistance force may fluctuate between the positions P1 and PM), but the opening / closing operation is performed. Uncertain factors such as the surrounding environment (climate fluctuations such as wind pressure, temperature, and humidity) and the secular change (or aging degradation) of the shutter system 29 (the characteristic of the load fluctuation generated in response to these is the temporal load fluctuation characteristic) ) May vary depending on.
[0078]
The load detection unit 11 also detects a change in load torque in real time when the upper closing operation, the lower closing operation, the full opening operation, the lower opening operation, and the upper opening operation are performed as necessary. The load value signal LS corresponding to the detection result is output. This is because an accident such as an obstacle being caught may occur during the various opening / closing operations.
[0079]
However, the detection of load torque by the load detection unit 11 is ignored after the guard time GT (see FIG. 10) has elapsed since the start of various opening / closing operations, and the impact torque or extremely high load torque generated at startup is ignored. It shall be. Since electrical transients and mechanical transients occur at the same time when the motor 50 is started, it is highly likely that a very complex phenomenon will occur temporarily, and the impact torque at the time of startup is one of them. It is done. Since it is more efficient to configure the control system by eliminating the influence of such a complicated phenomenon as much as possible, the load detector 11 starts detection after the guard time GT. The value of the guard time GT may be about several tens of milliseconds, for example. For the same reason, it is preferable to ignore the torque immediately before the various opening / closing operations of the motor 50 are stopped.
[0080]
The load value memory 12 that receives the load value signal LS output according to the detection result of the load value detection unit 11 is a part that temporarily stores the load value signal LS. Although it depends on the processing speed of the subsequent stage, the load value memory 12 usually has only to store the load value signal LS for one sample, and therefore is configured with a register of, for example, about 10 bits according to the quantization accuracy. can do.
[0081]
The load value signal LS read from the load value memory 12 is supplied to the failure detection unit 24 and the comparator 13.
[0082]
The comparator 13 receives the maximum load value LM read from the maximum load value memory 14 in addition to the load value LS, checks the magnitude relationship between these LS and LM, and selects the larger value as the selection value signal (new maximum load). (Value signal) E1 and the value of the selected value signal E1 is written in the maximum load value memory 14.
[0083]
With such a function, the maximum load value memory 14 stores the maximum value of the load torque up to that point (that is, the maximum value) during one full closing operation (or the various opening / closing operations). Will be.
[0084]
The maximum load value memory 14 may also be a register having the same number of bits as the load value memory 12 in terms of hardware.
[0085]
The value written in the maximum load value memory 14 as an initial value immediately after the start of various opening / closing operations including the fully closed operation and before the output of the load value LS is a sufficiently small value. However, in this embodiment, the initial value 0 is written as the reset signal RS2 from the reset processing unit 26. An operation signal MN for outputting a reset signal RS2 (and a reset signal RS1 described later) from the reset processing unit 26 is generated from the fixed operation unit 40 by simultaneously pressing the three operation switches 41 to 43, for example. It may be.
[0086]
Note that an initial value such as 0 may be written in the load value memory 12 or the like by the reset signal RS1. If such initial values are not written, unexpected values may remain in the memories (12, 14, etc.), and the operation of the control processing apparatus 10 may not be performed as expected.
[0087]
The sampling frequency of the sampling performed by the load detection unit 11 is limited according to the operating speed of the constituent elements 11 to 14, but the sampling frequency depends greatly on the load torque (Tm) change speed (the maximum frequency in FIG. 10). If it is not sufficiently high compared to), a discrete time signal (such as a load value LS) that corresponds well to the original load torque (Tm) waveform, which is a continuous time signal, may not be obtained by the so-called sampling theorem. There is.
[0088]
In other words, in order to obtain a sufficiently accurate discrete time signal (load value LS or the like) in the first embodiment, the operation speed of the constituent elements 11 to 14 is sufficiently higher than the change speed of the load torque waveform. Need to be fast.
[0089]
On the other hand, the operation completion detection unit 21 is a part that detects the start and end of various opening and closing operations such as a fully closed operation. The start is detected by receiving the start signal ST, and the end is detected by receiving the end signal SP.
[0090]
The start of various opening / closing operations can be detected, for example, by detecting the start of power supply for rotation in the closing operation direction with respect to the motor 50. The various opening / closing operations can be terminated by a limit switch arranged at a predetermined position or by detecting an operation signal MN indicating that the operation switch 43 for designating a stop operation has been pressed.
[0091]
For example, in the case of a fully closed operation or a lower closed operation, a lower limit switch is provided, and the end is detected by detecting that the seat plate B0 has reached the fully closed position PN with the lower limit switch. be able to. The lower limit switch may be any device that can directly or indirectly detect that the seat plate B0 has reached the position PN.
[0092]
Further, an optical sensor, a pressure sensor, or the like arranged in the vicinity of the stop position 63 may be used as the lower limit switch. For example, the movement distance of the seat plate B0 is internally determined based on the number of rotations of the motor 50 or the like. By measuring, the lower limit switch may be used instead.
[0093]
By arranging a limit switch similar to the lower limit switch at the upper limit, it is possible to detect the end of the fully open operation or the upper open operation.
[0094]
Furthermore, the method of detecting the end by detecting the operation signal MN indicating that the operation switch 43 for designating the stop operation has been pressed is not only the fully closed operation, the fully open operation, the top open operation, the bottom close operation, but also the top close It is also useful for detecting the end of an action or lower opening action.
[0095]
In any case, when the operation completion detection unit 21 receives the start signal ST indicating the start at the start of various opening / closing operations of the curtain 62, the operation completion detection unit 21 outputs the start detection signal ST1 to the operation timer 22 and ends the various opening / closing operations. When the end signal SP indicating the end is received, the end detection signal SP1 is output.
[0096]
When the operation timer 22 receives the start detection signal ST1, the operation timer 22 starts measuring the time. When the operation timer 22 receives the end detection signal SP1, the operation timer 22 ends the measurement of the time, and obtains the value TV of the time (operation time) as the measurement result. The operating time normality determination unit 23 is supplied.
[0097]
The operation time normality determination unit 23 basically compares the operation reference time SV calculated by the operation reference time calculation unit 25 with the operation time TV, and determines whether various opening / closing operations have been performed normally in time. It is a part which determines whether or not and outputs a time normality determination signal TD according to the determination result.
[0098]
The operation reference time calculation unit 25 stores standard movement speed data related to the standard movement speed of the curtain 62. For example, when the direction (or value) of the output torque of the motor 50 changes, The movement distance of the curtain 62 (for example, the movement distance of the seat plate B0) is detected, and an operation reference time SV that is a standard movement time when the movement distance is moved at a standard movement speed is calculated. .
[0099]
Since the standard moving speed data stored in the operation reference time calculation unit 25 is to be stored semipermanently, it may be configured using storage means similar to the maximum load value memory 16 described later. However, unless the content of the standard moving speed data is changed to the maximum load value TM, the advantage of using an EEPROM (flash memory) as the operation reference time calculation unit 25 is not so great. Therefore, if it is not necessary to change the contents of the standard moving speed data, for example, an ultraviolet erasable UV-EPROM or the like can be used as the storage means.
[0100]
Each operation reference time SV output from the operation reference time calculation unit 25 has two time values of a maximum value SV1 and a minimum value SV2, and the operation time normality determination unit 23 performs the measurement result as the measurement result. When the operation time TV is equal to or less than the SV1 and equal to or greater than the SV2, it is determined to be normal, and the normality time normality determination signal TD is output. If it is greater than SV1 or less than SV2, it is not normal. The time normality determination signal TD in the abnormal state is output.
[0101]
When various normal opening / closing operations are performed, the curtain 62 completes the operation in a substantially constant operation time corresponding to the movement distance of the seat plate B0 in the various opening / closing operations, but due to factors such as fluctuations in the driving resistance force, Due to relatively small fluctuations in environmental conditions that can occur temporarily or stably, it is considered that there is some variation in the operating time even during normal operation.
[0102]
In order to absorb this variation, a first margin time is added to the constant operation time to obtain the maximum value SV1, and a second margin time is subtracted from the operation time to obtain the minimum value SV2. The first margin time and the second margin time may be the same time or different times.
[0103]
The maximum value SV1 is, for example, when the fully closed operation is performed with something sandwiched between the curtain 62 and the guide rail (not shown), and the operation time TV becomes abnormally long. The minimum value SV2 is provided for detecting the occurrence of a fault, and the closing operation is performed at an abnormally high speed due to a mechanical or electrical abnormality (for example, when the winding spring 33 is detached from the fastening member 35). It is provided to detect the abnormality when it is performed.
[0104]
If necessary, only one of these SV1 and SV2 may be used. For example, when it is not necessary to detect that the closing operation is performed at an abnormally high speed, only the maximum value SV1 may be used.
[0105]
When an obstacle is sandwiched between curtains 62 that are fully closed, the obstacle detection operation (for example, when the obstacle detection operation is just a stop operation) is performed, so that the end detection signal SP1 is generated. Since it is not supplied to the operation timer 22, the operation timer 22 stops the measurement when the measurement time exceeds the maximum value SV1, and the operation time TV that exceeds the maximum value SV1 is determined as an operation time normality determination unit. 23 may be supplied. In response to this, the operation time normality determination unit 23 outputs a time normality determination signal TD in an abnormal state.
[0106]
By the way, the operation time normality determination unit 23 receives an operation signal MN that designates a different opening / closing operation from the fixed operation unit 40 while the various opening / closing operations are being performed (that is, an interrupt operation is performed). Even if the operation time TV is normal, it is possible to provide an interrupt-time update prohibiting function that sets the time normality determination signal TD to an abnormal state according to the setting.
[0107]
In the case of being equipped with this interrupt update prohibition function, the operation of the operation timer 22, the operation time normality determination unit 23, and the operation of the comparator 15, which will be described later, does not permit the update of the maximum load value TM. Is the same as when the obstacle detection operation is performed.
[0108]
The content of the obstacle detection operation is, for example, that when the obstacle is detected, the operation up to that point is stopped, and immediately thereafter, the operation in the opposite direction is started and the operation in the opposite direction is stopped after a certain time. Can be. In this case, for example, if an obstacle sensing operation is performed in the middle of the fully-closed operation, the fully-closed operation is stopped when the obstacle is sensed, and then the upper opening operation is performed.
[0109]
Note that, if necessary, another obstacle sensing operation can be performed even during the upper opening operation. In other words, the second obstacle sensing operation may be performed while the first obstacle sensing operation is being performed. In this case, the content of the second obstacle sensing operation may be different from the content of the first obstacle sensing operation.
[0110]
The comparator 15 that receives the time normality determination signal TD from the operation time normality determination unit 23 reads the maximum load value LM from the maximum load value memory 14 only when the time normality determination signal TD is normal. The maximum load value LM and the maximum load value TM read from the maximum load value memory 16 are compared to check the magnitude relationship, and the larger signal is selected as a selection value signal (new maximum load value) E2, and the selected value The value of the signal E2 is written into the maximum load value memory 16.
[0111]
The maximum load value memory 16 is a memory that stores the maximum load value. The maximum load value is the value of the maximum load value signal LS detected in a normal, for example, fully closed operation that has been repeated many times.
[0112]
When it is necessary to use a different maximum load value for each of the various opening / closing operations described above, the same number of registers (memory areas) of about 10 bits as the load value memory 12 are prepared for the various types of opening / closing operations that can occur. Thus, the maximum load value memory needs to be configured, but a smaller number of registers may be used if not so strict. In the simplest configuration, it is sufficient that the maximum load value memory 16 has only one register of about 10 bits that is the same as the load value memory 12.
[0113]
However, unlike the load value memory 12 and the maximum load value memory 14 described above, the stored content of the maximum load value memory 16 is retained even during a period when various opening / closing operations are not performed to ensure continuity of learning. There is a need. For this reason, the maximum load value memory 16 needs a storage means that can store the stored contents semipermanently.
[0114]
As the storage means, for example, when the maximum load value memory 16 is constituted by a RAM (random access memory), a backup power source can be used. When the maximum load value memory 16 is constituted by an EEPROM (flash memory), the storage means itself is also the storage means. It will be impossible. Although the EEPROM is a ROM, the stored contents can be electrically erased (written) relatively easily, so that the EEPROM is suitable as a ROM for the maximum load value memory 16 that needs to change the stored contents appropriately. .
[0115]
When the received time normality determination signal TD is in an abnormal state, the comparator 15 does not perform such processing at all, so that the stored contents of the maximum load value memory 16 are maintained as before.
[0116]
Further, when compared with the load value memory 12 and the maximum load value memory 14 described above, the maximum load value memory 16 is also different in terms of read / write timing. That is, the timing at which reading and writing can be performed on the load value memory 12 and the maximum load value memory 14 is in the middle of the opening / closing operation of various opening / closing operations, while the new load on the maximum load value memory 16 is performed. The timing at which the maximum load value TM can be written (that is, the maximum load value TM is updated) is after one of the various opening / closing operations has been completed.
[0117]
An adder 17 connected to the maximum load value memory 16 and reading the maximum load value TM from the maximum load value memory 16 reads the margin value MV from the margin value memory 18 and adds the read TM and MV values. This is the part that outputs the addition result SU.
[0118]
Here, the margin value MV is a value written from the margin value changing unit 20 to the margin value memory 18 in accordance with the supplied margin value signal MS. In the present embodiment, the margin value changing unit 20 is a memory storing a plurality of margin values MV having different sizes, and the larger the weight of the curtain 62 (this is an example of the mechanical specifications of the opening / closing body), the larger the margin. It is assumed that the margin value signal MS specifying the value MV is received and the specified margin value MV is written into the margin value memory 18. Only the margin value MV written in the margin value memory 18 is a margin value that is actually used.
[0119]
The margin value signal MS may be supplied from the fixed operation unit 40 in accordance with the operation of the fixed operation unit 40 when performing connection work for connecting the control processing apparatus 10 to the motor 50 or the shutter mechanism 60. Then, since the same problem as that of the change-over switch described in the section of the problem to be solved by the invention may occur, in order to increase the reliability, the control processing device 10 causes the shutter mechanism 60 and the motor 50 to be connected during the connection work. It is better to detect and automatically determine the specifications.
[0120]
Only address designation to the margin value changing unit 20 is performed at the time of connection work, and reading of the margin value MV from the designated memory address and writing of the read margin value MV to the margin value memory 18 are performed at the time of reset processing. It is good to.
[0121]
In order to perform such processing, the margin value changing unit 20 (and the margin value memory 18) also needs to be provided with a storage unit capable of storing the storage contents semi-permanently like the maximum load value memory 16. . Therefore, an area in a single memory may be used as the maximum load value memory 16, and another area may be used as the margin value changing unit 20 (and the margin value memory 18).
[0122]
Here, the reason why the size of the margin value MV is changed in accordance with the weight of the curtain 62 is that, as described above, the target load (load torque) when viewed from the motor 50 is not only the weight of the curtain 62 itself. In addition, it varies depending on the mechanical size, drive resistance, etc., but the most dominant load torque variation factor among them, and the factor that can be easily grasped in advance is weight. This is because it is considered. This is because the absolute value of the load torque increases as the weight increases, and it is considered appropriate to increase the margin width in order to maintain the sensitivity of obstacle detection even when the weight varies.
[0123]
If necessary, factors other than weight (mechanical size, size of drive resistance, etc.) may be taken into account, and the size of the margin value MV used may be changed. The size of the margin value MV to be used may be changed according to only the specific size.
[0124]
However, the margin value MV to be used is changed in order to maintain the obstacle detection sensitivity fairly strictly. If the strictness is not required, load torque fluctuation such as weight is changed. Regardless of the factor, only a single margin value MV may always be used.
[0125]
In that case, the margin value changing unit 20 and the margin value signal MS can be omitted.
[0126]
The marginal load value memory 19 that receives the addition result SU output from the addition unit 17 is a part that supplies the stored addition result SU to the failure detection unit 24 as a marginal load value ML.
[0127]
The marginal load value ML is a value corresponding to the load sensing level LT shown in FIG. Since the load sensing level LT increases as the ML value increases, it becomes difficult to detect that an obstacle is sandwiched between the shutters 62. This is because the value of the load torque (synthetic torque) TS1 rises when an obstacle is sandwiched between the curtains 62 and the value exceeds the load sensing level.
[0128]
On the other hand, when the ML value is small, the load sensing level LT is low and it becomes easy to detect that an obstacle is caught in the curtain 62. However, if LT is too low, an obstacle is actually caught. However, there is an increased possibility of false detection of a pinch.
[0129]
If FIG. 5 (A2) is drawn in more detail, since the opening / closing body torque Tm corresponding to the load torque TS1 has some fluctuation as shown in FIG. 10, the fluctuation may be erroneously detected. Because. In FIG. 10, the horizontal axis indicates the number of slats pulled out from the shutter storage box, but this number of slats is substantially the same as the position of the seat plate B0 (P1 etc.), and in time. It is a variable that changes accordingly.
[0130]
The initial value of the stored contents of the marginal load value memory 19 is the sum of the stored contents and the margin value MV supplied from the margin value memory 18 when there is valid stored contents in the maximum load value memory 16. Although it can be obtained as a result SU, this method cannot be used in the case where valid storage contents are not written in the maximum load value memory 16 at the time of factory shipment, etc., and the reset signal output from the reset processing unit 26 is the initial value. Must be obtained by RS1.
[0131]
Otherwise, the obstacle sensing operation cannot be performed in at least the first operation related to the various opening / closing operations.
[0132]
It should be noted that, for the first time of various opening / closing operations, the user or the installation is performed in a state in which an obstacle cannot be caught for the purpose of storing the initial value of the maximum load value TM in the maximum load value memory 16. A construction worker or the like may perform an opening / closing operation to perform a normal obstacle sensing operation from the second time.
[0133]
In this case, it is not necessary to write the effective stored contents in the maximum load value memory 16 at the time of factory shipment or the like, and the initial value of the stored contents in the maximum load value memory 16 is a sufficiently small value ( For example, 0) should be written.
[0134]
The reset processing unit 26 that outputs the reset signal RS2 and the like is a part that executes a predetermined reset process when the operation signal MN designating the reset process is supplied from the fixed operation unit 40.
[0135]
Here, the reset processing includes initial setting performed at the time of the first operation (including processing for writing the corresponding initial value to each memory), resetting when the storage contents of each memory become abnormal values, and the like. This is the process to be performed.
[0136]
In this reset process, for example, the initial value of each memory stored in the magnetic storage means may be written in each memory which is an electrical storage means.
[0137]
The reset processing is performed on at least the load value memory 12, the maximum load value memory 14, the operation reference time calculation unit 25, the margin value memory 18, and the maximum load value memory 16, and is performed on the margin load value memory 19 as necessary. But you should do it.
[0138]
It is possible to omit the reset process for any or all of these memories, but in that case, maintenance is necessary only because the stored contents of any memory become abnormal values due to noise, etc. There is a possibility.
[0139]
In this embodiment, it is assumed that the reset processing is performed for all of the memories 14, 16, 18, 19, and 25. If the stored content of the load value memory 12 becomes an abnormally large value due to noise or the like, the influence is transmitted to the maximum load value memory 14, the maximum load value memory 16, and the marginal load value memory 19. Is once written in the maximum load value memory 16, there is a high possibility that the subsequent obstacle sensing operation will not be performed normally. Therefore, in the cascade part of the constituent elements 11 to 19, reset processing for any memory is important. High nature.
[0140]
For example, when the stored content of the load value memory 12 becomes an abnormally large value, the influence is spread to the maximum load value memory 16 via the constituent elements 13, 14, 15 and eventually reaches the marginal load value ML. It will be affected. In addition, the abnormally large value stored in the maximum load value memory 16 cannot be updated in the normal operation of the control processing device 10 because the load value LS exceeding the value cannot be detected, so that the reset process can be performed. If not, the effects may persist indefinitely.
[0141]
In each memory of the cascaded parts of the constituent elements 11 to 19, if the initial value is a random value in terms of white noise, if there is no abnormally large value, various opening / closing operations are repeated. Since it is possible to normalize to some extent, the reset processing unit can be obtained by writing the storage contents of the margin value memory 18, margin value changing unit 20, and operation reference time calculating unit 25 at the time of factory shipment or connection work. Even if 26 is omitted, a highly reliable operation is possible.
[0142]
The failure detection unit 24 that receives the marginal load value ML from the marginal load value memory 19 and receives the load value LS from the load value memory 12 is a component mainly composed of a kind of comparator, and the load value read from the load value memory 12 The magnitude relationship between the LS and the marginal load value ML read from the marginal load value memory 19 is examined. If the ML is larger than the LS, the obstacle detection signal LD in the normal state is output. In the following cases, the obstacle detection signal LD in an abnormal state is output.
[0143]
The obstacle detection signal LD in the abnormal state simply indicates not only an abnormal state different from the normal state in a binary manner, but also an operation corresponding to the obstacle detection operation described above for the motor 50 as necessary. It is necessary to make a signal indicating the contents. For example, when the content of the obstacle sensing operation is a simple stop operation, a signal indicating a binary normal state and an abnormal state may be used. When an object is detected, the operation up to that point is stopped, and immediately after that, the operation in the opposite direction is started and the operation in the opposite direction is stopped after a certain time. The obstacle detection signal LD includes shutter operation control information corresponding to this content.
[0144]
Therefore, in this case, the obstacle detection unit 24 is equipped with an obstacle sensing operation execution function for outputting the obstacle detection signal LD in such an abnormal state and executing the obstacle sensing operation. . The content of the obstacle sensing operation execution function changes according to the obstacle sensing operation to be executed.
[0145]
The motor control circuit 27 that receives the obstacle detection signal LD is a circuit that controls the power supply to the motor 50 and normally operates according to the operation signal MN supplied from the fixed operation unit 40.
[0146]
For example, when the operation switch 41 is pressed, the power PW for rotating the motor 50 is supplied in the direction of rotating the winding member 61 in the direction of the arrow D2, and when the operation switch 42 is pressed, the winding is performed. Electric power PW for rotating the motor 50 in the direction of rotating the member 61 in the direction of the arrow D1 is supplied, and when the operation switch 43 is pressed, the electric power PW for the motor 50 is stopped to stop the rotation of the winding member 61. The process etc. which stop supply of this are performed.
[0147]
The motor control circuit 27 performs such a normal operation basically when the obstacle detection signal LD is in a normal state.
[0148]
When the obstacle detection signal LD becomes an abnormal state, the motor control circuit 27 operates according to the obstacle detection signal LD regardless of the contents of the operation signal MN supplied from the fixed operation unit 40, and the motor 50 The obstacle sensing operation is executed via
[0149]
That is, the priority in the motor control circuit 27 is basically higher in the obstacle detection signal LD in the abnormal state than in the operation signal MN. However, a part of the obstacle sensing operation (for example, the second half part) may have a lower priority than the (partial) operation signal MN. As a result, when a new operation signal MN is supplied during the execution of the obstacle sensing operation, the motor 50 corresponding to the operation signal MN can be operated.
[0150]
FIG. 11 is a diagram showing FIG. 5A1 (FIG. 5B1) in more detail. In this regard, the relationship between FIG. 11 and FIG. 5 (A1) is substantially the same as the relationship between FIG. 5 (A2) and FIG.
[0151]
However, in FIG. 11, since the horizontal axis indicates the number of slats wound around the winding member 61, the overall inclination direction is opposite to that in FIG. 5 (A1).
[0152]
The operation of the present embodiment having the above configuration will be described below with reference to the flowcharts of FIGS.
[0153]
The flowchart of FIG. 7 is composed of the steps P1 to P12, and the flowchart of FIG. 8 is composed of the steps P20 to P32.
[0154]
(A-2) Operation of the first embodiment
In FIG. 6, in order for the user of the shutter shutter system 29 to use the shutter shutter system 29 for the first time, the reset processing is performed by simultaneously pressing the three operation switches 41 to 43, and the memories 12, 14, 16, 18 , 19 and 25 are respectively stored with predetermined values.
[0155]
At this time, it is assumed that the curtain 62 is in a fully open state.
[0156]
Here, when the user presses the operation switch 42 to perform the fully closed operation (P1), the motor 50 generates output torque to rotate the winding member 61 in the direction of arrow D1, and the seat plate B0 of the curtain 62 is Start to descend.
[0157]
The operation timer 22 that has received the start detection signal ST1 from the operation completion detection unit 21 starts time measurement, and the load detection unit 11 starts detection (measurement) of load torque (P2).
[0158]
If the operation switch 43 is pressed before the fully closed operation is completed, the process starts an opening operation (P4) (Y (Yes) side branch in Step P3), and the operation switch 43 is pressed. In this case, the process proceeds to Step P10 (Y side branch of Step P5), and when the level load is sensed by the load value LS (for example, the load sensing level LT is set like the obstacle detection torque BD in FIG. 10). When a load torque exceeding the value is detected, the process proceeds to Step P20 in FIG. 8 (Y-side branch in Step P6).
[0159]
When all of the branches of Steps P3, P5, and P6 are on the N (No) side, in Step P7, for example, it is checked whether or not the lower limit is detected by the lower limit switch.
[0160]
If the lower limit has not been detected yet, the process returns to step P3, and the loop composed of steps P3, P5, P6, and P7 is repeated. Note that the order of steps P3, P5, and P6 in this loop is not necessarily the order shown. For example, step P6 may be processed before step P3.
[0161]
When the lower limit is detected and step P7 branches to the Y side, the operation time normality determination unit 23 checks whether the descent time (time required for the fully closed operation) is normal (P8). .
[0162]
When the descent time is normal, the time normality determination signal TD is in a normal state, so that the descent operation monitoring operation (ie, the operation completion detection unit 21, the operation timer 22, and the operation reference time calculation unit 25 perform) The comparator 15 rewrites the maximum load value TM stored in the maximum load value memory 16 (that is, updates the data) (P9), and stops the processing (P11). Then, end processing is performed (P12).
[0163]
When such a descent time is normal, the content of the maximum load value TM stored in the maximum load value memory 16 is updated by the data update in step P9, and conversely, the descent time is abnormal. Since the time normality determination signal TD is in an abnormal state, the monitoring operation of the descending operation is stopped, but the comparator 15 does not operate and the maximum load value TM is rewritten (that is, the data is updated). No (P10).
[0164]
Since the above-mentioned temporary environmental condition fluctuations such as wind pressure tend to appear suddenly and rapidly, there is a high possibility that the fall time of Step P8 will not be normal, and due to such temporary environmental condition fluctuations. It is possible to suppress the maximum load value TM from being affected.
[0165]
However, since relatively stable fluctuations in environmental conditions such as aging of the shutter system 29 tend to appear gradually, the fall time in Step P8 is normal, so as to adapt to the stable fluctuations in environmental conditions. In addition, the maximum load value TM can be updated.
[0166]
In other words, in this sense, the operating time normality determination unit 23 identifies a temporary change in the environmental condition and a change in the stable environmental condition. It can be considered that the environmental condition selection function for changing the marginal load value ML is provided for stable fluctuation of the environmental condition without changing the load value ML.
[0167]
When the maximum load value TM is updated, an operation reference time changing function for changing the operation reference time SV (SV1, SV2) output from the operation reference time calculation unit 25 in accordance with the maximum load value TM is determined. The unit 23 may be equipped.
[0168]
As a result, even when the secular change or the like accumulates gradually and causes a large fluctuation in a long time, the control processing device 10 can continue to function normally.
[0169]
According to the operation reference time changing function, even if there is a temporary change in environmental conditions and the load value LS temporarily increases suddenly, the operation reference time does not change according to the change. For the load value LS, the temporal normality determination signal TD is likely to be in an abnormal state, and the maximum load value TM is unlikely to be updated to the LS.
[0170]
On the other hand, if there is a stable change in the environmental conditions and the load value LS increases steadily little by little, the influence of the initial increase is likely to occur within the range of the operation reference time SV at that time. Therefore, the maximum load value TM is updated one after another by the gradually increasing load value LS, and the operation reference time SV can be changed one after another as the maximum load value TM is updated. Can be operated normally.
[0171]
In the flowchart of FIG. 7, following step P10, a process stop (P11) and an end process (P12) are performed.
[0172]
Note that the monitoring stop of the downward movement of step P9 or P10 performed after step P7 branches to the Y side is not performed in step P9 or P10 as shown in FIG. 7, but at an earlier stage than step P8, That is, step P7 may be executed immediately after branching to the Y side.
[0173]
In FIG. 7, when the process of step P8 cannot be completed due to a failure of the operation time normality determination unit 23, the operation completion detection unit 21, the operation timer 22, the operation reference time calculation unit 25, etc. operate indefinitely. However, this can be prevented by executing monitoring stop of the descending operation at an earlier stage than Step P8.
[0174]
Further, the flowchart of FIG. 7 corresponds to the case where the operation time normality determination unit 23 is equipped with the above-described interrupt update update function. When the operation switches 41 and 43 are pressed during the fully closed operation, The data of the load value TM is not updated.
[0175]
However, the operation reference time calculation unit 25 can output an accurate operation reference time SV in the above-described upper closing operation, lower closing operation, full opening operation, upper opening operation, and lower opening operation other than the full closing operation. This point can be changed by not providing the operating time normality determination unit 23 with the interrupt update prohibition function.
[0176]
If the operation time normality determination unit 23 is not equipped with the interrupt update inhibition function, the state of the time normality determination signal TD is determined only by the relationship between the SV and the TV. In addition to the full closing operation, the data update of the maximum load value memory 16 can be performed not only in the upper closing operation, the lower closing operation, the full opening operation, the upper opening operation, and the lower opening operation.
[0177]
For example, in the case where step P3 branches to the Y side in the flowchart of FIG. 7, the upper closing operation was performed until the branching, and the upper opening operation was performed after the branching. If the operation time is normal, the data update of each maximum load value TM can be performed in each memory area in the maximum load value memory 16.
[0178]
Next, the flowchart of FIG. 8 executed when step P6 in the flowchart of FIG. 7 branches to the Y side will be described.
[0179]
In the flowchart of FIG. 7, in order to perform the fully closed operation, the motor 50 initially outputs a torque that rotates the winding member 61 in the direction of the arrow D <b> 1. If the rotation direction of the output shaft of the motor 50 at this time is the forward rotation direction, the output shaft of the motor 50 tries to rotate in the reverse direction in Step P20 of FIG.
[0180]
As a result, the monitoring of the descending operation described above is stopped, and the update update function at the time of interruption is activated and the time normality determination signal TD becomes in an abnormal state, so that the data update of the maximum load value memory 14 is prohibited. (P21).
[0181]
Next, the obstacle detection operation execution function of the obstacle detection unit 24 controls the motor control circuit 27 using the obstacle detection signal LD, thereby stopping the motor 50 that has been performing the forward rotation for T1 seconds (P22). ) Later, the operation timer 22 as an inversion timer starts to operate (P23), the motor 50 actually starts to invert and the curtain 62 starts to open (P24).
[0182]
Here, the T1 seconds may be about 0.1 seconds, for example, and the T2 seconds may be about 5 seconds, for example.
[0183]
In Step P25 following Step P24, whether or not the time measured by the operation timer 22 as the inversion timer has reached the T2 seconds is checked by the obstacle detection operation execution function mounted on the obstacle detection unit 24.
[0184]
If not, step P25 is branched to the N side to check whether or not the operation switch 42 has been pressed. If not (the branch on the N side of P26), whether or not the operation switch 41 has been pressed. Is checked and not pressed (N branch of P27), it is checked whether the operation switch 43 is pressed or not (N branch of P29). Proceed to step 30.
[0185]
On the other hand, when the time measured by the operation timer 22 has not reached T2 seconds, even if the operation switch 42 is pressed, the process returns to the step P20 and execution of the closing operation is prevented (on the Y side of the step P26). (Branch) When the operation switch 41 is pressed, the opening operation is executed according to the operation (Y side branch of Step P27 and Step P28), and when the operation switch 43 is pressed, the operation is stopped according to the operation. (Branch on the Y side of P29 and step P31).
[0186]
As described above, in the processing of these steps P26 to P29 and P31, the priority for the second half of the obstacle sensing operation is set lower than the priority of the operation signal MN only for the opening operation and the stopping operation. This is a corresponding process.
[0187]
Even while the obstacle sensing operation is being performed, the load detection unit 11 detects the load torque (that is, the load value LS). In Step P30 that is executed following the branch on the N side of Step P29, It is checked again whether the load value LS exceeds the load sensing level LT.
[0188]
Here, when the load value LS is lower than the load sensing level LT, Step P30 branches to the N side, and the execution of the loop constituted by Steps P25 to P27 and P29 and P30 can be repeated. The fact that the load value LS is lower than the load sensing level LT is a case where the execution of the obstacle sensing operation or the execution of the loop acts in the direction of decreasing the load torque LS and can be regarded as a preferable situation. That's why.
[0189]
On the other hand, when the load value LS is higher than the load sensing level LT, the step P30 branches to the Y side, the obstacle sensing operation is interrupted, and the curtain 62 is stopped (P31).
[0190]
The fact that the load value LS is higher than the load detection level LT is a case where the execution of the obstacle detection operation or the execution of the loop does not act in the direction of decreasing the load torque LS and can be regarded as undesirable. It is.
[0191]
As the maximum load detection level used in step P30, a load detection level different from the load detection level LT may be used. For example, it is possible to use a load sensing level LT1 higher than the LT.
[0192]
When LT1 is used, the load value LS becomes higher than the load sensing level LT1, which means that the load torque LS rather increases due to the execution of the obstacle sensing operation or the execution of the loop, and the situation may deteriorate. This is a case that is highly likely to need to be interrupted immediately.
[0193]
Further, the case where the step P25 branches to the Y side is a case where the stop operation of the step P31 is performed after the predetermined contents of the obstacle sensing operation are executed to the end.
[0194]
Following the stop operation of step P31, the flowchart of FIG. 8 ends (P32).
[0195]
In the flowchart of FIG. 8, the order of steps P26, P27 and P29 is not limited to that shown in the figure. For example, the process of step P27 may be executed before step P26.
[0196]
By the way, in the above description of the operation, the initial operation in which the obstacle sensing operation can be performed immediately after the reset processing is taken as an example, but the stable period after various opening / closing operations are repeated twice or more following the reset processing. The same applies to the obstacle sensing operation that can be performed in the above operation.
[0197]
However, in the stable period, the maximum load value TM stored in the maximum load value memory 16 is already optimized according to the weight, mechanical size, etc. of the curtain 62 itself. Different. Such optimization can be performed by executing the process of step P9 at least once.
[0198]
In addition, the optimization is performed for each maximum load value TM when different maximum load values are used for each of the various opening / closing operations described above. For example, since the upper opening operation and the upper closing operation are operations corresponding to the section UP in FIG. 10, about the load torque LL1 can be the maximum load value TM, whereas in the lower opening operation and the lower closing operation corresponding to the section DP. The load torque LL2 can be about the maximum load value TM, and it is considered that the maximum load value TM often varies considerably depending on which opening / closing operation is performed among various opening / closing operations.
[0199]
That the maximum load value TM is different means that the marginal load value ML is different and the load sensing level LT is different.
[0200]
If the load sensing level LT is a load sensing level for the section DP, the load sensing level for the section UP (or section UP + DP) may be about LT2, for example.
[0201]
In this way, by changing the load detection level according to the section, the sensitivity of obstacle detection in each section can be made constant and maintained fairly strictly.
[0202]
In the example of FIG. 10, the guard time GT is arranged at the left end corresponding to the case where the fully closed operation is performed. However, since the guard time GT is arranged in accordance with the start of the motor 50, for example, the upper opening is performed. If the operation is to be performed, it is arranged in the vicinity of 30 slats.
[0203]
(A-3) Effects of the first embodiment
As described above, according to the present embodiment, since the same control processing device (10) can be applied to shutter systems having different mechanical specifications such as weight and size, inventory management is easy. High reliability.
[0204]
Further, in this embodiment, even when the load torque fluctuates greatly during one open / close operation (for example, as shown in FIG. 10), the sensitivity of obstacle detection is maintained fairly strictly. Is also reliable in that respect.
[0205]
Furthermore, in this embodiment, the temporary environmental condition can be prevented from affecting the maximum load value (TM), and the stable environmental condition can be effectively reflected, so that the shutter system changes over time. High reliability can be maintained even when a problem occurs.
[0206]
(B) Second embodiment
Below, only the point from which this embodiment is different from 1st Embodiment is demonstrated.
[0207]
In the first embodiment, for example, about 10-bit data (sample unit data) obtained by sampling by the load detection unit 11 is processed for each sample unit data in the subsequent components 12 to 14. Although the total memory capacity required is small and there is an advantage that the hardware scale can be reduced, the data before and after each sample unit data does not exist in the control processing device 10 and can be performed inside the control processing device 10. The processing that can be done was limited.
[0208]
In the present embodiment, waveform data (for example, data of the shape of the load torque Tm shown in FIG. 10) obtained by combining the sample unit data is saved, and the internal processing of the control processing device is performed as necessary. It is characterized by using waveform data.
[0209]
(B-1) Configuration and operation of the second embodiment
A configuration of a main part of the control processing device 45 according to the present embodiment is shown in FIG.
[0210]
In FIG. 2, the control processing device 45 includes a load detection unit 71, a waveform processing unit 72, and a waveform memory 73.
[0211]
Among these, the load detection unit 71 has the same function as the load detection unit 11 and supplies the load value LS to the waveform processing unit 72.
[0212]
The waveform processing unit 72 has the same function as the load value memory 12 in that the load value LS is supplied to the failure detection unit 24, and the maximum load value memory 14 is provided in that the maximum load value LMX is supplied to the comparator 15. It can be said that it has the same function.
[0213]
However, the most important function of the waveform processing unit 72 is a waveform processing function for processing and processing the waveform data WD exchanged with the waveform memory 73.
[0214]
Since the waveform processing unit 72 sequentially writes the load value (that is, the sample unit data) LS received from the load detection unit 71 into the waveform memory 73 sequentially in real time, for example, one full closing operation is completely performed. After being performed, data indicating the waveform of the load torque Tm in FIG. 10 exists in the waveform memory 73.
[0215]
Since all the waveforms of the load torque Tm are stored, the capacity of the waveform memory 73 is the sum of all the memory capacities of the first embodiment (that is, all of the memories 12, 14, 16, 18, 19, 20, 25). It will be much larger than (memory capacity).
[0216]
However, the waveform processing unit 72 can execute processing that cannot be performed by using the waveform processing function unless the waveform data WD over a plurality of sample unit data is used.
[0217]
For example, it is possible to obtain the slope of a certain part of the waveform Tm or to obtain how much the fault detection torque BD protrudes from the load value of the other part by performing a statistical calculation.
[0218]
In addition, with respect to an operation (for example, a fully closed operation) of various opening / closing operations, the load torque waveform of the N (N is a natural number) full close operation and the N + 1 load torque waveform are included in the attributes of the entire waveform. Arbitrary attributes can be compared, and the control processing device 45 can be made more sophisticated and multifunctional than the control processing device 10.
[0219]
Accordingly, the waveform processing unit 72 may output the marginal load value ML and the obstacle detection signal LD instead of outputting the maximum load value LMX to be supplied to the comparator 15.
[0220]
(B-2) Effects of the second embodiment
As described above, according to the present embodiment, it is possible to obtain the same effect as that of the first embodiment.
[0221]
In addition, in the present embodiment, although the hardware scale can be increased, it is possible to achieve higher functions and more functions than in the first embodiment.
[0222]
(C) Third embodiment
Below, only the point from which this embodiment is different from 1st Embodiment is demonstrated.
[0223]
(C-1) Configuration and operation of the third embodiment
The configuration of the main part of the control processing device 46 of this embodiment is shown in FIG.
[0224]
In FIG. 3, the control processing device 46 includes two maximum load value memories 96 </ b> A and 96 </ b> B, an average processing unit 91, and an average processing load value memory 90.
[0225]
Among these, the function of the maximum load value memory 96A (or 96B) is basically the same as the function of the maximum load value memory 16.
[0226]
However, the maximum load value memory 96A or 96B does not have a function of supplying the maximum load value TM to the adding unit 17 unlike the maximum load value memory 16, but supplies the maximum load value TM to the average processing unit 90. It has a function to do.
[0227]
Further, in terms of scale, the maximum load value memory 96B is a memory similar to the maximum load value memory 16 in terms of hardware, and the maximum load value memory 96A is also similar to the maximum load value memory 16 in terms of hardware. However, the maximum load value memory 96A stores a maximum load value that is one older than that of the maximum load value memory 96B.
[0228]
That is, at an arbitrary operation point in the stable period of the control processor 46, the new maximum load value TM2 after update is stored in the maximum load value memory 96B, and the old value before update is stored in the maximum load value memory 96A. The maximum load value TM1 is stored.
[0229]
Therefore, in the present embodiment, the adding unit 17 receives the average value VA from the average processing load value memory 91 instead of the maximum load value TM.
[0230]
The average processing unit 90 uses the maximum load value TM1 before update read from the maximum load value memory 96A and the maximum load value TM2 after update read from the maximum load value memory 96B, and calculates the average value VA using a predetermined arithmetic expression. And the VA is written in the average processing load value memory 91.
[0231]
Here, the reliability of TM1 and TM2 is regarded as the same level, and the following expression (1) is used as this arithmetic expression.
[0232]
VA = (TM1 + TM2) / 2 (1)
If necessary, a weighted average may be obtained by assigning an appropriate weight coefficient before TM1 or TM2.
[0233]
For example, when the maximum load value after update can always be considered to be more reliable than the maximum load value before update, weighting is performed so that TM2 is more greatly reflected in the average value VA. You should do it. In order to increase the sensitivity to changes in environmental conditions, it is considered better to perform such weighting.
[0234]
On the other hand, in order to reduce the sensitivity to changes in environmental conditions and increase the sense of stability, it is preferable to obtain a simple average as in equation (1) or increase the coefficient of the maximum load value TM1 before update. .
[0235]
In addition, instead of using the new and old maximum load values before and after the update in this way, two or more updates performed in chronological order are updated by the current, previous, and previous updates. The subsequent maximum load values (three or more time-series maximum load values TM1, TM2, TM3,...) May be stored, and an average process using these may be performed. Except for the updated maximum load value, an average process using the updated maximum load values (TM1 and TM3) obtained by the previous and current updates may be executed.
[0236]
When the number of maximum load values used in the averaging process is increased in this way, generally, the responsiveness to changes in environmental conditions is reduced. However, the temporary change in environmental conditions such as the mere wind pressure described above is the marginal load value ML. If there is a stable change in environmental conditions, the time series maximum load value (TM1, TM2, TM3, etc., following the change is repeated as the switching operation is repeated. ) All show substantially the same value, and the average value VA is considered to converge to an optimum value, which is very preferable for the control processor 46.
[0237]
(C-2) Effects of the third embodiment
According to this embodiment, an effect equivalent to that of the first embodiment can be obtained.
[0238]
In addition, in the present embodiment, it is possible to reliably prevent temporary fluctuations in environmental conditions from affecting the marginal load value (ML), and to follow stable fluctuations in environmental conditions satisfactorily. Therefore, the reliability of obstacle detection can be further increased.
[0239]
(D) Other embodiments
In the first to third embodiments described above, in FIG. 5 and FIG. 10 described above, the curve indicating the load torque has a small fluctuation range and is relatively flat, but actually, for example, as shown in FIG. The load torque Tm1 may vary greatly as in the case of the load torque Tm1.
[0240]
It has been found that the waveform including the four peaks PK1 to PK4 indicating the load torque Tm1 depends on the number of windings of the slat curtain 62 around the winding member 61 in the fully opened state. That is, when the fully closing operation is performed in the shutter mechanism 60 configured to wind the curtain 62 around the winding member 61 in the fully open state, the waveform shown in FIG. 9 is obtained.
[0241]
In FIG. 9, there is a large difference in the torque value between the highest load torque LTP of PK1 and the lowest load torque LTB of BT2, so the difference from the load sensing level LT (this difference corresponds to the obstacle sensing sensitivity). Is greatly different, and it becomes difficult to maintain the obstacle detection sensitivity.
[0242]
That is, when a constant load sensing level LT is used over the entire interval from P0 to PN, there is a problem that the sensitivity is too high in the vicinity of PK1, etc., and the sensitivity is too low in the vicinity of BT2, etc. It may be difficult to maintain high obstacle detection sensitivity.
[0243]
When measures against this are required, in order to maintain the obstacle detection sensitivity, the divided sections obtained by dividing all the sections P0 to PN into approximately four equal parts are set, and different load sensing levels LT11 to LT14 are set for the respective divided parts. It is also effective to do. In this case, optimization may be performed for each load sensing level LT11 to LT14.
[0244]
For example, when the upper closing operation is performed, only the load sensing levels LT11 and LT12 are optimized, and LT13 and LT14 are not optimized.
[0245]
This can be realized by changing the maximum load value TM for each divided section even if the margin value MV is common, and can be easily realized by modifying the first embodiment.
[0246]
It is also possible to further increase the number of divisions of all the sections P0 to PN and set a load sensing level corresponding more faithfully to the waveform of the load torque Tm1.
[0247]
In the first to third embodiments, the case where the present invention is applied to a spring combined system has been described as an example. However, the present invention can also be applied to the motor single drive system.
[0248]
However, in the case of the motor single drive system, for example, when an obstacle is caught during the fully-closed operation, the load torque is drastically reduced, which is different from the spring combined system.
[0249]
In the first to third embodiments, the case where the fixed operation unit 40 is used has been described as an example. However, in the present invention, various open / close operations are instructed by transmitting a radio signal to the fixed operation unit. It is possible to replace the remote control transmitter with a remote control receiver capable of receiving the radio signal and outputting the operation signal MN corresponding to the radio signal to the control processing device 10.
[0250]
Furthermore, in the first to third embodiments, the opening / closing body (slat curtain 62) is closed by moving in the downward direction and opened by moving in the upward direction, but this may be reversed depending on the shutter system. Is also possible. That is, the present invention can also be applied to a system that opens when the opening / closing body moves in the downward direction and closes when the opening / closing body moves in the upward direction.
[0251]
Further, the moving direction of the opening / closing body is not necessarily limited to the ascending direction or the descending direction.
[0252]
In the first to third embodiments, the control processing device (for example, 10) is configured to constantly learn the normal load fluctuation allowable range, but may take a learning prohibited state in which this learning is not performed. Possible configurations are also possible.
[0253]
If the use of the temporary storage memory (for example, 12, 14) in the control processing device is not consumed for the learning process by providing the learning prohibition state, the memory is used for other purposes. Or shared with software or hardware for other purposes. When each of these memories is a register mounted in a CPU (central processing unit), the advantage of enabling such diversion and sharing may be particularly great. Is expensive.
[0254]
When the learning prohibition state is provided, the learning performance state in which the learning process is being executed and the learning prohibition state can be selected according to the switch operation or the occurrence of a specific event or timing is detected. For example, it is possible to automatically switch the state between the learning prohibited state and the learning performance state.
[0255]
For example, the learning prohibited state is usually set, and when a specific timing is detected, the learning execution state may be switched.
[0256]
That is, the learning performance state is set only at the first opening / closing operation performed after being left without being opened / closed for a long time, or the learning performance state is set every predetermined number of times based on the number of opening / closing operations. Based on the passage of time such as the day, the learning is performed regularly at regular time intervals, or as the first example after the obstacle detection operation is executed, based on the execution point of the obstacle detection operation. The learning performance state is entered when the opening / closing operation is performed, or when the difference becomes smaller than or greater than a predetermined value based on the difference between the load sensing level and the measured value of the load torque. And so on.
[0257]
In the first to third embodiments, the case where the shutter curtain is a slat type has been described as an example, but the type of the shutter curtain is not necessarily limited to the slat type.
[0258]
For example, you may make it use a sheet | seat (thing made from cloth, a soft resin, etc. which stitch | sutured the one piece or several sheets), a net | network, a panel, a pipe member (it mutually connects with the link member).
[0259]
Also, the curtain storage method need not be limited to the winding type as described in the first to third embodiments.
[0260]
For example, the individual panels are folded in a connected state with a hinge, etc., the sheets are folded with a net, the individual panels are separated (including those that are loosely connected to each other with a chain, etc.), You may make it use what is sent in, such as an overhead door.
[0261]
In the first to third embodiments, the present invention is applied to shutters of shutters. However, the present invention can also be applied to shutters other than shutters of shutters.
[0262]
Furthermore, the present invention can be applied not only to a shutter but also to other opening / closing devices such as doors, windows, overhead doors, roll screens (for example, light shielding curtains), blinds, and awning devices.
[0263]
【The invention's effect】
As described above, according to the present invention, since the reliability of abnormality detection can be maintained even when the mechanical specifications of the opening / closing body to be driven are different, the reliability regarding the operation of the opening / closing body is improved. To do.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of a main part of a control processing device according to a first embodiment.
FIG. 2 is a block diagram showing a configuration of a main part of a control processing device according to a second embodiment.
FIG. 3 is a block diagram illustrating a configuration of a main part of a control processing device according to a third embodiment.
FIG. 4 is a schematic view showing an internal configuration of a winding member used in the first to third embodiments.
FIG. 5 is an operation explanatory diagram of the first embodiment.
FIG. 6 is a schematic diagram showing the overall configuration of the first to third embodiments.
FIG. 7 is a flowchart showing the operation of the first embodiment.
FIG. 8 is a flowchart showing the operation of the first embodiment.
FIG. 9 is an operation explanatory diagram of another embodiment.
FIG. 10 is an operation explanatory diagram of the first embodiment.
FIG. 11 is an operation explanatory diagram of the first embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10, 45, 46 ... Control processing apparatus, 11 ... Load detection part, 12 ... Load value memory, 13, 15 ... Comparator, 14 ... Maximum load value memory, 16, 96A, 96B ... Maximum load value memory, 17 ... Addition , 18 ... Margin value memory, 19 ... Marginal load value memory, 20 ... Margin value change unit, 21 ... Operation completion detection unit, 22 ... Operation timer, 23 ... Operation time normality determination unit, 24 ... Failure detection unit, 25 Reference operation time calculation unit 26 Reference reset processing unit 27 Motor control circuit 29 Shutter shutter system 40 Fixed operation unit 50 Motor 61 Winding member 62 Slat curtain (shutter) 72 ... Waveform processor, 90 ... Average processor, 91 ... Average processing load value memory.

Claims (4)

In an opening / closing body control device that executes an obstacle sensing operation when an obstacle is detected by an opening / closing operation in at least one of an opening direction or a closing direction among opening / closing operations of an opening / closing body driven by a motor,
Fluctuation tolerance range learning means for learning at least one of an upper limit or a lower limit of a fluctuation tolerance range of the load torque viewed from the motor, which is acceptable when the opening / closing body normally performs the opening / closing operation;
Control means for sequentially detecting the value of the load torque during the opening / closing operation of the opening / closing body, and automatically executing the obstacle sensing operation when the detected actual load torque exceeds the allowable fluctuation range. When,
An operation time measuring means for measuring the time required from the start to the end of the opening / closing operation of the opening / closing body to obtain the operation time;
Normal operation time storage means for storing a normal operation time range which is a normal range of operation time;
Time normality determining means for determining whether or not the operating time obtained by the operating time measuring means is within the normal operating time range;
The variation allowable range learning means includes:
Each time the said opening and closing operation of the closing body is performed, a reference load value candidate storage unit that stores the value of the detected maximum load torque within those the opening and closing of the operating time as a reference load value candidates,
A reference load value storage unit storing a reference load value, which becomes an upper limit or a lower limit of the fluctuation allowable range when a predetermined margin value is given;
On the condition that the operation time of the opening / closing operation is within the normal operation time range, the reference load value candidate value stored in the reference load value candidate storage unit and the reference load value storage unit store And a reference load value selection unit that compares the current reference load value and writes the larger one as the latest reference load value to the reference load value storage unit. In the control device of the opening and closing body according to claim 1,
The control means for controlling an opening / closing body, wherein the control means does not detect a load torque until a predetermined guard time has elapsed from a start time of the opening / closing operation of the opening / closing body. In the control device of the opening and closing body according to claim 1,
The normal operation time range stored in the normal operation time storage means is defined by a lower limit value and an upper limit value other than 0,
The time normality determining means determines that the operating time obtained by the operating time measuring means is within the normal operating time range when the operating time is not less than the lower limit value and not more than the upper limit value of the normal operating time range. A control device for the opening / closing body characterized. In the control device of the opening and closing body according to claim 1,
An operation input means for capturing an operation input for instructing an opening / closing operation of the opening / closing body;
The time normality determining means is configured such that even when the operation time obtained by the operation time measuring means is within the normal operation time range, there is an operation input of an opening / closing operation to the operation input means within the operation time. The control device for the opening / closing body according to claim 1, wherein the operation time obtained by the operation time measuring means is not within the normal operation time range.

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