JPS6317994B2 - - Google Patents

Description

[Detailed description of the invention] The present invention relates to a door opening/closing control device.

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

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

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

Motor 1 fixed to the lower side of main body frame 15
6 is rotated by the motor pulley 17 fixed to the motor shaft 16-a, the V-belt 18, and the large pulley 1.
9. Furthermore, the rotation of the large pulley 19 is transmitted to the sprocket 21 via the sprocket shaft 20. A roller chain 3 is engaged with the sprocket 21. The roller portion of the roller chain 3 is guided from both sides within the main body frame 1 by a chain guide A22, a chain guide B23, and a chain guide C24. rail 2
is fixed to the frame 15 by the rail fixing fittings 25 without any steps or gaps in the groove formed by the chain guide A22 and the chain guide C24. The roller portion of the roller chain 3 is guided by the rails 2 on both sides.

On the other hand, the roller chain 3 wound by the sprocket 21 is stored in a chain storage case 27 that is fixed to a groove formed by the chain guide A 22 and the chain guide B 23 without any steps or gaps. This is done by the storage groove 27-a. With the above configuration, the sprocket 21 is rotated by the rotational drive of the motor 16, and the roller chain 3 is reciprocated along the rail 2.

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

If the garage door hits an obstacle while descending, it must be detected as a safe raise and reverse operation, that is, raise; Detects crab,
Must stop. The obstacle detection mechanism described above will be explained below. The chain guide A22, chain guide B23, and chain guide C
A part of the chain guide groove formed by 24 is formed into a circuit, and an obstacle is moved by the forces generated by the compressive force applied to the roller chain 3 when the door is lowered, and the tensile force applied when the door is raised. A shock detection fitting 34 is provided. The compression force of the obstruction spring 35 that restricts the movement of the obstruction detection fitting 34 can be freely changed by turning the obstruction operating force adjusting screw 36 and moving the spring presser plate 37. Further, the obstruction detection switch 52, which is turned on and off according to the movement of the obstruction detection metal fitting 34, detects the above-mentioned obstacle, and raises when the door is lowered and stops when the door is raised. .

Further, a lamp 38 for illuminating the inside of the garage is provided, and the light is turned on and off in conjunction with the movement of the garage door. Furthermore, a controller 36 for controlling the motor 16 and the lamp is fixed within the frame 15, and the motor 16, large pulley 19, and lamp 38 are further covered by a main body cover 40 and a lamp cover 41. Incidentally, the lamp cover 41 is semi-transparent and allows the light of the lamp 38 to pass therethrough, thereby brightly illuminating the inside of the garage. Having described the main body structure of the garage door opening/closing device above, the rail and trolley portion will now be described with reference to FIG. 4.

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

A common example of a conventional garage door opener is a latching relay in which the relay contacts flip each time the relay coil is turned on and remain in that state until the next time the relay coil is turned on. An example of the implementation control circuit will be explained using FIG. 5.

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

Next, these operations will be explained. First, the door opening/closing command push button switch 189 is turned on, and when the latching relay 184 is turned on to the contact A/A' side,
The motor 180 rotates in the door upward direction, and at the same time the thermal relay 1 is activated by the voltage between the terminals of the motor 180.
The heater section 82 is heated and the bimetallic relay contact is turned on, lighting the lamp. When the door reaches the upper limit, upper limit switch 1
85 is turned off and motor 180 is stopped. Furthermore, when the door open/close command push button switch 189 is turned on again, the latching relay 184 is now reversed to the contact B/B' side, and the motor 180 rotates in the door lowering direction. At this time as well, the lamp 183 is lit according to the lamp lighting operation described above. The door lowering operation is completed when the lower limit switch 186 is turned off. However, if the obstacle detection switch 190 is turned on during this operation, the latching relay 1
The relay coil 84 is energized, the relay contacts are reversed to the A and A' sides, and the door is reversed from lowering to raising. The door reversing operation as described above is performed in the same way even if the door opening/closing command push button switch 189 is turned on during the raising or lowering operation. Further, the obstacle detection operation is disabled during the ascending operation. Note that turning off the lamp 183 described above is as follows:
After the motor 180 stops, the bimetal contact of the thermal relay 182 is automatically turned off after a certain period of time for cooling. As mentioned above, the conventional example has the following drawbacks.

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

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

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

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

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

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

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

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

An object of the present invention is to prevent erroneous operation commands by program-controlling the input state of door opening/closing operation commands and timing means in accordance with sequential program procedures using a program processing device that processes a program that is a combination of instruction codes. It is an object of the present invention to provide a door opening/closing control device which is highly safe and eliminates large shock loads applied to mechanical parts of the door opening/closing device.

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

FIG. 6 is a state transition diagram showing the basic operating sequence of the garage door according to the present invention. In FIG. 6, the garage door 6 is in a stopped state 303 after the power is turned on. From this state, each time an operation command is received, the garage door 6 moves from the raised state 300 → stopped state 301 → lowered state 302 → stopped state 303.
repeat. Apart from such an operation command, when there is an input from the upper limit switch 30 in response to the garage door 6 in the raised state 300, the state 307 is passed through and the state immediately shifts to the stopped state 301. Further, when there is an input from the lower limit switch 31 in response to the garage door 6 in the lowered state 302, the state passes through the state 309 and shifts to the lowered state 304 for a fixed time, and after a fixed time elapses, it becomes the stopped state 303. The reason for this constant time drop will be described in detail later.

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

The reason for descending for a certain period of time will be explained below. Generally, in winter, the floor surface located at the lower end of the door tends to change due to freezing or snow accumulation. If the floor surface changes from the initial setting and rises due to the above reasons, the obstruction detection switch 52 will always operate when the door is lowered.
The state 310 is reached and the door cannot be closed. For these reasons, in this embodiment, the lower limit switch 31 is operated before the door is fully closed, and the door is then fully closed when the door is lowered for a certain period of time. When an input is received from the lower limit switch 31, the obstruction detection input is ignored. By doing this, even if the floor surface of the lower end of the door changes, it will not affect the opening and closing of the door. Furthermore, lower limit point adjustment is easier (US standard UL325/27/1).
The door operability is significantly improved.

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

Details of the garage door control according to the present invention as described above will be explained using process flowcharts from FIG. 14 to FIG. 37, which will be described later.

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

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

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

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

The operation push button switch 12 is input to an interface circuit 320 composed of a resistor and a capacitor, and the output of the circuit is input to a logic processing circuit 311. The output of the logic processing circuit 311 is input to a drive circuit 322 made up of transistors, and drives a drive circuit 327 made up of relays to rotate the motor 16 in the forward direction.
In addition, a drive circuit 323 composed of transistors inputs the output of the logic processing circuit 311,
A drive circuit 328 composed of a relay is driven to reverse the motor 16.

Further, a drive circuit 3 composed of a relay serves as a drive circuit for turning on and off the lamp 38.
29 drives the relay. It is driven by the logic processing circuit 311 via a drive circuit 324 made up of transistors.

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

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

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

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

Further, a logic operation circuit 345 that performs logic operations such as binary addition, a status display register 346 that temporarily stores the result state of the logic operations, and a register 347 such as an accumulator used during logic operations;
Storage of calculation results and status flags (for example, indicates how the door is currently in operation; 1
Temporary memory circuit 349 (this temporary memory circuit 349 is generally random, access,
Memory=RANDOM ACCESS MEMORY=
RAM is used. ), the logic operation circuit 345
Buffer register 348 addressed by
is provided, and the individual circuit elements are connected to a bus line 352.
connected by. In addition, the bus line 35
2 is connected to the input circuit 31 via the input/output circuit 350.
2 and an output circuit 313, the input state is processed by a logic determining means composed of a logic operation circuit 345, a register 347, a state display register 346, etc., and outputted.

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

As described above, the temporary storage circuit 349 is used to store calculation results and temporarily store status flags and the like.
The storage unit is 4 bits and 2 bytes. The embodiment of the present invention has a 22-byte map area. The above-mentioned status flags include 0,
Three bytes 1 and 2 are allocated, and the meaning of each flag will be explained in the flowchart described later.

Additionally, 12 bytes 10 to 21 are used as timer elements. The basic timer in the timer group is the basic timer _TM1 , which is 15.625 msec in this embodiment.
Since the time required for each processing step of one program is known in advance, a certain number of steps are counted and used for that purpose. In other words, in one embodiment of the present invention, no timer system configured from external hardware is used.

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

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

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

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

When the door starts to operate, a situation arises where the user wants to stop the door immediately. for example,
There is an obstacle in the direction of movement of the door. So, the discontinuous timer while the door is running
0.25 seconds was adopted as the TM ₄ value.

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

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

Set timer TM ₁₀ for 2 minutes after door stops.

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

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

If a restart operation command is not input within 6 minutes after the door is stopped (for example, due to a state), the ED counter is cleared. This timer is _TM11 .

, , and when the ED counter value reaches 12, the subsequent operation commands are set to 6.
No minutes will be accepted. The door can be operated again after 6 minutes.

(3) Open door indicator (hereinafter referred to as ODi) This indicates the status of the garage door 6 shown in Figure 1, and includes a door indicator circuit 325 that blinks a lamp or light emitting diode as a specific element.
It consists of An example of a blinking state is shown in FIG.

(4) Double safety control Upper limit switch 30 that sets the movement area
Or, if the lower limit switch 31 fails, the door collides with the floor if it is lowering, or the upper end stopper if the door is raised, and the obstruction switch 52 is activated. However, if the obstruction switch 52 fails, the motor continues to forcefully push the obstacle until the motor generates a locking torque and the thermal switch 192 turns on. This situation is unfavorable from a safety standpoint, and the following points should be taken into account. Since the distance the door can travel can be limited (for example, 9 feet ≒ 2.7 m), the travel time is naturally limited (if the door speed is 10 m/min, the travel time T _T = 2.7 m/10 m/min ≒ 16 seconds). , after the door operates, set the timer TM ₈ , and until the timer TM ₈ times out,
If the upper limit, lower limit, and obstruction switch signals are not input, it is determined that there is an abnormality and obstacle detection processing is performed. With this function, for example, if part of the drive system breaks down and the door does not operate, the belt may slip and power will not be transmitted, and this slip may cause belt damage.
Stopping the motor after a certain period of time is effective in improving safety.

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

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

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

(8) Received signal control The signal transmitted from the radio control transmitter is demodulated and binarized by the super regeneration circuit 330 and input to the logic processing circuit 311. The format of the input signal is shown in FIG. This format is classified as NRZ (Non-Return) according to the communication method classification.
Belongs to the zero = NON RETURN ZERO) method.
The specifications will be explained below.

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

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

Sampling starts at the falling edge of the synchronization signal SYNC. However, only Startbit ST is
Set the sampling length to 1/32. The start bit is always "0".

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

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

FIG. 14 shows the main flow chart of the present invention. Processing starts after power is turned on. First, in order to put the temporary storage circuit 349 into the initial state.
Perform RAM clear 360. Next, the obstacle processing lower limit point detection post-processing 361 is checked. During obstacle processing, the state 310 in FIG. 6 is indicated, and during lower limit point detection post-processing, state 309 is indicated. During this process, door operations using push button switches and transmission/reception are prohibited. When the process is not in progress, the ED (activation count) value over flag 362 is checked, and if the flag is "1", door operation by push button switch or transmission/reception is disabled. If the flag is "0", check whether the push button switch (hereinafter referred to as WL SW) is on or off. If the WL SW 363 is on, a startup input discontinuous timer set 366 is performed. If it is off, the reception (hereinafter referred to as Rx) input 364 is checked, and if it is at the "1" level, the process moves on to the next reception process 365. Next, the process goes through the driving process 367 and the timer process 368, and returns to the obstacle processing lower limit point detection post-processing process 361, forming one cycle.

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

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

If the operating flag 372 is on, a check is made to see if it is an obstacle ignore period 376. Corresponds to the time of timer TM ₆ in the temporary storage circuit. The value of the timer TM ₆ is checked, and if it has not reached the set value, it is within 1 second after the door is activated, and the obstruction input is ignored. Obstacle ignoring period 3
The reason for 76 has been described above, so it will be omitted.

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

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

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

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

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

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

First, the operating direction flag 390 is checked, and if the flag is on, it means an upward movement, and a lower limit outside stop process 391 is performed to stop the movement. If the flag is off, it means a fall, so the lower limit SW 392 is checked. If the lower limit SW is on,
In state 309, there is no need to reverse, and lower limit stop processing 393 is performed.

When the lower limit SW392 is off,
Must reverse up. Next, it is necessary to check the obstacle stopping flag 394 and, if it is off, to set the obstruction processing state 305. In other words, the flag on while the obstacle is stopped 39
5. Obstacle stop timer set 396 (this is the first
0), 125 msec reference timer set 397 (this corresponds to the timer TM ₆ in Figure 10),
(corresponding to TM ₃ ), the continuation process 398 during stop is performed.

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

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

Next, regarding the operation → stop processing 387, the first
This will be explained using FIG.

As stop processing, in-operation flag off 410, door up reset 411, door down reset 412,
A lower limit outside stop process 413 is performed.

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

First, it is checked whether the ED count timer 420 is set. This corresponds to timer _TM10 in FIG. If it is a set, the 11th
In the state shown in the figure, the ED counter is updated (+
1) Perform 421. If it is reset, it means that it is in the state.

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

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

Next, check the upper and lower limit SW ON 427. This means that either one of the upper and lower limit SWs may be on, but if they are on at the same time, it is determined that there is a failure, and the continuation process during stop 428 is executed. Do not operate the door.

Next, check the limit SW 429, and when the upper limit SW is on, the lower limit output is output, when the lower limit SW is on, the higher output is output, and when neither limit SW is on, the mode is set using the operating direction flag 430. decide. Priority is given to the input signal of the limit switch over the operating direction as the history mode. Further, the operating direction flag is stored in the temporary storage circuit 349 in FIG. 9, but it is all cleared when the power is turned on, so the flag is off. In other words, the meanings of the flags are reversed, with flags going up when the flag is off, and going down when the flag is on. Therefore, if the flag is off, the door lowering reset and door raising output 43
1 and turns on the motion direction flag 432 to indicate the next motion direction, ie, descent. That is, by the above processing, the direction of movement of the door after power is turned on is fixed to upward.

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

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

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

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

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

In this process, states 304 and 306 shown in FIG. 6 are mainly executed.

First, the operation direction flag 451 is checked, and if it is on, the door lowering reset and door raising output 452 are always performed again. Then the upper limit
SW, check 453 is performed, and if it is on, a lower limit outside stop process 456 is performed. If the upper limit SW is off, reverse mode 45
4 checks are performed, and if the mode is on, the reverse timer is checked 455. The timer is timer _TM6 in FIG. 10, and if it has been reset, this corresponds to an increase of 1 foot in state 306 in FIG. 6, so next a lower limit stop process is performed. If it is set, continue.

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

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

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

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

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

Next, ED count timer set 473 is performed. This corresponds to timer _TM10 in FIG.

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

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

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

15.625m sec A timer counter update 490 is performed, and a timeout 491 is checked to see if the timer _TM1 has timed out. Here, one cycle of the main flowchart has 97 steps, and if these steps are counted using 4 bits, a time over occurs at the 16th time, and an overflow occurs.
One step is 10 μsec, 16 x 97 steps x
10 μs = 15.52 m sec. Therefore,
15.625m sec was considered because of its upper counter.
This is because there is a correlation of 125 m sec, and the basic part already includes an error of about 1%. Since the output of the time over 491 is output every 15.625 m sec, it is used for motor stop delay timer count update 492 (timer TM ₂ ), 125 m sec reference timer counter update 493 (timer TM ₃ , timer TM ₃ ).
(to count in increments of +2), time over 49
4, 125m sec is guaranteed in case of overflow.

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

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

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

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

If there is a time-over, 2 seconds will elapse. Next, the travel time monitoring timer counter 510 is checked.

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

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

If there is a time-over, 30 seconds will elapse. next
A 30sec reference timer set 516 is performed. This is because the 30 sec reference timer TM ₉ is based on the timer TM ₇ and needs to overflow at 15 counts. Here the timer
The _TM9 counter is set to “1”.

Next, the ED count timer counter 517 is checked.

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

Next, ED clear timer counter update 519
(timer _TM11 ) is executed. time over 52
Check with 0.

If there is a time over, ED clear processing 521 is performed. The processing here is to clear the ED counter and turn off the ED value over flag, which corresponds to the state shown in FIG.

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

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

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

An example of the circuit of the transmitter 331 will be explained using FIG. 28. Inverters 530, 531, resistance R ₁ ,
A clock oscillation circuit is formed by R ₂ and C ₁ , and is inputted to a counter 543 through an inverter 532 . The lower three bits of counter 543 are input to decoders 545, 546, and 547, and the upper three bits are input to decoder 544. Here, the Q ₁ to _{Q 5} outputs obtained by decoding the upper three bits each correspond to eight times the lower QA bit of the counter 543. Therefore, the outputs Q ₁ -Q ₅ of decoder 544 form 40 bits. Here, the Q ₁ and Q ₂ outputs are input to the 3-input NOR 552, and this becomes a 16-bit synchronization signal. Then, in _Q3 , the decoder 545 is selected by the inverter 533, decodes the lower 3 bits of the counter 543, and the decoder 545
The output of the open drain type inverter 5
37 (six inverters), the output sequentially scans the bit switch 548 (six contacts) which is a bit setting section, and inputs the on-off information to the three-input NOR 552 via the inverter 536.
Similarly, the Q ₄ output of the decoder 544 is passed through the inverter 534, the decoder 546 is selected, the open drain type inverter 539 (6 inverters), the bit switch 549 (6 contacts),
Similarly, the Q ₅ output of the decoder 544 is passed through the inverter 535, the decoder 547 is selected, and the open drain type inverter 541 (3 inverters) and the bit switch 550 (3 contacts) are selected.
scan sequentially. Here, one open drain type inverter 538, 540 corresponds to stop bit SP, and open drain type inverter 542 (three inverters) corresponds to one frame stop bit FSP.

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

The information thus transmitted is received by the receiving circuit 330, which is a super-reproducing circuit, and is input to the logic processing circuit 311. A bit setting circuit 321 is arranged in the logic processing circuit 311.

An embodiment of the bit setting circuit 321 is shown in FIG. Bit switch 560, 561, 562
It consists of diodes D _i1 to D _i10 and sequentially controls the 10-bit outputs of the logic processing circuit outputs R ₀₀ to R ₀₃ , R ₁₀ to R ₁₃ , D ₀₁ , and D ₀₂ , so that only one bit is always “1”.
By setting the remaining 9 bits to "0" (open drain, high impedance state), bit switch on/off information is taken in from the input ports I ₁ and I ₂ .

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

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

FIG. 31 will be explained.

Obstacle limit SW check 570 checks the limit SW of obstacles and movement direction when the door is in operation. When not in operation, match the number of processing steps. Details are shown in FIG. 37. If an obstacle is encountered during this process, or if the limit switch in the operating direction is on, a status flag (this is in the status display register in FIG. 9) is set.

The next process, checking the obstacle limit SW input 571, only requires checking the status flag. GFC when status flag is on
Jump to 1. When the status flag is off, the synchronization signal counter is updated 572. As a synchronizing signal counter, 8 bits are prepared inside the temporary storage circuit 349 shown in FIG. 9, as shown in FIG. 10. Next, it is checked whether the value of the counter continues for a certain period of time or not. That is, the maximum value of the waveform input as the original synchronization signal is set, and if the counter value is larger than that value, it is determined that there is an abnormality, and the process jumps to GFC1.

This synchronization signal counter 1 upper limit check 573
If the result is N, the received data = 0 5
74 and checks whether the data is zero, that is, whether the synchronization signal has ended. If the data is not zero, the process returns to Obstacle Limit SW Check 570. The loop of L ₁ shown in the figure is
Repeat until the received data becomes zero. Received data = 0 If the data becomes zero at 574,
Check the synchronization signal counter 2 lower limit value 575. In other words, the minimum value of the waveform input as the original synchronization signal is set, and if the count value is smaller than that value, it is determined to be abnormal and jumps to GFC1. If the result is "Y" at the lower limit value 575 of the synchronization signal counter 2, the output pattern initial value set 576 for Dip SW reading and the frame number and initial value set 577 are performed as shown in FIG.

Next, FIG. 32 will be explained.

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

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

Obstacle limit SW input 581 which is the next process
To check, just check the status flag.

When the status flag is on, it jumps to GFC1.

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

Next, the sampling time over 585 is checked, and if there is no result yet, the process returns to the obstacle limit SW check 580. Repeat the L ₂ loop shown in the figure until the sampling time is over.

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

The number of processing steps in the _L1 loop described above is 32. Therefore, 32 processing steps/loop x 1/16 = 2 processing steps/loop, and the error is corrected by counting only the value of the lower digit of the synchronous counter as 1 count and 2 processing steps.

Next, FIG. 33 will be explained.

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

If the bit count value is not zero, proceed to the next process and check the stop bit 781.
will be carried out. Whether it is a stop bit or not,
Determine by looking at the bit counter value. If the bit count value is 14, jump to GFC5.

If it is not a stop bit, a reset 782 of the Dip SW outputs D ₀₁ and D ₀₂ and an output pattern load 783 for reading the Dip SW are processed. Next, a check 784 of frame No. 1 is performed. If it is not frame No. 1, Dip SW output 0-3 output 78
Process 5. Next, check the output pattern 78
If the output pattern is zero, the Dip SW output D ₀₁ is reset 787, and if the output pattern is not zero, the Dip SW output D ₀₁ is reset 788. In other words, as you can see from the output pattern, R ₀₀ to _{R 03} are 4-bit latches, and D ₀₁ is a 1-bit latch.
It's Bitstratch. For these reasons, the above output pattern setting method is used. This is the Dip SW output 4 to frame No. 1.
7 output 789, output pattern check 790,
The same applies to the Dip SW output D ₀₂ output 791 and the reset 792 of the Dip SW output D ₀₂ .

Next, FIG. 34 will be explained.

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

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

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

Jump to GFC1.

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

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

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

Also, when the stop bit 599 check is performed and the bit counter is 14, the received data = 0 6
Check 01.

At this bit counter value, the received data must be "0" and the jump to GFC8 indicates a normal case. If the received data is "1", the reception state is abnormal and jumps to GFC1.

FIG. 36 is a continuation of FIG. 33.

The input port of the Dip SW set by checking frame No. 2 602 is distinguished. Third
As shown in Figure 0, if frame No.=2, the input port is _I2 , which corresponds to Dip SW inputs 11-15. Therefore, check Dip SW inputs 11 to 15 605, and if they are “1”, receive data = 1 60
Check 4. If it is "0", the received data=0 606 is checked. As a result of the check, if they match, the output pattern=0 607 check is performed. If there is a mismatch, the counter for reception processing is cleared to zero and the I/O port for reception processing is reset 614.

Even in the above case, when the frame number is not 2, the input port is _I1 , which corresponds to Dip SW inputs 1 to 10. Therefore, check the Dip SW inputs 1 to 10 603 and if they are “1”, the received data = 1 60
Check 4. If it is "0", check the received data=0 606. As a result of checking, if they match, output pattern = 0 607
Perform a check. If there is a mismatch, the counter for reception processing is cleared to zero and the I/O port for reception processing is reset 614.

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

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

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

Jump to the position of GFC9 shown in FIG. 32.

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

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

Jump to the GFC9 position shown in FIG.

When jumping to GCF8 in Figure 35, it is when the data match, and in the reception processing flowchart, the average processing time is 80 msec (this is because 1 bit is 2 msec and 1 frame is 40 bits). ).

Therefore, since the reception processing 365 is performed in FIG. 14, the timer processing 368 is extremely affected. As a countermeasure against this, in the embodiment of the present invention, in the timer processing 368,
15.625msec timer, timer counter correction 61
2 is called five times to perform approximation processing and correct the main timer.

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

FIG. 37 shows the contents of the obstacle limit SW check process. First, the operating flag 615 is checked and turned on. That is, if it is in operation, an obstacle SW check 616 is performed. Obstacle SW
If it is on, status set 620 is performed. When the obstacle switch is off, check 617 the limit switch in the operating direction. If it is on, status set 620 is performed. If it is off, a status reset 618 is performed.

Furthermore, the operating flag 615 is turned off. In other words, if the timer is stopped, the timer will fluctuate unless it matches the number of processing steps required during operation. Therefore, a total of 619 steps is performed.

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

Such a method is generally called interrupt control.

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

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

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

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

In the embodiment described above, an example of a state transition is shown as a process after obstruction is detected, such as stopping during rising, stopping for a certain period of time during falling, and then rising for a certain period of time. The present invention is to perform control according to the state of the door in operation as a process after the obstruction is detected, such as reversing the door, removing the stop process for a certain period of time,
Alternatively, the state transition processing control can be freely extended, such as raising the state to the upper limit position instead of raising it for a certain period of time.

Further, as the process after the obstruction is detected, the process may be performed without accepting a new operation input signal during the process, and after the process is completed, a new operation input signal may be accepted.

Furthermore, as a process after the obstruction is detected, a new operation input may be accepted and processed regardless of the process being performed.

In the embodiment described above, the operating time of the door opening/closing device is managed, and if the various state detection signals of the door opening/closing device are not input within the operating time, it is determined that there is an abnormality. According to the present invention, by performing the operating time management, it is sufficient to simply set the door to a state different from the operating state, and the following processing can also be considered.

1. Stop the door opening/closing device.

2. Reverse the door opening/closing device.

3 If the door opening/closing device is in operation, stop it;
If it is in the closing operation, it will be opened for a certain period of time.

4 If the door opening/closing device is in the opening operation, stop it;
If the closing operation is in progress, open the opening operation.

In items 2, 3, and 4 above, if the direction of operation of the door is reversed, the door may be stopped for a certain period of time.

In addition, during the above processing, by the time the processing is completed,
A new operation input signal may not be accepted. Further, during the above processing, a new operation input signal may be accepted.

In the embodiment described above, detection input from the state detection device is not particularly prioritized in processing in the execution processing procedure. However, the state detection device may be given priority and processed so that it is processed with priority over an execution program generally referred to as interrupt control.

Furthermore, it goes without saying that the system performance of the door opening/closing device can be improved by adding a safety device or performing priority processing on specific signal inputs as described above.

Next, circuit examples in which another embodiment of the present invention that has been explained so far is constructed by a hard circuit using random logic will be described below in FIGS. 38 to 46.
This will be explained using figures.

12 is a push button switch for commanding door opening/closing, 201 is a relay contact output for commanding door opening/closing operation from the same radio receiving device, 30 is a door upper limit switch, 31 is a door lower limit switch, 52 is an obstruction detection switch, and 205 is a power supply start-up. 206, 207 are monostable multivibrators, 208 is a J-K master slave flip-flop equivalent to HD74107 (manufactured by Hitachi), 210, 211
is a D-type flip-flop equivalent to HD7475 (manufactured by Hitachi), 212 is an integrating circuit consisting of R19 and C15, 213 is a differential circuit consisting of C8, R13, and R14, 214 to 222 are NOT elements, and 223 is a 2
Input OR elements, 224 to 228 are 2-input AND elements, 229 and 230 are 4-input NOR elements, 231
is a 2-input NOR element, 232 is a 3-input AND element,
233 is a transformer for control power supply, 234 is a diode stack, 235 is an IC regulator for control power supply (VDD), 236 to 238 are relay drive transistors, 239 to 241 are relay coils, 24
2 to 244 are the respective relay contacts, 16 is a door opening/closing drive motor, 38 is a lamp, 245 is a NOT element 250, 251 as shown in FIG.
2-256 2-input NAND elements, 257 2-input NOR elements, 258 buffer elements, 259
12-bit binary counter equivalent to MC14040 (manufactured by Motorola), 260 D type flip-flop, 261 2-input AND element, 262 R25,
Integration circuit consisting of C16, 263 C17, R2
6, Differential circuit consisting of R27, 264 NE55
5 (manufactured by Signateix Co., Ltd.) An operation command control circuit consisting of a timer IC equivalent to 284, a clock generation circuit consisting of C18, R28 to R30, 2
46 is 2 inputs of 270 as shown in Figure 43.
AND element, 271 buffer element, 272 monostable multivibrator, 273 C19, R3
1, a 1-foot reverse control circuit consisting of a differential circuit consisting of R32, 247 is a timer IC 281 of 280, C21,
A timer circuit consisting of 22, R34, and R35, 28
2, a variable resistor for controlling the control voltage of the timer circuit, 283, a constant lamp switch, 28;
4 buffer elements, further D5, D6, C23,
This is a lamp lighting control circuit composed of R36 and R37.

Regarding the circuit operation, the overall operation shown in Fig. 38 will be explained below while supplementing the time charts shown in Figs. 39 and 40, and Figs. 41, 43, and 45 will be explained in Figs. The detailed operation will be explained with reference to the time chart in FIG. 46.

When power is applied to this circuit, transformer 233
Control power supply VDD is supplied from the diode stack 234 and further through the IC regulator 235. Then, the power supply reset circuit 205
The rise of VDD is integrated and the NOT element 215 outputs a reset pulse. The reset pulse is
J-K master slave flip-flop (hereinafter referred to as J-KFF) 208 via NOT element 216
and further resets the 4-input NOR element 229,
2 inputs of 1 foot reverse control circuit 246
The D-type flip-flop 210, which is a rising latch memory, is reset via the AND element 270, and similarly, the D-type flip-flop (hereinafter referred to as FF) 211, which is a falling latch memory, is reset via the 4-input NOR element 230. Reset. The push button switch 12 which is the door opening/closing operation command or the relay contact output 201 from the wireless receiving device is turned on,
If the signal S1 is output by the NOT element 214, the monostable multivibrator 206 is activated at the rising edge of the output S19 via the two-input AND element 261 of the operation command control circuit 245 (the detailed operation of this circuit will be described later). Trigger. The multivibrator 206 outputs a signal S2 with a pulse width T1, which is connected to a 2-input OR element 223 and a 2-input AND
A signal S3 is output via element 224. The signal S
3 is input as the clock of J-KFF208,
During the HiGH period of the signal S3 before the output signal S5 of the J-KFF 208 is inverted, the 2-input AND element 2
The output of FF 26 is input as the clock of FF 210, and FF 210 is set at the rising edge of the clock, and a signal S6 is output. The signal S6 serves as a door raising command, and the transistor 237 excites the relay coil 240 for raising the door, and the relay contact 242 of the relay turns on, causing the motor 1 to
6 rotates normally (in the upward direction). As mentioned above, motor 1
6 is activated, but at the same time the signal S2 is activated.
Via the input OR element 223 and NOT element 221,
Lamp lighting control circuit (detailed operation will be described later) 2
47 is triggered, and the output of the timer circuit 280 excites the relay coil 239 by the transistor 236, turning on the relay contact 244 of the relay. Lamp 246 as mentioned above
will remain lit for a certain period of time. Next, while the ascending command is being output, that is, while the FF 210 is being set,
When the upper limit switch 30 is turned on, the FF 21 is activated via the NOT element 217 and the 4-input NOR element 229 in the same way as when the power supply reset pulse is generated.
The reset input is input to 0, and the transistor 237 becomes
The relay coil 240 is demagnetized, the relay contact 242 is turned OFF, and the motor 16 is stopped.
Furthermore, when the push button switch 12 which is the door opening/closing operation command or the relay contact output 201 from the wireless receiving device is turned on again while the ascending command is being output, the signal S2 is transmitted to the monostable multivibrator 206 in the same manner as described above.
The signal is output from the OR element 223. However, since FF210 is set, 2 inputs
The output of AND element 228 is LOW, and 2
The output of the input AND element 224 is prohibited.
At this time, the 2-input AND element 227 is connected to the NOT element 21
Since the output of signal S8 becomes HiGH, the pulse of signal S2 is output as signal S4. The signal S4 has 4 inputs.
Through the NOR element 229, the FF 210
It is input as a reset signal. Further, as described above, the motor 16 is stopped. Next, when another door opening/closing operation command is input in the same manner as above, J-
Since KFF208 is set, 2 inputs
The output of the AND element 226 is prohibited, and the 2-input AND
Signal S3 is output from element 225, and FF211
is set and a signal S7 is output. This turns on the transistor 228, energizes the relay coil 241 for lowering the door, and the relay contact 242
is turned on, the motor 16 reverses (in the downward direction), and the door moves downward. When the lower limit switch 31 is turned on during the lowering operation, the NOT element 21
9 outputs a signal S8, which is input as a reset signal to the FF 211 via the 4-input NOR element 230 with a time delay T2 (0.2 seconds) provided by the integrating circuit 212. This signal causes the motor 16 to stop in the same way as when the upper limit is turned on during upward movement. Next, the control operation when the obstruction detection switch 52 is activated will be explained. During the rising motion, that is, J
- When the KFF 208 is set, the FF 210 is set, and the FF 211 is reset, when the obstacle detection switch 52 operates, the switch 52
uses a B contact, so the switch is OFF,
2-input NOR element 231 via NOT element 220
A HiGH signal is output from , which triggers the monostable multivibrator 207 . The Q output pulse of the multivibrator 207 is transmitted to the 4-input NOR element 2.
29 to reset the FF 210. At this time again,
Since J-KFF 208 is set in the 3-input AND element 232, the output of the AND element 232 is prohibited. Next, during the downward movement, that is, J-
KFF208 is reset, FF210 is reset,
When the disruption detection switch 52 operates in the same manner as described above while the FF 211 is set, the signal S10 is outputted via the NOT element 220 and the two-input NOR element 231, triggering the monostable multivibrator 207. The Q output of the monostable multivibrator 207 outputs a signal S11 with a pulse width T3 (0.5 seconds). The signal S11 causes the 4-input NOR element 230 to
Reset FF211. This operation stops the motor 16 and stops the door lowering operation. Furthermore, when the signal S11 falls, the Q output of the monostable multivibrator 207 falls, and the 3-input
The AND element 232 becomes High and the signal S12 is output. The signal S12 is sent to a differentiating circuit 213,
It is converted into signal S13 by NOT element 222.
Furthermore, it is input to the 2-input OR element 223, and the output of the 2-input OR element 223 follows a series of control paths as described above, and the FF21
0 is set, signal S6 is output, and the door is raised. The ascending operation due to the obstruction detection operation during the descending is controlled to be automatically stopped when the vehicle rises by about one foot, by the one-foot reverse control circuit 246, and the details of this operation will be described later. As mentioned above, when the door detects an obstacle and the obstruction detection switch is activated, the safety operation is such that when the door is rising, it immediately stops, and when it is descending, the descending operation stops immediately, and after T3 hours, it starts the ascending operation. Guaranteed. However, in order to prevent the obstruction detection operation from being activated inadvertently due to small obstacles (stones, sticks, etc.) near the lower limit of the door or rises due to snow or ice on the floor in winter, the lower limit point switch 31 is When ON, the signal from the obstruction detection switch 52 is sent to the 2-input NOR element 2.
31, but the descending operation is immediately inhibited by the signal S7, which is a descending command, being transmitted to the integrating circuit 2 as described above.
Signal S9 after time delay T2 (0.2 seconds) due to
It is reset by By providing an obstruction detection dead zone of 0.2 seconds (50 mm in door movement distance) after the lower limit point switch 31 is turned on as described above, control can be achieved without the above-mentioned malfunctions.

Next, the parts for which detailed explanation was omitted above will be explained below.

The operation command control circuit 245 will be explained using time charts shown in FIGS. 41 and 42.

When the push button switch 12 for door opening/closing operation command or the relay contact output 201 for door opening/closing operation command from the wireless receiving device is turned ON, NOT element 214 is activated.
The signal S1, which is the output of
The output of the NAND element 252 is delayed by the time delay T4.
The pulse signal S20 is output only during this period. The signal S2
0 generates a pulse signal S21 at the rising edge of the signal S20 by the differentiating circuit 263 and the buffer element 258. The 12-bit binary counter 259 and FF 260 are reset by the signal S21. Then, the output Q (signal S23) of FF260 becomes LOW.
Therefore, the output of the two-input AND element 261 is prohibited. As a result, the door opening/closing operation command S1 is changed to FF2.
It will be prohibited until 60 is set again. The clock generating circuit 264 generates a clock signal S22 with a period of 1 ms. The clock signal S22 is passed through a 2-input NAND element to produce a signal S26 as a clock input to the FF 260, and further via a 2-input NOR element 257 to produce a signal S24 as a clock input to a 12-bit binary counter 259. The signal S24 is different from the signal S1.
The signal is input to the counter 259 only when the signal is LOW.
When the signal S1 becomes LOW, the output QI ( ^28th bit) of the counter 259 turns ON and the signal S27 is output, and the door is in the opening/closing operation, the two inputs explained in the control operation of the entire device above are activated. The output of AND element 228 becomes LOW, and this output causes NOT
The output of element 251 becomes HiGH and 2-input NAND
The signal S27 is inverted as the output of the element, and is further output as the signal S2 via the 2-input NAND element 255.
5 becomes HiGH and is input as D of FF260. As mentioned above, when the D input of FF260 becomes HiGH,
The FF 260 is set at the rise of the signal S26. When the FF260 is set, the FF26
The Q output of 0 becomes LOW and the 2-input NAND element 25
The output signal S26 of No. 6 is configured to be prohibited. Next, when the door is stopped, the output of the 2-input NAND element 253 is prohibited;
The output of the NAND element 254 is allowed. Part 2
The input NAND element 254 receives the output Q _J ( ^29th bit) of the 12-bit binary counter 259.
When the signal S28 is turned ON and the signal S28 is output, the FF 260 is set in the same manner as described above when the door is opened/closed. In this way, the door opening/closing operation command signal S1 is controlled so that the signal S1 is used as a pulse and the signal S19 is output only when the FF 260 is set. As a result, the moment when the door opening/closing operation command push button switch 12 turns OFF after being pressed erroneously is as shown in part P1 of FIG.
Also, contrary to the above, even if the moment when the push button switch 12 is accidentally turned on when it is turned off occurs as in part P2, the output signal S19 will be inhibited. Furthermore, depending on whether or not the door is opening/closing, if the OFF time is 256 ms or more while the door is in operation, or if the OFF time is 512 ms or more while the door is stopped, etc. is short,
It is controlled so that it lasts a long time when it is stopped.
In other words, when you issue an operation command, detect some dangerous situation, and want to stop it immediately, as mentioned above, if the OFF time is 256ms or more, the next signal S1
The door will stop at the rising edge of . Also, when stopped
It is possible to limit the motor 16 so that sudden reverse rotation does not occur, such as not starting the operation unless there is an OFF time of 512 ms or more.

Next, the 1-foot reverse control circuit 246
This will be explained using FIGS. 43 and 44.

While the door 6 is moving downward, that is, as mentioned above, the FF
211 is set and the motor 16 is rotating in reverse, when an obstacle is detected and the obstruction detection switch 52 is activated and turned OFF, the FF2 is immediately turned off.
11 is reset, the motor 16 stops, and after a further stop time T3 (0.5 seconds), the integrating circuit 213
and NOT element 222, a pulse signal of signal S13 is output. The pulse signal S13 sets the door raising command FF210 as described above. Through this series of operations, the door 6 starts to rise, but the signal S13 outputs a rising command and at the same time triggers the monostable multivibrator 272 of the 1-foot reverse control circuit 246, thereby increasing the rising time for the door 6 to rise by 1 foot. After the measured time T5, the signal S30, which is the signal of the output Q of the monostable multivibrator 272, rises, and at this rise, the differentiating circuit 2
73 and the buffer circuit 271 output a pulse signal S31. 2 due to the pulse signal S31.
FF 210 is reset via input AND element 270. In this manner, in this embodiment, when an obstacle is detected while the door 6 is moving downward, the door 6 is controlled to stop the downward movement and then move upward one foot.

Next, the lamp lighting control circuit 247 will be explained using FIGS. 45 and 46.

When the door opening/closing operation command pulse signal is output, the NOT element 221 outputs the signal S40, and the timer IC 281 of the timer circuit 280 is triggered to output the signal S41. The output S4
1 becomes a signal S43 through the diode D5, turning on the transistor 236. This operation lights up the lamp 38 as described above. This timer circuit 280 has a variable resistor 28 connected to the control terminal of the timer IC 281 so that the timer time T6 can be varied.
2, and the timer time T6, which is the lighting time of the lamp 38, can be varied. Next, when the constant lamp switch 283 is turned on, R36, R37, and C23 forming the integrating circuit cause the transistor 233 to turn on after the rise delay time T7.
can be turned on. Furthermore, when the constant lamp switch 283 is turned OFF, the capacitor C23 becomes R.
37 and the signal S43 turns off the transistor 236 after a fall delay time T8. Furthermore, when the door 6 is at the upper limit, that is, when the upper limit switch 30 is turned on,
The signal S44 of the NOT element 217 becomes HiGH,
Buffer element 284, resistor R38, diode D
6, the signal S43 is set to High and the transistor 236 is turned on. In this way, lamp 3
8 can be smoothly controlled automatically or manually.

According to one embodiment of the present invention, the following effects can be obtained.

(1) A door opening/closing operation command is recognized as the next command if the input OFF time of the door opening/closing operation command is 0.25 seconds when the door is in operation, and 0.5 seconds when the door is stopped. Therefore, it can be configured to be easy to stop and difficult to start due to incorrect operation.

(2) Since the door stop time is at least 0.5 seconds, it is possible to eliminate impact loads on mechanical structures.

According to the present invention, a highly safe door opening/closing control device can be constructed by processing door opening/closing operation commands using a program that is a combination of command codes.

[Brief explanation of the drawing]

Figure 1 is a perspective view of the door opening/closing device, Figures 2 and 3 are the main body of the door opening/closing device, Figure 2 is a vertical side view, Figure 3 is a plan view, and Figure 4 shows the connection between the rail and trolley. 5 is a control circuit diagram of the conventional device, FIG. 6 is a basic operation flowchart of the device of the present invention, FIG. 7 is a basic block diagram of the control section, FIG. 8 is a detailed block diagram thereof, and FIG. The figure is a logic processing circuit diagram,
Fig. 10 is a temporary time memory circuit pattern diagram, Fig. 11 is a start count control time chart, Fig. 12 is a door indicator flow chart, Fig. 13 is a transmission/reception data format, and Figs. 14 to 27 are each operation flow. Figure 28 is a circuit diagram of the radio control transmitter, Figure 29 is a bit setting circuit diagram, Figure 30 is a bit setting pattern, Figures 31 to 37 are flowcharts of each operation, and Figure 38 is a door opening/closing diagram. An example of the hardware circuit configuration of the device control section, FIGS. 39 and 40 are time charts showing the overall control flow in FIG. 38, FIG. 41 is a detailed circuit diagram of the operation command control circuit, and FIG. 42 is an operation time chart of the operation command control circuit, and FIG. 43 is 1.
Detailed circuit diagram of foot reverse control circuit, No. 44
45 shows a detailed circuit diagram of the lamp lighting control circuit, and FIG. 46 shows an operation time chart of the lamp lighting control circuit. 1...Body, 2...Rail, 3...Chain, 4
... Trolley, 6 ... Door, 12 ... Push button switch for commanding door opening/closing operation, 13 ... Control device, 16
... Motor, 30, 31 ... Upper limit, lower limit switch, 38 ... Lamp, 52 ... Obstruction detection switch, 245 ... Door opening/closing operation control circuit, 246 ... 1 foot reverse control circuit, 247 ... Lamp Lighting control circuit, 311...
Logic processing circuit, 316...Additional circuit, 321...
Bit setting circuit, 330... Receiving circuit, 340...
...Program storage circuit, 341...Instruction register, 342...Instruction decoder, 343...Program counter, 345...Logic operation circuit, 349
... Temporary memory circuit, 351 ... Timing control circuit.

Claims (1)

[Claims] 1. A door opening/closing device equipped with a drive device for driving a door, and a door opening/closing control device equipped with a control device for controlling the door opening/closing device, in which the control device programs the control contents of the door by a combination of command codes. a program storage circuit 340 for storing;
A program counter 343 for specifying and updating the address of the instruction code in the storage circuit, an instruction register 341 for temporarily storing the instruction code read from the storage circuit, and an instruction stored in the instruction register. An instruction decoder 342 that decodes code contents, an arithmetic processing circuit 345 that performs arithmetic processing according to the decoded instruction code, and a timer 3 that is controlled by the output of the arithmetic processing circuit.
45, 349, a memory circuit 349 that temporarily stores the movement direction and history of the door opening/closing device controlled by the output of the arithmetic processing circuit, and a storage circuit 349 connected to the command decoder and detecting signals of various state detection devices of the door opening/closing device. An input/output circuit 350 that inputs a door operation command signal and controls the door opening/closing device.
and a timing control circuit 351 that controls the overall timing of these control circuits, reads instruction codes sequentially from the program storage circuit, and opens/closes the door when a door operation command signal is input from the input/output circuit. A door opening/closing control device, characterized in that the door opening/closing control device is controlled so as to inhibit the door operation command signal within the measured time while changing the time value of the time measurement means according to the operation history of the device.