JPH0774564B2 - Door opening / closing control device for hangars, etc. - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an improvement of a door opening / closing control device for a hangar or the like that controls opening / closing of a large self-propelled door used for an entrance / exit of a hangar or a warehouse.

[Conventional technology]

Conventionally, since doorways of hangars and the like of airplanes have a width of 200 m, doors for opening and closing the doorways are self-propelled doors each having a traveling device for driving wheels and a control device thereof.

This self-propelled door needs to feed power to the traveling device and its control device.As a power feeding method, conventionally, a cable connection power feeding method for connecting a power feeding cable to each self-propelled door, or
Alternatively, a trolley power feeding system is employed in which a power feeding rail is installed above the entrance and a pantograph is provided on each self-propelled door so as to slide on the power feeding rail. Further, in order to transmit a control signal such as an opening / closing command to the control device of each self-propelled door from the main control device arranged on the ground, communication means is required, and this communication means needs to remove noise. , I am trying to connect a communication cable to each self-propelled door.

[Problems to be Solved by the Invention]

However, in the above-mentioned conventional door opening / closing control device for hangars and the like, the control signal from the main control device arranged on the ground is transmitted to each self-propelled door through the communication cable. Due to the wide range of movement of the door, there is an unsolved problem that the wiring of the communication cable becomes complicated and at the same time, the communication cable is likely to be damaged.

Therefore, the present invention has been made by paying attention to the unsolved problem of the above-mentioned conventional example, and uses a communication cable to exchange control signals between the main controller on the ground and the controller for the self-propelled door. It is an object of the present invention to provide a door opening / closing control device for a hangar or the like that can solve the above-described problems of the conventional example by performing wireless communication without performing the above.

[Means for Solving the Problems]

In order to achieve the above object, a door opening / closing control device for a hangar or the like according to claim (1) is a door opening / closing control for a hangar or the like in which a plurality of self-propelled doors having traveling devices are arranged on a plurality of rows of guide rails. In the device, a communication transmitting / receiving unit of the main control device is arranged at one end side of each of the guide rails, and each self-propelled door is arranged at a position facing the communication transmitting / receiving unit of the main control device at both ends in the traveling direction. A transmission / reception unit, a reproduction relay unit for regenerating and relaying a reception signal of one transmission / reception unit to supply it to the other transmission / reception unit as a transmission signal, and a data acquisition unit for capturing self-addressed transmission data in the reception signal, And a traveling control unit for controlling the traveling device based on the self-addressed transmission data captured by the data capturing unit.

Further, in the door opening / closing control device for a hangar or the like according to claim (2), the communication transmission / reception unit of the main control device and the transmission / reception unit of the self-propelled door are selected to have different frequencies in the transmission unit and the reception unit. Is characterized by.

Further, in the door opening / closing control device for a hangar or the like according to claim (3), in the communication transmitting / receiving unit of the main control device and the transmitting / receiving unit of the self-propelled door, the transmitting unit and the receiving unit have different frequencies for each guide rail. It is characterized by being selected in.

Furthermore, in the door opening / closing control device for a hangar or the like according to claim (4), the communication transmitting / receiving unit of the main control device and the transmitting / receiving unit of the self-propelled door are composed of an optical transmitting unit and an optical receiving unit. Is characterized by.

Still further, a door opening / closing control device for a hangar or the like according to claim (5) is a door opening / closing control device for a hangar or the like in which a plurality of self-propelled doors having traveling devices are arranged on a plurality of rows of guide rails. A communication transmission / reception unit of the main control device is arranged on one end side of the guide rail, and the self-propelled doors are arranged at positions opposite to the communication transmission / reception unit of the main control device at both ends in the traveling direction. , A reproduction relay section for reproducing and relaying a reception signal of one transmission / reception section as a transmission signal to the other transmission / reception section, and a data acquisition section for capturing self-addressed transmission data in the reception signal, and an adjacent self-propelled door An abnormal approach detection unit for detecting the abnormal approach of, and controls the traveling device based on the self-addressed transmission data captured by the data capture unit,
Further, it is characterized by further comprising: a traveling control unit that stops the traveling device when the abnormal proximity detection unit detects an abnormal proximity state of another self-propelled door.

Further, in the door opening / closing control device for a hangar or the like according to claim (6), the abnormal proximity detection unit includes at least a first sensor having a long detection distance and a second sensor having a short detection distance,
The traveling control unit controls the traveling control device to a slow state when the first sensor detects an abnormal approach, and controls the traveling control device to a stop state when the second sensor detects an abnormal approach. ing.

Further, in the door opening / closing control device for a hangar or the like according to claim (7), the self-propelled door includes a door-fixing holding device for holding the guide rail.

[Action]

In the door opening / closing control device for a hangar or the like according to claim (1), since the transmission / reception units are individually arranged at both ends of each self-propelled door in the traveling direction, the radio transmission from the communication transmission / reception unit of the main control device is performed. The control signal is received by the receiving section of the self-propelled door facing them, and the self-propelled door receives the control signal via the regeneration relay section built in the self-propelled door from the transmitting section on the other end to the other self-propelled cell. By transmitting to the transmitting / receiving unit of the self-propelled door, the control signal is sequentially transmitted to each self-propelled door through the regeneration relay unit of the self-propelled door, and the self-addressed control data in this control signal is fetched by the data fetching unit,
By supplying this to the traveling control unit, the traveling device is driven and moved to the target position. Therefore, it is not necessary to dispose a communication cable between each self-propelled door and the main controller, and highly reliable opening / closing control can be performed.

Further, in the door opening / closing control device for a hangar or the like according to claim (2), by using different frequencies between the transmission part and the reception part of the pair of transmission / reception parts, interference is prevented and control is performed. The signal can be accurately transmitted.

Further, in the door opening / closing control device for a hangar or the like according to claim (3), by using different frequencies between the transmitting / receiving sections arranged for each of the plurality of rows of guide rails arranged in parallel, , It is possible to prevent interference between overlapping self-propelled doors and accurately transmit the control signal.

Furthermore, in the door opening / closing control device for a hangar or the like according to claim (4), by transmitting the control signal between the main control device and the transmitting / receiving unit of each self-propelled door by optical transmission, It is possible to accurately transmit a control signal without being affected by noise due to the radio wave, and prevent a malfunction of the self-propelled door.

Still further, in the door opening / closing control device for a hangar or the like according to claim (5), since it has the abnormal approach detection unit, it is possible to detect the abnormal approach between the self-propelled doors, and thus the self-propelled doors. Can be prevented.

Further, in the door opening / closing control device for a hangar or the like according to claim (6), when the abnormal proximity detection unit is composed of two sensors having different detection distances, and the abnormal proximity detection is detected by the sensor having a long detection distance. The self-propelled door is decelerated, and when a sensor with a short detection distance detects an abnormal approach, the self-propelled door is stopped to prevent collision between the self-propelled doors and ensure smooth running.

Further, in the door opening / closing control device for a hangar or the like according to claim (7), movement of each self-propelled door is restricted by sandwiching the guide rail with a fixing pinching device provided on each self-propelled door. And prevent the self-propelled door from being opened and closed easily.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a plan view showing a first embodiment of the present invention, and FIG. 2 is a structural view showing a schematic structure of a self-propelled opening / closing door.

In FIG. 1, reference numerals 1a to 1c denote parallel guide rails arranged in a long groove formed on the ground surface such that their tops are slightly lower than the ground surface.
Guide rails 2a to 2c are also arranged above and opposite to 1c.

And, by these guide rails 1a-1c and 2a-2c,
Each four self-propelled door _{3a 1 ~3a 4, 3b 1 ~3b} 4 and 3c ₁ ~3c ₄ is guided.

As shown in FIG. 2, each of the self-propelled doors 3a _{1 to} 3a ₄ is provided with wheels 4a and 4b which are in rolling contact with the guide rails 1a to 1c at the lower end thereof, and the guide rail 2a at the upper end thereof. The guide rollers 5a and 5b that are in rolling contact with the rollers 2a to 2c are arranged, the drive motors 6a and 6b, which are DC servo motors, are connected to the wheels 4a and 4b, and the current collector 7 is provided above the one guide roller 5a. It is arranged. As shown in FIG. 3, the current collector 7 is urged upward by a coil spring 10 on a pillar 9 fixed to the upper end of the pillar 8 of the guide roller 5a, and is vertically moved. It is slidably mounted on.

Furthermore, self-propelled to the left end surface of the running direction of the door 3a ₁ to 3 A _4, the light receiver 11L consists of a photo diode as transmitting and receiving unit from the upper side in this order, a light emitting diode that outputs highly directional infrared light Projector 12 consisting of a collimator lens, etc.
L, door collision prevention sensor 13L, obstacle detection sensor 14L ₁ , 14L ₂
Also, an obstacle detection bumper 15L is provided.

On the right end face, a light projector 12R is arranged at a position corresponding to the light receiver 11L, and a light receiver 11R is arranged at a position facing the light projector 12L, and the door collision prevention sensor 13L and an obstacle detection sensor are arranged below these. Door collision prevention sensor 13R, obstacle detection sensors 14R ₁ and 14R ₂ and obstacle detection bumper 15R are arranged at positions corresponding to 14L ₁ and 14L ₂ and obstacle detection bumper 15L, respectively.

Furthermore, the guide rail 1a is attached to the lower end surface of the self-propelled doors 3a _{1 to} 3c _4.
A control mark sensor 16 for detecting the stop position marker 25 and the deceleration markers 26a and 26b formed on the ground surface along 1c to 1c is provided.

Here, each of the door collision prevention sensors 13L and 13R is composed of a diffused light reflection type photoelectric sensor, and as shown in FIG. 4, when the distance between the adjacent self-propelled doors is within 130 cm, for example. Outputs detection signals DS _1L and DS _1R in the ON state, and obstacle detection sensors 14L ₁ , 14L ₂ , 14R ₁ and 14R ₂ are also composed of diffuse reflection photoelectric sensors, and the distance to obstacles is within 70 cm, for example. The detection signal that turns on when it becomes DS _2L , DS _3L , DS _2R , D
S _3R is output, and the obstacle detection bumpers 15L and 15R output detection signals DS _4L and DS _4R that are turned on when a micro switch is incorporated and an obstacle is contacted.

For the self-propelled doors 3a ₄ , 3b ₄ and 3c ₄ , the light receiver on the right side
11R and the projector 12R are omitted.

Further, the light receiver 11L and the light projector 12R and the light receiver 11R and the light projector 12L have frequencies different from each other, for example, 3.9 kHz and 4.6 kH.
It is set to transmit and receive with FSK modulated signal by z carrier, preventing mutual interference, and if necessary, by transmitting and receiving with FSK modulated signal of different frequency for each guide rail, Interference between self-propelled doors can be prevented for each rail.

Furthermore, self-propelled inside the door 3a ₁ ~3c _4, as shown in FIG. 2, the control system lead battery which is electrically connected to the collector 7
17, a drive system lead battery 18 is provided, and the DC power of the battery 17 is used as a traveling control device 19 for controlling the drive motors 6a, 6b and an optical transmission control device 20 for controlling the light receivers 11L, 11R and the light projectors 12L, 12R. The supplied DC power of the battery 18 is supplied to the motor drive circuits 21a and 21b.

The traveling control device 19 is composed of, for example, a microcomputer, receives the self-addressed transmission data output from the optical transmission control device 20, and receives each door collision prevention sensor 13
L, 13R, obstacle detection sensors 14L ₁ , 14L ₂ , 14R ₁ , 14R ₂ , detection signals of obstacle detection bumpers 15L, 15R and control mark sensor 16 are input, and based on these, each drive motor according to the flowchart described later. A control signal for driving and controlling 6a and 6b is output to the motor drive circuits 21a and 21b. Here, each of the motor drive circuits 21a and 21b receives the forward rotation signal, so that the drive motors 6a and 6b are first accelerated and then brought into a constant speed operation state, and when the deceleration signal is input, the motor
The deceleration control of 6a, 6b is performed, and the drive motors 6a, 6b are stopped when the stop signal and the emergency stop signal are input.

The optical transmission control signal 20 includes a regenerative repeater circuit 20a for regeneratively repeating the received data received by the light receivers 11L and 11R and sending it to the projectors 12R and 12L, and a demodulation circuit 20b for demodulating the received signal.
When the transmission data demodulated by the demodulation circuit 20b is addressed to itself, the data acquisition circuit 20c for outputting this to the travel control device 19 as self-addressed transmission data, and the transmission data from the travel control device 19 A modulation circuit 20d for performing FSK modulation and outputting to the projector 11L is provided. In addition, self-propelled doors 3a ₄ , 3b ₄
And 3c ₄ , the output of the regenerative repeater circuit 20a is the projector 12
Output to L.

On the other hand, on the left end side of each of the guide rails 1a, 1b and 1c, the main control unit 22 arranged on the ground portion facing the light receiver 11L and the light projector 12L of the self-propelled doors 3a ₁ , 3b ₁ and 3c _1. Connected floodlight 23
a to 23c and light receivers 24a to 24c are provided.

Here, the main controller 22 FSK-modulates and outputs digital transmission data for performing movement control of each self-propelled door 3a _{1 to} 3c ₄ , and as the transmission data, each self-propelled door 3a is used.
_{1 to} 3c ₄ has a configuration in which movement amount data, movement direction data, and door connecting state code are added to the identification code, and transmission data for the self-propelled doors 3a _{1 to} 3a ₄ is output to the projector 23a. , The data sent to the self-propelled doors 3b _{1 to} 3b ₄ is the projector 23.
is output to b, the transmission data for the self-propelled door 3c ₁ ~3c ₄ is output to the projector 23c.

Further, the main control unit 22 monitors the transmission data from the self-propelled doors 3a _{1 to} 3c ₄ received by the light receivers 24a to 24c, issues an alarm when an emergency stop state signal is received, and moves completion signal. When the mobile integrated time of each of the self-propelled doors 3a _{1 to} 3c ₄ is calculated, and when this exceeds a preset predetermined time, for example, 30 minutes, the charger 31 to be described later is activated and each self-propelled type. to charge the battery 17 and 18 of the door 3a ₁ ~3c _4.

Further, the ground surface along the guide rails 1 a to 1 c, as shown in FIG. 5, the readable position control mark sensor 16 of the self-propelled doors 3a ₁ ~3c _4, self-propelled doors 3a ₁ ~ For example, a red stop position marker 25 that defines the stop position of 3c ₄ and yellow deceleration markers 26a and 26b are drawn on both sides of the stop position marker 25 at a predetermined distance. These stop position marker 25 and deceleration marker 26
a, 26b, when the opening and closing pattern of the self-propelled doors 3a ₁ ~3c ₄ is set as shown in FIG. 6, each self-propelled doors 3a ₁
They are drawn to the 28 points as the respective stop position of ~3c _4.

Further, as shown in FIG. 3, the guide rails 2a, 2b and 2c
To the upper surface along, in the stop position shown in FIG. 6, respectively self-propelled door 3a ₁ ~3c conductive sliding contact plate 30 opposed to the current collector 7 of ₄ are disposed, these sliding contact plate 30 is connected to one charger 31. Here, the charger 31 monitors the terminal voltages of the batteries 17 and 18, and automatically adjusts the charging voltage and the current according to the terminal voltage fluctuations to prevent overcharging, and when they are charged to an appropriate value. In addition to stopping the supply of charging power, if the charging voltage is insufficient, an alarm or warning device (not shown) is activated.

Next, the operation of the above embodiment will be described with reference to FIGS. 7 and 8 showing the processing procedure of the traveling control device 19.

The traveling control device 19 performs multitask processing, and when the transmission data addressed to itself from the optical transmission control device 20 is input, the traveling control processing task of FIG. 7 and the safety confirmation processing task of FIG. 8 are activated.

That is, the traveling control processing task of FIG. 7 first stores the movement amount L included in the self-addressed transmission data in a predetermined storage area of the storage device, and then shifts to step to be included in the self-addressed transmission data. It is determined whether or not the moving direction data indicates a right movement, and if the movement direction data indicates a right movement, the process proceeds to step.

In this step, a normal rotation signal for driving the drive motors 6a, 6b in the normal direction is output to the motor drive circuits 21a, 21b, and then,
After moving to the step, each self-propelled door 3j (j = a _{1 to} a ₄ , b _{1 to} b
₄ , c _{1 to} c ₄ ) starts moving, and it is determined whether or not a predetermined time T ₁ sufficient for the control mark sensor 16 to reach the position where the stop position marker 25 is not detected, and the predetermined time T _{When 1} has not elapsed, the process waits until it elapses, and when the predetermined time T ₁ has elapsed, the process proceeds to step.

In this step, it is determined whether or not the movement amount L is "1". When L = 1, the process directly proceeds to the step. When L> 1, the control mark sensor 16 moves to the step. It is determined whether or not the stop position marker 25 is detected. When the stop position marker 25 is not detected, the process waits until it is detected. When the stop position marker 25 is detected, the process proceeds to step and the movement amount L is changed to "1". The value obtained by subtracting is updated and stored as a new movement amount L, and then the process returns to the step.

In step, self-propelled door included in the transmission data to self
3j is connected to another self-propelled door and stops. Determine whether the connection stop status code is set to "1". If the connection stop status code is set to "1", go to step. Transition and stop energizing the door collision prevention sensor 13R,
After this is set in the inactive state, the process proceeds to the step, and when the connection stop state code is reset to "0", the process directly proceeds to the step.

In this step, the control mark sensor 16 determines whether or not the deceleration marker 26a or 26b is detected.
When a or 26b is not detected, the process waits until it is detected, and when the deceleration marker 26a is detected, the process proceeds to step.

In the step, it is determined whether or not a predetermined time T ₂ for starting the deceleration of the drive motors 6a and 6b has elapsed, and the predetermined time T ₂
When is not elapsed, the process waits until the time elapses, and when the predetermined time T ₂ has elapsed, the process proceeds to step, the deceleration signal is output to the motor drive circuits 21a and 21b, and then the process proceeds to step.

In this step, it is determined whether or not the stop position marker 25 is detected by the control mark sensor 16, and when the stop position marker 25 is not detected, the control mark sensor 16 waits until it is detected. Transition.

In this step, a stop signal is output to the motor drive circuits 21a and 21b, then the process proceeds to step and a movement completion signal is sent to the optical transmission control device 20, and then the process ends.

On the other hand, when the result of the step determination is that the movement direction data is leftward movement, the process proceeds to step ′ and the drive motors 6a, 6a
After outputting a reverse rotation signal for driving reverse rotation of b to the motor drive circuits 21a and 21b, the process proceeds to the step.

Further, the process of FIG. 8 is executed as a timer interrupt process every predetermined time (for example, 50 msec), and first, in a step, it is judged whether or not the moving direction data included in the self-addressed transmission data is a right movement. , If it is right movement, move to step and read the detection signal DS _1L of the door collision prevention sensor 13L,
It is determined whether or not this is the ON state, and when the detection signal DS _1L is in the OFF state, the process proceeds to step to read the detection signal DS _2L of the obstacle detection sensor 14L ₁ , and whether or not this is the ON state. If the detection signal DS _2L is in the off state, the step moves to the obstacle detection sensor 14
The detection signal DS _3L of L ₂ is read, it is determined whether or not this is the ON state, and when the detection signal DS _3L is the OFF state,
Move to step and detect signal D of obstacle detection sensor 15L
Read S _4L , determine if it is in the ON state,
When the detection signal DS _4L is in the off state, the process shifts to the step to release the waiting state of the traveling control processing task in FIG. 7, and then shifts to the step to set the emergency stop signal to the logical value “0” and then the timer allocation. The embedding process is terminated and the process returns to the process shown in FIG.

On the other hand, when the step determination result is leftward movement, the process proceeds to step ′ and the detection signal D of the door collision prevention sensor 13R is detected.
Read S _1R , determine if this is on,
When the detection signal DS _1R is in the off state, step '
Then, the detection signal DS _2R of the obstacle detection sensor 14R ₁ is read and it is judged whether or not it is in the ON state.
_{When the 2R} is in the off state, the process proceeds to step to read the detection signal DS _3R of the obstacle detection sensor 14R ₂ , and it is determined whether or not it is in the on state.When the detection signal DS _3R is in the off state, the process proceeds to step reads the detection signal DS _4R obstacle detection bumper 15R, which is equal to or in the on state, when the detection signal DS _4R is turned off, the process proceeds to the step.

Further, when the detection results of the steps 1 to 3 and 1'to 1'are in the ON state, the motor drive circuit outputs the emergency stop signal of the logical value "1" which shifts to the step and causes the drive motors 6a and 6b to make an emergency stop. 21a, 21b, and then goes to step to put the traveling control processing task of FIG. 7 into a waiting state, then goes to step and sends an emergency stop state signal to the optical transmission control device 20 before performing the processing. finish.

Therefore, as shown in FIG. 6 (a), assuming that the doorway of the hangar is fully closed, in this fully closed state, each self-propelled door 3j is stopped at a predetermined stop position, The current collector 7 is in contact with the sliding contact plate 30 connected to the charger 31.

To change from the fully closed state to, for example, the left half open state shown in FIG. 6B, the main control unit 22 is provided with an input device such as a keyboard.
Input the applicable pattern code from 22a.

Then, the self-propelled door 3a that needs to be moved from the main controller 22.
_{1 ~3a 3, 3b 1, 3b} 2 and 3c _1, to create a transmission data to 3c _2, and sends these transmission data to the projector 23a to 23c.

Here, the transmission data, for example, for self-propelled door 3a _1, the unique identification code to the self-propelled door 3a _1, the movement amount L (=
5), the moving direction data indicating the right movement and the concatenation stop state code of "1" are added, and as the transmission data for the self-propelled door 3a ₂ , the movement amount L (= 1) and the right movement are added to the identification code. The movement direction data and the concatenation stop status code of "1" are added,
The transmission data to the self-propelled door 3a _3, the identification code, the movement amount L (= 1), concatenated stopped code the moving direction data and "0" is added representing the rightward movement.

Further, as the transmission data for the self-propelled door 3b ₁ , the movement amount L (= 4), the movement direction data indicating the right movement, and the connection stop state code of "1" are added to the identification code, and the self-propelled door 3b ₁ is added. 3b
_As the transmission data for ₂ , the movement amount L (= 2), the movement direction data indicating the right movement, and the concatenation stop state code of "1" are added to the identification code.

Further, as the transmission data to the self-propelled door 3c _1, the identification code, the movement amount L (= 3), concatenated stopped code the moving direction data and "1" is added representing the rightward movement, self-propelled door
As the transmission data for 3c ₂ , the movement amount L (= 3), the movement direction data indicating the right movement, and the concatenation stop state code of “1” are added to the identification code.

Then, the transmission data for the self-propelled doors 3a _{1 to} 3a ₃ is serially connected and then output to the projector 23a after performing FSK modulation, and the transmission data for the self-propelled doors 3b ₁ and 3b ₂ are serially connected. transmitting data by performing post-FSK modulation is outputted to the projector 23b for self-propelled door 3c ₁ and 3c ₂ is outputted by performing the FSK modulation after being connected serially to the emitter 23c. Therefore, infrared light having directivity according to the FSK modulation signal is emitted from each of the projectors 23a to 23c, and these are irradiated to the light receiver 11L of the self-propelled doors 3a ₁ , 3b ₁ and 3c ₁ facing each other. . These are transmitted to the opposite side of the projector 12R are reproduced relayed by regenerative repeating circuit 20a, that is the optical transmission in addition to the self-propelled door 3a _2, the 3b ₂ and 3c ₂ light receiver 11L adjacent from the projector 12R The light is sequentially transmitted to the remaining self-propelled doors.

Then, the self-propelled doors 3a _{1 to} 3c ₄ that have received the transmission data are
The optical transmission control device 20 determines the presence / absence of self-addressed transmission data, and when there is self-addressed transmission data, the data acquisition circuit 20c captures this and sends this self-addressed transmission data to the travel control device 19. .

For this reason, the traveling control device 19 starts the processing of FIG. 7 and FIG. 8, and controls the movement motors 6a and 6b based on the movement amount L, the movement direction data, and the connection stop state code included in the self-addressed transmission data. motor driving circuit 21a of the control signals for driving, by outputting to 21b, the driving motor 6a, the 6b is driven self-propelled door _{3a 1 ~3a 3, 3b 1,} 3b 2 and 3c _1, 3c ₂ 6 The control mark sensor 16 detects the deceleration markers 26a arranged at the respective target positions as shown in FIG. 2B to start deceleration after a predetermined time T ₂ and detects the stop position marker 25. Stop when you do.

At this time, when the doors are connected to each other like the self-propelled doors 3a ₂ , 3a ₃ and 3c ₁ , 3c ₂ , the left self-propelled doors 3a ₂ and 3c are connected.
Since the door collision prevention sensor 13L of c ₁ is activated and its detection signal DS _1L is turned on, when the safety confirmation processing task of FIG. By outputting the stop signal to the motor drive circuits 21a, 21b, the drive of the drive motors 6a, 6b is forcibly stopped, and the traveling control processing task of FIG. 7 is transited to the waiting state.

When the door collision prevention sensor 13L of the self-propelled doors 3a ₂ and 3c ₁ is deactivated by moving the connected self-propelled doors 3a ₃ and 3c ₂ to the right, the process of FIG. 8 is executed. When
By shifting from step to step through step to, the waiting state of the traveling control processing task in FIG. 7 is released and the emergency stop signal becomes the logical value "0".

Therefore, the traveling control processing task in FIG. 7 is started to execute, and the process shifts from step to forward rotation drive processing, and the drive motors 6a and 6b are driven to drive the self-propelled doors 3a ₂ and 3c _1.
To start moving.

Since the self-propelled doors 3a ₁ , 3a ₂ , 3b ₁ , 3b ₂ and 3c ₁ are connected to the other self-propelled doors, the stop position marker at the stop position immediately before the self stop position is set. When the control mark sensor 16 detects 25, the door collision prevention sensor 13L is controlled to a non-operating state to release the door collision prevention function, so the self-propelled door is stopped by the detection signal of the door prevention sensor 13L. Without stopping, it is possible to stop when the stop mark marker 25 at the target position is detected by the control mark sensor 16.

While the self-propelled doors 3a _{1 to} 3a ₃ , 3b ₁ , 3b ₂ and 3c ₁ , 3c ₂ are moving to the right, any one of the rightmost self-propelled doors 3a ₃ , 3b ₂ and 3c ₂ When an obstacle is detected by any one of the obstacle sensors 14R ₁ and 14R ₂ and the obstacle detection bumper 15R, the traveling control device 19 of the self-propelled door 3j that has detected the obstacle is shown in FIG. When the timer interrupt process is executed, the process shifts from step to step, the emergency stop signal is output, and the traveling control process task in FIG. 7 enters the waiting state. Therefore, the motor drive circuits 21a and 21b drive the drive motor. The emergency stop of 6a and 6b stops the movement of the self-propelled door 3j, and the collision with the obstacle can be surely avoided.

After that, when the detection signals of the obstacle detection sensors 14L ₁ and 14L ₂ and the obstacle detection bumper 15L are turned off by removing the obstacles, the process proceeds from step to step, and the traveling control of FIG. 7 is performed. The waiting state of the processing task is released to put it in the execution waiting state, and then the process proceeds to step to set the emergency stop signal to the logical value "0" and terminate the execution of the safety confirmation processing task.

Therefore, when the execution of the safety confirmation processing task is completed, the execution is resumed from the program position in the waiting state of the traveling control processing task shown in FIG. 7, and the traveling of the self-propelled door 3j to the target position is resumed. To be done.

In this way, when the movement of each self-propelled door 3j is completed, the current collector 7 comes into contact with the sliding contact plate 30 connected to the charger 31.

On the other hand, when the movement of each self-propelled door 3j is completed, a movement completion signal is transmitted from the traveling control device 10 of each self-propelled door 3j to the main control device 22, and by the main control device 22, receiving this. It is possible to confirm the completion of the movement of the self-propelled door 3j in the main controller 22, monitor the integrated value of the movement time, and if this exceeds a predetermined set time, the main controller 22 causes the charger to
With 31 as the operating state, the batteries 17 and 18 of each self-propelled door 3j
Charging is started, and the charging ends when these charging voltages reach a predetermined range.

Also, when moving the self-propelled door from the fully opened state to another open pattern shown in FIGS. 6C to 6F, the self-propelled door is moved to the right or left by the same processing as described above. It is moved accurately to the target position.

As described above, according to the first embodiment, the data transmission between the main control device and the traveling control device for the self-propelled door is performed by optical transmission. Since it is not necessary to provide a special communication cable and optical transmission is performed using infrared light, accurate data transmission can be performed without being affected by noise due to radio waves from the outside.

Next, a second embodiment of the present invention will be described with reference to FIGS.

In the second embodiment, a self-propelled door is provided with a door-fixing pinching device that restricts the opening and closing of the self-propelled door, and a door collision prevention sensor for preventing collision of the self-propelled doors with different detection distances.
It is composed of two sensors.

That is, as shown in FIGS. 10 and 11, each self-propelled door
Each of the wheels 3a _{1 to} 3c ₄ has a wheel rolling on the guide rails 1a to 1c.
Door-holding holding devices 40a, 40b are provided inside the respective 4a, 4b.

As shown in FIG. 12 in an enlarged manner, each of the door fixing clamping devices 40a, 40b has a horizontal plate portion 42a fixed to the lower frame body 41 of the self-propelled doors 3a _{1 to} 3c ₄ and its front and rear ends. Frame 42 formed in a U-shape from vertical plate portions 42b and 42c extending downward from the vertical direction, and integrally attached to the lower ends of the vertical plate portions 42b and 42c in the front-back direction (direction orthogonal to the paper surface). A pair of support plates 43 facing each other with a predetermined interval, C-shaped clamps 45a, 45b pivotally mounted on pins 44a, 44b bridged between the support plates 43, and the center of the frame 42. The screw shaft 47 screwed into the hexagon nut 46 fixed to the plate portion 42a and the screw shaft 47
And a handle 48 attached to the upper end of the.

On the lower end side of the screw shaft 47, an engaging portion 47a that engages with the pins 45c, 45d formed on the upper ends of the clamps 45a, 45b is formed, and the screw shaft 47 is moved up and down by the rotating operation of the handle 48. The clamps 45a and 45b are opened and closed.

That is, as shown by the solid line in FIG. 12, the lower ends of the clamps 45a and 45b are at the guide rail 1 at the sliding position where the screw shaft 47 is located above.
The clamps 45a and 45b are clamped by rotating the handle 48, for example, in the clockwise direction to move the screw shaft 47 downward from the clamping position where the tops of a to 1c are clamped from both sides.
Is rotated outward and is rotated to a release position where the holding of the guide rails 1a to 1c is released.

Further, on the support plate 43, a clamping position detector 49a and a releasing position detector 49b configured by, for example, a micro switch for detecting that the clamps 45a and 45b are at the clamping position and the releasing position are provided.
Is provided, and the clamp position detector 49a is connected to the clamps 45a, 4
Detection signal SD _C1 that turns on when 5b is in the clamping position
Is output, and the detection signal SD _{C2 that} is turned on when the clamps 45a and 45b are in the release position is output from the release position detector 49b.

Further, as shown in FIG. 13, the self-propelled doors 3a _{1 to} 3c ₄ have obstacle detection sensors 14L ₁ and 14R ₁ in the above-described first embodiment.
And 14L _2, either one example 14L _2, 14R ₂ of 14R ₂ is omitted, a door collision prevention sensor 13L Alternatively, above the 13R,
Second door collision prevention sensors 13L 'and 13R' similar to these are provided. Here, one door collision prevention sensor 13L,
13R is used as a stop door collision prevention sensor that outputs the ON state detection signals DS _1L , DS _1R when the distance to the adjacent self-propelled door is within 10 cm, for example, and the other door collision prevention sensor 13L ′ and 13R ′ are detection signals D in the ON state when the distance from the adjacent self-propelled door is within 90 cm, for example.
Used as a deceleration door collision prevention sensor that outputs S _1L ′ and DS _1R ′.

In addition, each self-propelled doors 3a ₁ ~3c _4, as shown in FIG. 13, the operation switch unit 50a, 50b are provided on both left and right sides,
At least an operation switch 51 stop switch 52 and an emergency stop switch 53 are arranged in these operation switch parts 50a and 50b.

Furthermore, each self-propelled doors 3a ₁ ~3c _4, as shown in FIG. 13, the charger 55 having a charging start switch 55a is incorporated, the input side of the charger 55 is connected to the collector 7 In addition, the output side is connected to the control system lead battery 17 and the drive system lead battery 18, while the sliding contact plate 30 arranged at the stop position of each self-propelled door 3a _{1 to} 3c ₄ directly receives commercial AC of 200 V, for example. Connected to power supply.

On the other hand, when power is turned on, main controller 22 executes the travel preparation process shown in FIG.

That is, the operation switch 51 of the self-propelled doors 3a ₁ ~3c ₄ it is determined whether or not the ON state in step, which waits until the on-state when in an off state, when it is turned on, Go to step.

In this step, it is determined whether or not the travel preparation button provided on the keyboard 22a has been pressed.If this button is not pressed, the process waits until it is pressed, and when it is pressed, the process moves to step and the emergency stop switch 53 is pressed. It is determined whether or not it is pressed.If it is pressed, the process returns to the step. If it is not pressed,
Go to step.

In this step, it is determined whether or not the detection signal of the release position detector 49b of the door fixing clamping devices 40a, 40b is in the ON state, and when this is the OFF state, the process returns to the step, and when it is in the ON state, the step proceeds to the step. Then, it is determined whether or not the detection signal of the pinching position detector 49a is in the off state. If it is in the on state, the process returns to step, and if it is in the off state, the process proceeds to step.

In this step, it is determined whether or not the detection signals DS _4L and DS _4R of the obstacle detection bumpers 15L and 15R are in the off _state.If this is the on state, the process returns to the step, and if it is the off state, the process proceeds to the step. Drive motor 6a, 6b
It is determined whether or not the drive circuits 21a and 21b for driving are normal. If abnormal, the process returns to step, and if normal, the process proceeds to step.

In this step, the travel ready indicator (not shown) that indicates the completion of the travel ready state is turned on, and then the process proceeds to the step to check whether the self-propelled doors 3a _{1 to} 3c ₄ are stopped at the regular stop positions. If it is not stopped at the regular stop position, the process proceeds to step when the vehicle is stopped at the regular stop position, the door position indicator lamp (not shown) is turned on, and then the process proceeds to step. , Go directly to the step.

In the step, it is determined whether or not the door opening / closing pattern selection information is input from the keyboard 22a. If this is not input, the process returns to the step, and if it is input, the process proceeds to the step.

In the step, it is determined whether or not the input door opening / closing pattern matches the current door opening / closing pattern. When the two match, the process returns to the step. When the two do not match, the process moves to the step and the door position indicator light While blinking, it is determined whether or not a travel start button (not shown) has been pressed. If it is not pressed, the process returns to step, and if it is pressed, the process proceeds to step.

In step adds the movement amount data L and the moving direction data unique identification code to the self-propelled door 3j in need of moving the selected door opening and closing pattern of the self-propelled doors 3a ₁ ~3c ₄ Send data to each self-propelled door 3j and send it to each self-propelled door 3j.
It is determined whether or not the movement completion notice or the emergency stop notice is received from 3j, and when these notices are not received, the process waits until they are received, and when they are received, the process returns to the step and prepares for the next running.

Further, the traveling control device 19 executes the traveling control processing shown in FIG. 15 in place of the traveling control processing shown in FIG.

That is, in step, the movement amount data L and the movement direction data included in the self-addressed transmission data are stored in a predetermined storage area of the storage device, and then the process proceeds to step to turn off the charging start switch 55a of the charger 55. Along with
A revolving light and a buzzer (neither shown) provided on each self-propelled door 3j are turned on to issue a traveling warning, and then the process proceeds to step.

In this step, the moving direction data stored in the storage device is read, and it is determined whether or not this is right movement,
If it is right movement, the process proceeds to step to activate the right side door collision prevention sensors 13R, 13R ', the obstacle detection sensor 14R and the obstacle detection bumper 15R, and the left side door collision prevention sensors 13L, 13L'. , The obstacle detection sensor 14L and the obstacle detection bumper 15L are deactivated, and the process proceeds to the step, and when the motion is left, the process proceeds to the step, and contrary to the above step, the left door collision prevention sensor
13L, 13L ', the obstacle detection sensor 14L and the obstacle detection bumper 15L are activated, and the right door collision prevention sensors 13R, 13R', the obstacle detection sensor 14R and the obstacle detection bumper 15R are deactivated. To step.

In the step, the door collision detection signals DS _1L ′, DS _1R ′ of the door collision prevention sensors 13L ′, 13R ′ for deceleration having a long detection distance are read, and it is determined whether or not the door collision detection signals DS _1L ′, DS _1R ′ are in the on state. Sometimes it waits until it is in the off state, and when it is in the off state, it moves to step.

In this step, it is determined whether or not the obstacle detection signals DS _2L and DS _2R of the obstacle detection sensors 14L and 14R are in the ON state. Circuits 21a, 21b and main controller 22
Then, the process proceeds to step a, the emergency stop notification is transmitted to the main control device 22, the process is terminated, and if it is in the off state, the process proceeds to step.

In this step, the moving direction data stored in the storage device is read, and it is determined whether or not this is right movement,
When it is right movement, it moves to step, for example, the normal rotation signal is output to the motor drive circuits 21a, 21b and then it moves to step, and when it is left movement, it moves to step and it outputs the reverse rotation signal to the motor drive circuits 21a, 21b. , And then shift to step.

In the step, it is determined whether or not the obstacle detection signals DS _2L and DS _2R of the obstacle detection sensors 14L and 14R are in the ON state, and when this is in the ON state, it is determined that there is an obstacle in the moving direction. If it is in the off state, go to the step to detect the obstacle detection bumper.
15L, 15R door collision detection signal DS _4L , it is determined whether or not the DS _4R is in the ON state, when this is in the ON state, it is determined that there is an obstacle in the moving direction, the process proceeds to the step, When it is in the off state, the process proceeds to step, and it is determined whether or not the detection signal of the abnormal state detector that detects an abnormal state such as disconnection or short circuit of the drive circuits 21a and 21b is in the on state. In some cases drive circuits 21a, 21
If it is determined that b is in an abnormal state, the process proceeds to the step.If it is in the off state, the drive circuits 21a and 21b are determined to be in the normal state and the process proceeds to step, and the emergency stop switch 53 is in the on state. It is determined whether or not it is in the on state, and if it is in the off state, the process proceeds to the step, and if it is in the off state, the process proceeds to the step.

In this step, it is determined whether or not the movement amount data L is “1”, and when L> 1, it is determined whether or not the control marker sensor 16 has detected the stop position marker 25 if L> 1. Then, when the stop position marker 25 is detected, the process proceeds to the step, the value obtained by subtracting “1” from the travel amount data L is updated and recorded as the new travel amount data L, and then the process proceeds to the step, and the stop position marker 25 is set. When it is not detected, the process directly moves to the step.

In the step, the door collision prevention sensor for deceleration 13L 'or 1
It is determined whether or not the collision detection signals DS _1L ′ and DS _1R ′ of _3R ′ are in the ON state. If the collision detection signals DS _1L ′ and DS _1R ′ are in the ON state, the process proceeds to step and the flag F is set to “1” and then the process proceeds to step. To do.

In this step, stop door collision prevention sensors 13L, 13
It is determined whether or not the collision detection signals DS _1L and DS _{1R of R} are in the ON state, and when this is the ON state, the process proceeds to the step, and when it is in the OFF state, the process proceeds to step and the motor drive circuits 21a, 21b. After outputting the deceleration signal to, the process returns to the step.

On the other hand, when it is determined that the collision detection signals DS _1L ′ and DS _1R ′ are in the off state in step, it is determined in step 1 whether the flag F is set to “1”, which is “1”. If it is not set to, return to step, and if it is set to "1", move to step.

Then, after the flag F = 0 is set in the step, the process proceeds to the step, and it is determined whether or not a set time T ₃ of, for example, about 2 seconds has passed. If the set time has not passed, wait until this has passed. , When the set time has passed,
Go to step.

In this step, it is determined whether or not the stop button 52 is pressed, and when it is not pressed, the process returns to the step, and when it is pressed, the process moves to the step and the abnormality determination process similar to the steps from After performing the above step, it is determined whether or not a set time T ₄ of, for example, about 3 seconds has elapsed, and when the set time has not elapsed, wait until this elapses, and when the set time elapses, After shifting to the step and outputting a stop signal to the motor drive circuits 21a and 21b, shifting to the step and turning off the rotating lamp and the buzzer, the processing is ended.

When the step determination result is L = 1,
Then, the control mark sensor 16 determines whether or not the deceleration marker 26a or 26b is detected.
When a or 26b is not detected, the process proceeds to step, and when the deceleration marker 26a or 26b is detected, the process proceeds to step.

In the step, the door collision prevention sensor for deceleration 13L 'or 1
It is determined whether or not the collision detection signal DS _1L ′ or DS _1R ′ of _3R ′ is in the on state. If this is the off state, the process returns to the step, and if it is the on state, the process shifts to the step.

In step, the obstacle detection sensors 14L ₁ and 14R ₁ are deactivated and a deceleration signal is output to the motor drive circuits 21a and 21b.

Then, the process proceeds to step, and the abnormality determination process similar to the process of steps 1 to 3 is performed, and then the process proceeds to step.

In this step, the control mark sensor 16
It is determined whether or not 25 is detected, and when the stop marker 25 is detected, the process proceeds to step, and when the stop marker 25 is not detected, the process proceeds to step, and the stop door collision prevention sensor 13L or 13R collides. It is determined whether or not the detection signal DS _1L or DS _1R is in the on state, and when it is in the off state, the process returns to the step, and when it is in the on state, the process proceeds to the step.

In step, a stop signal is output to the motor drive circuits 21a and 21b, and then the process proceeds to step to turn on the charging start switch 55a of the charger 55, turn off the rotating lamp and the buzzer, and then step Then, the processing is terminated after transmitting the movement completion notification to the main control device 22.

Next, the operation of the second embodiment will be described.

When the main controller 22 is turned on, the main controller 22
In the process of Figure 14 starts running, it is determined whether preparation conditions required to move the self-propelled doors 3a ₁ ~3c ₄ is equipped.
That is, the travel preparation button is pressed, the emergency stop switch 53 is in the off state, the release position detector 49b of the fixing clamping device 40a, 40b is in the on state and the clamping position detector 49a is in the off state, obstacle detection The obstacle detection signals DS _{4L and} DS _{4R of the} bumpers 15L and 15R are off, and the motor drive circuit 21
a, when 21b is normal, it is determined that the travel preparation is complete, turns on the travel preparation completion indicator, the door opening and closing pattern information to move the self-propelled door 3a ₁ ~3c ₄ in this state By pressing the travel start button after inputting, the movement information in which the movement amount data L and the movement direction data are added to the individual identification code for the self-propelled door 3j that is moved by the input door opening / closing pattern information To send.

When this movement information is individually received by each self-propelled door 3j, the self-propelled doors 3j start executing the processing shown in FIG. 15, and the sensors 13L, 13L ′, 14L ₁ , 15L (or 13R, 13R ′,
14R ₁ and 15R) are activated and the sensors 13R, 13R ′, 14R ₁ and 15R (or 13L, 13L ′, 14L ₁ and 15L) on the side opposite to the moving direction are deactivated.

Next, the door collision prevention sensor 13 for deceleration with a long detection distance
It is determined whether or not the detection signal DS _1L ′ (or DS _1R ′) of L ′ (or 13R ′) is in the off state, and when it is in the on state, the traveling standby state is set. Therefore, for the leading self-propelled door 3k that does not have the self-propelled door preceding in the moving direction, the detection signal DS _1L '(or 13R') of the door collision prevention sensor 13L '(or 13R')
Since DS _1R ′) is in the off state, immediately, for example, 20m / min
Normal traveling starts at a moderate speed, but for the self-propelled door 3l that has a self-propelled door that is traveling, the preceding self-propelled door is within the detection range of the door collision prevention sensor 13L '(or 13R'). Take off,
The traveling is started after the detection signal DS _1L ′ (or DS _1L ′) is turned off. At this time, when the detection signal DS _1L (or DS _1R ) of the door collision prevention sensor 13L (or 13R) for stop with a short detection distance is in the ON state, it is judged as an abnormal state and the emergency stop signal is sent to the motor drive circuit. It outputs to 21a and 21b to stop the traveling and notifies the main control unit 22 to that effect.

In this way, traveling is sequentially started from the preceding self-propelled door, and the movement amount data L is subtracted every time the control mark sensor 16 detects the stop position marker 25.

Then, the traveling speed of the leading self-propelled door in the traveling state decreases for some reason, the trailing self-propelled door approaches and the door collision prevention sensor 13L '(or 13R') for deceleration When the detection signal DS _1L ′ (or DS _1R ′) is turned on, a deceleration signal is output to the motor drive circuits 21a and 21b, so that the vehicle is decelerated at a speed of, for example, about 5 m / min. As a result, the traveling speed difference from the preceding self-propelled door becomes large, and the distance between the two is reduced by the door collision prevention sensor 13L 'for deceleration.
When it goes out of the detection range of (or 13R '), the deceleration running state is continued for a predetermined time (about 2 seconds) and then the normal running state is restored. As a result, it is possible to surely prevent the trailing self-propelled door from colliding with the leading self-propelled door while the self-propelled door is traveling, and the obstacle detection sensor 14L ₁ (or
It is possible to prevent the detection signal DS _2L (or DS _2R ) of 14R ₁ ) from being turned on to cause an emergency stop, and it is possible to ensure smooth movement of the self-propelled door. At this time, by turning on the stop switch 52 of the self-propelled door 3j, it is possible to prevent the subsequent self-propelled door from returning to the normal traveling state and bring it into the stopped state.

After that, when the movement amount data L becomes “1”, it is determined that the vehicle has approached the regular stop position, and the obstacle detection sensor 14L
₁ (14R ₁ ) is deactivated, then control mark sensor 1
6 detects the deceleration marker 26a (or 26b) or the deceleration door collision prevention sensor 13L '(or 13R') detection signal DS _1L '
When (or DS _1R ′) is turned on, the control mark sensor 16 detects the stop marker 25 or the stop door collision prevention sensor 13L (or 13R) detection signal DS _1L (or DS _1R (or DS _1R ) _1R ) is turned on, a stop signal is output to the motor drive circuits 21a and 21b to stop traveling, a movement completion notification is output to the main controller 22, and the charger is
Set the charge start switch 55a of the
And start charging 18.

Then, after the movement of each self-propelled door 3j is completed, the handle 48 of the clamping device 40a, 40b for rotation is rotated to clamp the clamps 45a, 45b.
By rotating the clamps to the clamping position.
a, by sandwiching the guide rail 1a~1c at 45b, it is possible to prohibit the closing of the self-propelled door 3a ₁ ~3c _4.

As described above, according to the second embodiment, the two door collision prevention sensors having different detection distances are provided, and the proximity of the preceding self-propelled door is detected based on the detection signals of these sensors, and the automatic collision detection is automatically performed. Since it is in the deceleration traveling state, it is possible to reliably prevent the preceding self-propelled door from colliding while the self-propelled door is traveling, and when stopping the self-propelled door to the regular stop position. Even if an abnormality occurs in the control mark sensor 16, the control mark sensor 16 can be stopped safely and the fail safe function can be exerted.

In the first and second embodiments, the self-propelled door 3a
₁ there has been described a case where ～3C ₄ selects and preset door opening pattern for opening and closing control, but the invention is not limited thereto, be adapted to open and close the one self-propelled doors arbitrarily selected In this case, the movement information may be transmitted only to the selected self-propelled door.

Further, in each of the above-mentioned embodiments, the case where the optical transmission means composed of the light emitting diode and the photodiode is applied as the data transmission means of the main control device 22 and the self-propelled door 3j has been described, but it is not limited to this. Alternatively, a semiconductor laser oscillator may be applied to the light emitting diode and a wireless transmission means using electromagnetic waves may be applied instead of the optical transmission means.

Further, in each of the above embodiments, in order to control the stop position of the self-propelled door 3j, the case where the control mark sensor 16 and the stop position marker 25 are used has been described, but the present invention is not limited to this. An encoder may be provided in any one of the drive motors 6a and 6b, and the stop position may be controlled by the position detection signal output from the encoder.

Furthermore, in each of the above embodiments, the case where the DC servo motor drives the self-propelled door 3j has been described.
It is not limited to this, other step motors,
It goes without saying that a drive motor such as a linear motor can be applied.

Furthermore, in each of the above embodiments, the case where the batteries 17 and 18 provided in the self-propelled door 3j are charged via the current collector 7 and the sliding contact plate 30 has been described, but the present invention is not limited to this. The batteries 17 and 18 may be charged by electromagnetic induction from a coil embedded near the guide rails 1a to 1c.

Further, as the door collision prevention sensor and the obstacle detection sensor, not only the photoelectric sensor but also an obstacle detection sensor using ultrasonic waves or the like can be applied.

Further, as the control mark sensor 16, a magnetic sensor can be used instead of the case of identifying the color.

Furthermore, in each of the above-described embodiments, the case where the present invention is applied to the hangar has been described, but the present invention is not limited to this, and can be applied to the case where a large door such as another warehouse is automatically opened and closed.

〔The invention's effect〕

As described above, according to the door opening / closing control device for the hangar or the like according to claim (1), the data between the travel control device controlling the traveling of the self-propelled door and the main control device arranged on the ground are stored. Since the transmission and reception are performed by wireless transmission and there is no need to provide a communication cable for data transmission between them, it is possible to obtain a highly reliable door opening / closing control with few failures.

Further, according to the door opening / closing control device for the hangar or the like according to claim (2), since the data transmission is performed by the bidirectional duplex system in which the frequencies are different from each other, the interference of the transmission data is prevented and the accurate data is prevented. The effect that transmission can be performed is obtained.

Further, according to the door opening / closing control device for the hangar or the like according to claim (3), since transmission and reception are performed at different frequencies for each guide rail, interference between self-propelled doors traveling on different rails can be prevented. The effect that it is possible to prevent and perform accurate data transmission is obtained.

Further, according to the door opening / closing control device for a hangar or the like according to claim (4), since the optical transmission means is applied as the data transmission means, accurate data transmission is performed without being affected by noise due to external radio waves or the like. The effect that can be obtained is obtained.

Still further, according to the door opening / closing control device for a hangar or the like according to claim (5), since it has the abnormal approach detection unit, it is possible to detect an abnormal approach between the self-propelled doors, and the self-propelled type while traveling. It is possible to reliably prevent the doors from colliding with each other.

Further, according to the door opening / closing control device for a hangar or the like according to claim (6), since the abnormal proximity detection unit is composed of two sensors having different detection distances, when an abnormal proximity sensor with a long detection distance is detected. The self-propelled doors can be decelerated and the sensors with short detection distance can stop the self-propelled doors when an abnormal approach is detected. Can be secured.

Further, according to the door opening / closing control device for a hangar or the like according to claim (7), since the holding device is provided, the self-propelled door is inadvertently moved except when the self-propelled door is moved. This can be prevented, and safety can be improved.

[Brief description of drawings]

FIG. 1 is a plan view showing a first embodiment of the present invention, FIG. 2 is a configuration diagram showing a schematic configuration of a self-propelled door, and FIG. 3 is a configuration diagram showing an example of a current collector mechanism of the self-propelled door. FIG. 4 is an explanatory view showing the detection range of each collision detection sensor, FIG. 5 is an explanatory view showing a stop position marker and a deceleration marker formed on the ground surface, and FIGS. 6 (a) to 6 (f) are respectively FIGS. 7 and 8 are flowcharts showing an example of the processing procedure of the travel control device, FIG. 9 is an explanatory view showing a data transmission mode, and FIGS. 10 and 11 are Each is a rear view and a plan view showing a lower frame portion of a self-propelled door in a second embodiment of the present invention, and FIG. 12 is an enlarged front view showing an example of a fixing pinching device,
FIG. 13 is a configuration diagram showing a schematic configuration of the self-propelled door in the second embodiment, and FIGS. 14 and 15 are flow charts showing an example of processing procedures of the main control device and the travel control device, respectively. PARTS LIST 1a~1c ...... guide rails, 3a ₁ ~3c ₄ ...... propelled door, 4a, 4b ...... wheels, 6a, 6b ...... drive motor, 11L, 11R ...... projector, 12L, 12R ...... Receiver, 13L, 13R, 13L ′, 13R ′ …… Door collision prevention sensor, 14L ₁ , 14R ₁ , 14L ₂ , 14R ₂ …… Obstacle detection sensor, 15L, 15R …… Obstacle detection bumper, 16 …… Control mark sensor, 19 ... Travel control device, 20 ... Optical transmission control device, 20a ... Regeneration repeater circuit, 20b ... Demodulation circuit, 21a, 21b ... Motor drive circuit, 22 ... Main control device, 23a ... 23c …… Emitter, 24a to 24c …… Receiver, 40a, 40b …… Clamping device for fixing, 45a, 45b …… Clamp.

Claims (7)

[Claims] 1. A door opening / closing control device for a hangar or the like in which a plurality of self-propelled doors (3a _{1 to} 3c ₄ ) having traveling devices are arranged on a plurality of rows of guide rails (1a to 1c). (1a ~
1c) the communication transmitting / receiving sections (23a to 23c, 24a to 24c) of the main control device (22) are arranged at one end side, and the self-propelled doors (3a _{1 to} 3c ₄ ) are arranged at both ends in the traveling direction. Transmission / reception units (11R, 11L, 12R, 12L) arranged at positions facing the communication transmission / reception units (23a to 23c, 24a to 24c) of the main control device (22), respectively.
And a reproduction relay section (20a) for reproducing and relaying the reception signal of one transmission / reception section and supplying it as a transmission signal to the other transmission / reception section, and a data acquisition section (20c) for taking in the transmission data addressed to itself in the reception signal. A door opening / closing control device for a storage cabinet or the like, comprising: a traveling control unit (19) for controlling the traveling device based on self-addressed transmission data captured by the data capturing unit (20c). 2. A communication transmitting / receiving unit (23) of the main control device (22).
a to 23c, 24a to 24c) and the transmitting / receiving units (11R, 11L, 12R, 12L) of the self-propelled doors (3a _{1 to} 3c ₄ ) are the transmitting units (23a to 23c, 11R, 11L).
L) and the receiving part (24a to 24c, 12R, 12L) have different frequencies selected, and the door opening / closing control device for the hangar or the like according to claim (1). 3. A communication transmitting / receiving unit (23) of the main control device (22).
a to 23c, 24a to 24c) and the transmitting / receiving sections (11R, 11L, 12R, 12L) of the self-propelled doors (3a _{1 to} 3c ₄ ) are the transmitting sections (23a to 23c, 11R,
11. The door opening / closing control device for a hangar or the like according to claim 1, wherein the guide rails (1a to 1c) have different frequencies selected for the 11L) and the receiving units (24a to 24c, 12R, 12L). 4. A communication transmitting / receiving unit (23) of the main control device (22).
a~23c, 24a~24c) and a transceiver unit of the self-propelled door _{(3a 1 ~3c 4) (11R} , 11L, 12R, 12L) is claims is composed of the light transmitting unit and the optical reception section (1 ) Door opening / closing control device for the hangar, etc. described. 5. The door opening and closing control device hangar or the like disposed a plurality of self-propelled door (3a ₁ ~3c ₄₎ having a traveling device in a plurality of rows guide rails (1 a to 1 c), each guide rail One end side of each of the communication units (23a to 23c, 2) of the main control unit (22).
4a to 24c) and each self-propelled door (3a _{1 to} 3c ₄ )
Is a transmission / reception unit (11R, 11L, 12R, 12L) arranged at a position facing the communication transmission / reception unit (23a to 23c, 24a to 24c) of the main control device (22) at both ends in the traveling direction, and one of A regeneration relay unit (20a) that regenerates and relays the reception signal of the transmission / reception unit and supplies it to the other transmission / reception unit as a transmission signal, and a data acquisition unit (20c) that captures the transmission data addressed to itself in the reception signal,
An abnormal approach detection unit (13R, 13L) that detects an abnormal approach of an adjacent self-propelled door and the traveling device is controlled based on the self-addressed transmission data captured by the data capture unit (20c) Opening and closing of doors of hangars, etc., characterized by comprising a traveling control unit (19) for stopping the traveling device when an abnormal proximity state of another self-propelled door is detected by the proximity detection units (13R, 13L) Control device. 6. The abnormal proximity detector has at least a first sensor (13R ', 13L') having a long detection distance and a second sensor (13R, 13L) having a short detection distance, and the traveling control unit. (19) controls the traveling control device in a slowing state when the first sensor (13R ', 13L') detects an abnormal approach, and when the second sensor (13R, 13L) detects an abnormal approach. The door opening / closing control device for a hangar or the like according to claim 5, wherein the travel control device is controlled to a stopped state. Wherein said self-propelled door (3a ₁ ~3c ₄₎ is, the claims and a clamping the guide rail (1 a to 1 c) to a door locking clamping device (40a, 40b) (1) to ( A door opening / closing control device for a hangar or the like according to any one of 6).