Opening / closing device for opening / closing body and control method thereof

Abstract

To provide an opening / closing device for an opening / closing body and a control method thereof which do not force unnatural operation due to restriction on operation even in a state where a mechanical absolute position of the opening / closing body cannot be recognized after power is turned on.SOLUTION: A method of controlling an opening / closing device 1 for an opening / closing body 10, including the steps of: storing, as a first position P1, a position at which a motor 2 is stopped by detecting that the opening / closing body 10 cannot be operated any more in the closing direction during a first closing operation in a case where an operation signal for instructing the closing operation is present in an origin return operation mode after power-on; storing, as a second position P2, a position at which the motor 2 is stopped by detecting that the opening / closing body 10 cannot be further operated in the opening direction during the automatic second opening operation; determining a position, at which the first position P1 and the second position P2 are found to be coincide with each other, as a temporary fully closed position TDL; and causing the opening / closing body to be in the closing operation to stop at the temporary fully closed position TDL, until the origin position OP is detected and the origin return operation mode is ended, in a case where there is an operation signal for instructing the closing operation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an opening / closing device for opening / closing bodies such as various shutters installed at openings in buildings and structures such as houses, buildings, factories, warehouses, and garages, and a control method thereof. [Background technology]

[0002] The opening and closing device for the opening and closing body is equipped with a motor for performing the opening and closing operation of the opening and closing body, a position detection unit for detecting the opening and closing position of the opening and closing body in conjunction with the rotation of the motor, and an operation input unit for inputting an operation signal for opening, closing, or stopping the opening and closing body, and the opening and closing operation of the opening and closing body is performed by controlling the motor based on the operation signal from the operation input unit and the position information detected by the position detection unit. In such opening and closing devices for an opening and closing body, various techniques are used to correctly recognize the open / closed position of the opening and closing body.

[0003] For example, Patent Document 1 discloses an electric shutter opening / closing device installed in a garage or the like that uses a potentiometer as a position detection means for detecting the moving position of a slat curtain (an opening / closing member as a movable part). In this electric shutter opening / closing device, in a drive transmission system between a drive motor having a reduction mechanism and the slat curtain, a potentiometer is provided in conjunction with the output shaft of the reduction mechanism of the drive motor, and the rotation of the output shaft is transmitted to both an output system that rotates the roll of the slat curtain and the potentiometer. The output value (voltage value) of the potentiometer accompanying the rotation of the output shaft is input to a processing device via an input interface, so that the mechanical moving position of the slat curtain is detected as an absolute position. In an electric shutter opening and closing device that uses this potentiometer, the absolute mechanical position of the slat curtain is linked to the output value of the potentiometer, making it possible to recognize the absolute mechanical position of the slat curtain from the output value of the potentiometer even immediately after power is turned on.

[0004] Patent Document 2 discloses an opening / closing device for an opening / closing body such as a sheet shutter, which includes an origin sensor that detects when the opening / closing body passes a predetermined origin position, and a counting means that recognizes the amount of change from the origin position of the opening / closing body as a count value, and corrects the count value to an operating origin value indicating the origin position when there is a detection signal from the origin sensor. In this example, the origin sensor uses a mechanical counter switch that is composed of a mechanical counter that rotates in synchronization with a rotating part such as the output shaft of the opening / closing machine (electric motor), and a limit switch that outputs a contact signal when the count value of the counter reaches a predetermined value. The counting means is configured to count the amount of rotation of a rotating part such as the output shaft of the opening / closing machine using an encoder, a hall sensor, or the like, and output the count value. In the opening and closing device of this opening and closing body, position detection is performed by counting the amount of rotation of the output shaft, etc. using an encoder or Hall sensor, etc., so the absolute mechanical position of the opening and closing body cannot be recognized immediately after power is turned on.The operating origin of the opening and closing body is determined when a detection signal is received from the origin sensor during operation.

[0005] Patent Document 3 discloses an opening / closing device for an opening / closing body such as a shutter opening / closing device that does not use components such as a potentiometer or an origin sensor as a means for detecting the position, but detects the opening / closing position of the opening / closing body based on the count value of the motor rotation pulse. In this opening / closing device for an opening / closing body, when the first position and the second position stored by detecting that the opening / closing body cannot move further in the opening direction by two opening operations in the origin return operation mode executed before the normal operation mode match, the position is determined as the origin position. Here, the case where it is detected that the opening / closing body cannot move further in the opening direction specifically means that the seat plate member at the lower end of the opening / closing body abuts against the lintel of the storage part of the opening / closing body, and the rotation of the motor is mechanically locked. In the opening and closing device of this opening and closing body, similarly to the opening and closing device described in Patent Document 2, the absolute mechanical position of the opening and closing body cannot be recognized immediately after power is turned on. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2000-314285 A [Patent Document 2] JP 2013-217056 A [Patent Document 3] Patent No. 6952232 Summary of the Invention [Problem to be solved by the invention]

[0007] As described above, in the opening and closing devices for the opening and closing body described in Patent Document 2 and Patent Document 3, unlike the case where the potentiometer described in Patent Document 1 is used as the position detection means, it is not possible to recognize the absolute mechanical position of the opening and closing body immediately after power is turned on. For this reason, in these opening and closing devices, after power is turned on, certain operational restrictions may be imposed, such as restricting operation in a direction away from the origin position until the origin position detected by the origin sensor in Patent Document 2 or the origin position where the mechanically locked state is achieved by the opening operation in Patent Document 3 is detected.

[0008] For example, in the opening and closing device of Patent Document 2, when the position where the origin sensor is detected is near the fully open position of the opening and closing body, in both cases of Patent Document 2 and Patent Document 3, it is necessary to perform an opening operation in the opening direction after powering on in order to detect the origin position. For this reason, restrictions may be placed on the closing operation in the opposite closing direction, such as prohibiting the closing operation until the origin position is detected, or allowing the closing operation to occur only while the closing button of the operation switch that commands the closing operation is being pressed (the motor is stopped when the closing button is released).

[0009] However, providing such operational restrictions is difficult for general users to understand, and may force users to perform unnatural operations, which may result in complaints and inquiries. In particular, in the opening and closing device of the opening and closing body described in Patent Document 3, the position where the opening operation results in a mechanically locked state is the origin position, so the origin position is located at a position substantially the same as or higher than the normal fully open position, and in order to detect this origin position after power is turned on, it is necessary to perform an opening operation. For this reason, when the power is turned on again while the opening and closing body is in the fully open state, a normal user would want to perform the closing operation until the opening and closing body is in the fully closed state, but the user is forced to perform an unnatural opening operation. The same is true in the opening / closing device described in Patent Document 2 when the position at which the origin sensor is detected is close to the fully open position; if the power is turned back on in a state where the opening / closing body is close to the fully open position, slightly below the detection position of the origin sensor, it is natural for the user to not perform the opening operation, but rather to first try to perform the closing operation until the fully closed position is reached. For this reason, it is desirable that opening and closing devices for these opening and closing bodies not force users into unnatural operations due to operational restrictions after power is turned on.

[0010] The object of the present invention is to solve the above-mentioned problems by providing an opening / closing device for an opening / closing body and a control method thereof that do not force the user to perform unnatural operations due to operational restrictions, even if the absolute mechanical position of the opening / closing body cannot be recognized until the origin position is detected after power is turned on. [Means for solving the problem]

[0011] One aspect of the present invention for solving the above-mentioned problem is a control method for an opening / closing device for an opening / closing body, the method comprising: a motor for performing an opening / closing operation of an opening / closing body supported so as to be operable in both an opening direction and a closing direction; a position detection unit for detecting an opening / closing position of the opening / closing body based on a count value of motor rotation pulses that are output in a manner that enables a rotation direction and a rotation change amount to be identified in conjunction with the rotation of the motor; an operation input unit for inputting an operation signal that instructs the opening / closing operation or stop of the opening / closing body; and a control unit for controlling the motor based on the operation signal and position information detected by the position detection unit, wherein, after power is turned on, the control unit executes a home return operation mode in which an operation is performed to detect an origin position that serves as a reference for the fully open position and the fully closed position, before a normal operation mode in which the opening / closing body is opened and closed between a fully open position and a fully closed position that are set in advance based on the operation signal and the position information, and in the home return operation mode, the control unit performs an opening operation of the opening / closing body in a state in which the opening / closing body is stopped at a position where the origin position can be detected by opening the opening / closing body in the opening direction after power is turned on, a first closing operation step for performing a closing operation of the opening / closing body in the closing direction when the operation signal instructing a closing operation is received before the origin position is detected; a first obstacle detection and stopping step for detecting that the opening / closing body cannot move any further in the closing direction during the closing operation by the first closing operation step and stopping the motor; a first position storage step for storing a position where the motor has stopped in the first obstacle detection and stopping step as a first position; an automatic opening operation step after failure stop for automatically performing an opening operation of the opening / closing body in the opening direction for a predetermined amount of movement or a predetermined time after the first position storage step and stopping the motor; a second closing operation step for automatically performing a closing operation of the opening / closing body again in the closing direction after a predetermined time has elapsed since the opening operation was stopped by the automatic opening operation after failure stop step; a second obstacle detection and stopping step for detecting that the opening / closing body cannot move any further in the closing direction during the closing operation by the second closing operation step and stopping the motor; and a second position storage step for storing a position where the motor has stopped in the second obstacle detection and stopping step as a second position.a position determination step of determining whether the first position and the second position match, and if it is determined by the position determination step that the first position and the second position match, determining that position or a position corrected by an offset amount of a predetermined count value with respect to that position as a temporary fully closed position that is a temporary position of the fully closed position determined based on the origin position, and thereafter, until the origin position is detected and the origin return operation mode is terminated, if there is an operation signal instructing a closing operation, the opening / closing body is closed in the closing direction and stopped at the temporary fully closed position.

[0012] In this method for controlling an opening / closing device for an opening / closing body, the opening / closing position of the opening / closing body is detected based on a count value of motor rotation pulses, and an origin position serving as a reference for the fully open position and the fully closed position is detected in a return-to-origin operation mode executed before a normal operation mode. In this return-to-origin operation mode, when the opening / closing body is stopped at a position where the origin position can be detected by opening the opening / closing body in the opening direction after power is turned on, if an operation signal instructing a closing operation is received before the opening operation of the opening / closing body is opened to detect the origin position, the opening / closing body is first closed in the closing direction (the opposite direction to the opening direction in which the origin position can be detected) in accordance with the operation instruction without any restriction (first closing operation step).

[0013] Furthermore, when it is detected during this closing operation that the opening / closing body cannot move any further in the closing direction, the motor is stopped (first obstacle detection stop step), and the position is stored as the first position (first position storage step). Specific cases in which it is detected that the opening / closing body cannot move any further in the closing direction include a case in which an obstacle is caught between the opening / closing body and the floor surface, and a case in which the seat plate member at the lower end of the opening / closing body abuts against the floor surface, mechanically locking the rotation of the motor.

[0014] Methods for detecting that the opening / closing body cannot move any further in the closing direction include determining whether the motor rotation speed calculated from the motor rotation pulse falls below a specified value or whether the motor rotation pulse does not change within a specified time. In addition, if a means for detecting the load current of the motor is provided in addition to a means for detecting the position using the motor rotation pulse, determining whether the opening / closing body cannot move any further in the closing direction includes determining whether the load current of the motor changes suddenly.

[0015] After the first position is stored, the opening / closing body is automatically opened in the opening direction by a predetermined distance or for a predetermined period of time, and the motor is stopped (automatic opening operation step after stopping due to an obstacle). This automatic opening operation is a general operation that is performed when an obstacle is detected, in order to prevent the obstacle from being stuck between the opening / closing body and the floor surface.

[0016] Furthermore, after a predetermined time has elapsed since the automatic opening operation was stopped, the opening / closing body is automatically closed again in the closing direction (second closing operation step). This automatic closing operation is also one of a series of operations that are performed when an obstacle is detected in order to prevent the opening / closing body from remaining open after the obstacle is detected and removed. Then, similarly to the first closing operation, when it is detected during the second automatic closing operation that the opening / closing body cannot move any further in the closing direction, the motor is stopped (second fault detection stop step), and that position is stored as the second position (second position storage step).

[0017] Next, it is determined whether the first position and the second position match (position determination step), and if it is determined that the two positions match, the position or a position corrected by an offset amount of a predetermined count value with respect to the same position is determined as a temporary fully closed position that is a temporary position of the fully closed position determined based on the origin position. Here, the case where the first position and the second position match is assumed to be a case where the seat plate member at the lower end of the opening / closing body abuts against the floor surface and the rotation of the motor is mechanically locked in both the first closing operation and the second closing operation, except for a case where an obstacle is pinched and not removed. In addition, the offset amount of the predetermined count value when determining the temporary fully closed position is a value determined in consideration of the degree of deflection of the opening / closing body when the rotation of the motor is mechanically locked. As a result, the position near the floor surface becomes the temporary fully closed position. Then, from then on, until the origin position is detected and the origin return operation mode is ended, when an operation signal instructing a closing operation is received, the opening / closing body is closed in the closing direction and stopped at the temporary fully closed position. This makes it possible to carry out the same stopping process as in normal operation at the provisional fully closed position until the origin position is detected.

[0018] After the second position is stored in the second closing operation, the opening / closing body may be automatically moved in the opening direction for a predetermined distance or for a predetermined time as an action to be taken when an obstacle is detected, as in the case of the first position being stored in the first closing operation, or the opening body may be moved for a shorter distance or for a shorter time than normal as an action to be taken when an obstacle is detected in the same position as the previous time. Also, if the provisional fully closed position is detected normally, the opening action may not be performed and the device may remain stopped.

[0019] Also, if there is an operation signal instructing an opening operation after the temporary fully closed position is determined, the origin position can be detected by simply performing the opening operation in the opening direction, so the determined temporary fully closed position may not be used in the stop process, and the origin position may be detected and the origin return operation mode may be terminated. Also, if there is an operation signal instructing an operation in the direction to detect the origin position from the beginning after power is turned on, the origin position is detected without using the above control method, and the origin return operation mode is terminated.

[0020] As described above, according to the control method for the opening / closing device of the opening / closing body, in an opening / closing device in which the mechanical absolute position of the opening / closing body cannot be recognized until the origin position is detected after power is turned on, if an operation signal instructing a closing operation is received before the origin position is detected when the opening / closing body is stopped at a position where the origin position can be detected by opening the opening / closing body in the opening direction after power is turned on, the opening / closing body can be closed in the closing direction according to the operation command without any restriction. Furthermore, after that, a position near the floor surface is determined as the temporary fully closed position by a series of operations performed when an obstacle is detected, and until the origin position is detected, the same stopping process as in normal times can be performed at the temporary fully closed position. Therefore, the user is not forced to perform unnatural operations due to operational restrictions.

[0021] This control method for the opening and closing device of an opening and closing body may be applied to an opening and closing device of an opening and closing body described in Patent Document 2, which uses an origin sensor such as a mechanical counter switch as a position detection means, or it may be applied to an opening and closing device of an opening and closing body described in Patent Document 3, which does not use components such as an origin sensor and uses the position where a mechanically locked state is achieved by the opening operation as the origin position. In particular, in the opening and closing device of the opening and closing body described in Patent Document 3, the origin position is located at a position substantially the same as the normal fully open position or higher, but when the power is turned on again with the opening and closing body in the fully open state, it is natural for the user to first try to perform a closing operation (an operation in the opposite direction to the direction in which the origin position is detected). Therefore, the effect of applying this control method is great.

[0022] The above-mentioned control method for the opening and closing device of an opening and closing body may also be such that, when the position determination step determines that the first position and the second position are identical in the origin return operation mode and the temporary fully closed position is determined, the count value of the temporary fully closed position is replaced with the count value of the position stopped in the second fault detection stop step so that the count value of the temporary fully closed position becomes a count value corresponding to the fully closed position, and then subsequent processing is performed.

[0023] In this control method for the opening / closing device of the opening / closing body, when it is determined that the first position and the second position are consistent and the temporary fully closed position is determined in the origin return operation mode, the count value of the temporary fully closed position and the count value of the position stopped in the second obstacle detection stop step are replaced so that the count value of this temporary fully closed position becomes a count value corresponding to the fully closed position, and then the subsequent processing is executed. In other words, while the count value of the current position is corrected only by the detection of the origin position and the operation is shifted to the operation based on the regular position information, the count value of the temporary fully closed position and the count value of the current position are provisionally corrected so that the count value of the temporary fully closed position becomes a count value corresponding to the regular fully closed position when the temporary fully closed position is determined. As a result, in the processing during the origin return operation mode after the determination of the temporary fully closed position, various processing based on the position information can be performed almost the same as in the normal operation mode. Here, examples of the processing based on the position information include a highly sensitive obstacle detection processing during the normal operation mode (a determination is made with high sensitivity before the rotation of the motor is mechanically locked) and an output processing such as a signal transfer contact output based on the position information.

[0024] Furthermore, the control method for an opening / closing device of any of the above-mentioned opening / closing bodies may be configured so that, in the return-to-origin operation mode, when the opening / closing body is opened in the opening direction by the operation signal instructing an opening operation after the temporary fully closed position is determined, if the origin position cannot be detected even when the amount of movement in the opening direction as viewed from the temporary fully closed position reaches a predetermined amount of movement that exceeds a count value corresponding to the distance between the fully closed position and the origin position, the motor is stopped as an origin position detection abnormality, the temporary fully closed position is discarded, and the return-to-origin operation mode is resumed from the state before the temporary fully closed position was determined.

[0025] In this method of controlling an opening / closing device for an opening / closing body, when the opening / closing body is opened in the opening direction after the determination of the temporary fully closed position in the origin return operation mode, if the origin position cannot be detected even when the amount of movement in the opening direction as viewed from the temporary fully closed position reaches a predetermined amount of movement that exceeds a count value corresponding to the distance between the regular fully closed position and the origin position, the motor is stopped as an origin position detection abnormality. Also, at this time, the temporary fully closed position is discarded (= the determination is canceled) and the origin return operation mode is resumed from the state before the determination of the temporary fully closed position. As a result, even if the origin position cannot be detected due to some abnormality such as a mechanical failure when the opening operation is performed after the determination of the temporary fully closed position, the abnormality is detected and the motor is stopped when the predetermined amount of movement is reached, so that the operation does not continue in the abnormal state and is safe. Also, since the state before the determination of the temporary fully closed position is reset thereafter, the temporary fully closed position at the time when the abnormal state occurred is not used continuously.

[0026] Another aspect of the present invention for solving the above problem is an opening / closing device for an opening / closing body, the opening / closing device including a motor for performing an opening / closing operation of an opening / closing body supported so as to be operable in both an opening direction and a closing direction, a position detection unit for detecting an opening / closing position of the opening / closing body based on a count value of a motor rotation pulse that is output in a manner that enables a rotation direction and a rotation change amount to be identified in conjunction with the rotation of the motor, an operation input unit for inputting an operation signal instructing an opening / closing operation or stop of the opening / closing body, and a control unit for controlling the motor based on the operation signal and position information detected by the position detection unit, wherein, after power is turned on, the control unit executes an origin return operation mode in which an operation is performed to detect an origin position that serves as a reference for the fully open position and the fully closed position before a normal operation mode in which the opening / closing body is opened and closed between a fully open position and a fully closed position that are set in advance based on the operation signal and the position information, and when the opening / closing body is stopped at a position where the origin position can be detected by opening the opening / closing body in the opening direction after power is turned on, the operation signal instructing a closing operation is received before the opening operation of the opening / closing body is opened and the origin position is detected. a first closing operation means for closing the opening / closing body in the closing direction when the opening / closing body reaches a predetermined position, a first fault detection and stopping means for detecting that the opening / closing body cannot move any further in the closing direction during a closing operation by the first closing operation means and stopping the motor, a first position storage means for storing a position at which the motor is stopped by the first fault detection and stopping means as a first position, an automatic opening operation means after a fault is stopped for automatically opening the opening / closing body in the opening direction for a predetermined amount of movement or a predetermined time after storing the first position by the first position storage means and stopping the motor, a second closing operation means for automatically closing the opening / closing body again in the closing direction after a predetermined time has elapsed since the opening operation by the automatic opening operation means after stopping has been stopped; a second fault detection and stopping means for detecting that the opening / closing body cannot move any further in the closing direction during the closing operation by the second closing operation means and stopping the motor; a second position storage means for storing the position at which the motor is stopped by the second fault detection and stopping means as a second position; and a position determination means for determining whether or not the first position and the second position coincide with each other, and executing these in the origin return operation mode,When the position determination means determines that the first position and the second position are the same, that position or a position corrected by an offset amount of a predetermined count value with respect to that position is determined as a temporary fully closed position that is a temporary position of the fully closed position determined based on the origin position, and thereafter, until the origin position is detected and the origin return operation mode is ended, if an operation signal instructing a closing operation is received, the opening / closing device for an opening / closing body is configured to close the opening / closing body in the closing direction and stop it at the temporary fully closed position.

[0027] In this opening / closing device for an opening / closing body, as already explained in the above-mentioned control method, when the opening / closing body is stopped at a position where the origin position can be detected by opening the opening / closing body in the opening direction after power-on, if an operation signal instructing a closing operation is received before the origin position is detected, the opening / closing body can be closed in the closing direction according to the operation command without any restriction. Furthermore, after that, a position near the floor surface is determined as the temporary fully closed position by a series of operations performed when an obstacle is detected, and until the origin position is detected, a stopping process equivalent to that under normal circumstances can be performed at the temporary fully closed position. This makes it possible to provide an opening / closing device for an opening / closing body that does not force a user to perform unnatural operations due to operational restrictions. Effect of the Invention

[0028] According to the opening / closing device for an opening / closing body and the control method thereof of the present invention, even if the absolute mechanical position of the opening / closing body cannot be recognized until the origin position is detected after power is turned on, the user is not forced to perform unnatural operations due to operational restrictions. [Brief description of the drawings]

[0029] [Figure 1] FIG. 2 is an explanatory diagram of the overall appearance showing the installation state of a slat curtain of a shutter which is an opening / closing body according to the first and second embodiments, and a shutter opening / closing device which is the opening / closing device thereof. [Diagram 2] FIG. 2 is an explanatory diagram showing the electrical configuration of the shutter opening and closing mechanism according to the first and second embodiments. [Diagram 3]5 is a flowchart showing the relationship between the execution order of the origin return operation mode and the normal operation mode after power is turned on for the shutter opening and closing devices according to the first and second embodiments. [Figure 4] 5 is a flowchart showing a closing operation of the shutter opening and closing machine according to the first and second embodiments in a normal operation mode. [Diagram 5] 5 is a flowchart showing an opening operation of the shutter opening / closing device according to the first and second embodiments in a normal operation mode. [Figure 6] 5 is a flowchart showing the first part of the operation in the origin return operation mode of the shutter opening and closing device according to the first and second embodiments, up to the determination of a provisional fully closed position. [Figure 7] 10 is a flowchart showing a second part up to the determination of a provisional fully closed position in the operation in the origin return operation mode of the shutter opening and closing device according to the first and second embodiments. [Figure 8] 5 is a flowchart showing a part of the operation in a return-to-origin operation mode of the shutter opening and closing device according to the first and second embodiments, in which a provisional fully closed position is determined. [Figure 9] 6 is a flowchart showing a part of the operation in the origin return operation mode of the shutter opening and closing device according to the first and second embodiments after the temporary fully closed position is determined. [Figure 10] 13 is a flowchart showing a part of the operation in the origin return operation mode of the shutter opening and closing device according to the second embodiment after the temporary fully closed position is determined. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] (First embodiment) A first embodiment of the present invention will be described below with reference to the drawings. In this embodiment, an example is shown in which the present invention is applied to an electric shutter installed in a garage or the like. FIG. 1 is an explanatory diagram of the overall exterior of a shutter slat curtain 10, which is an opening / closing body according to this embodiment, and a shutter opening / closing device 1, showing the installation state of the shutter slat curtain 10, which is an opening / closing body according to this embodiment, and a shutter opening / closing device 1. FIG. 2 is an explanatory diagram showing the electrical configuration of the shutter opening / closing device 1. The basic configurations of the slat curtain 10 (opening / closing body) and the shutter opening / closing device 1 according to this embodiment are equivalent to those of the embodiment described in Patent Document 3. First, with reference to FIG. 1, the mechanical structures of a slat curtain 10 of a shutter and a shutter opening / closing mechanism 1, as well as the mechanism of opening and closing operations of the shutter, will be described.

[0031] As shown in Fig. 1, the slat curtain 10 of the shutter, which is an opening / closing body, is configured by connecting multiple horizontally extending, roughly rectangular metal plates vertically, and is supported in a suspended state by being sandwiched between guide rails 11 on both horizontal sides, and is installed at the opening of a building such as a garage. When the shutter opening / closing device 1 operates, the upper end 10b of the slat curtain 10 in the vertical direction is wound up via a drive system, so that the slat curtain 10 can operate in both the opening direction DO (upward in Fig. 1) and closing direction DC (downward in Fig. 1) in the vertical direction. A seat plate portion 10a is provided at the lower vertical end of the slat curtain 10, and when the slat curtain 10 is opened in the opening direction DO and reaches a fully open state, this seat plate portion 10a comes into contact with the lintel portion 12 at the upper end of the opening in the building. On the other hand, when the slat curtain 10 is closed in the closing direction DC and reaches a fully closed state, the seat plate portion 10a comes into contact with the floor surface 18 of the opening in the building.

[0032] The shutter opening / closing machine 1 includes a motor 2 for opening and closing the slat curtain 10 and a control unit 3 for controlling the motor 2. The shutter opening / closing machine 1 is fixed to a rod-shaped shaft 13 that constitutes a fixed part of a drive system for rolling up the slat curtain 10. Both ends of the shaft 13 are fixed to plate-shaped brackets 14 that are provided above the opening of the building. A disk-shaped outer rotating wheel 15 that constitutes a movable part of the drive system is provided on the radially outer side of the axial middle part of the shaft 13. The outer rotating wheel 15 is composed of a fixed part (not shown) on the radially inner side that is fixed to the shaft 13 and does not move, and a rotating part (not shown) located on the radially outer side thereof and that rotates around the radial outer circumference of the shaft 13 as a movable part. The outer rotating wheel 15 is provided with a gear (not shown) that meshes with the output shaft gear 2a of the motor 2 of the shutter opening / closing machine 1 to rotate the rotating part.

[0033] In addition, a plurality of disk-shaped winding wheels 16 are provided on the radially outer side of the portions near both ends in the axial direction of the shaft 13 and the middle portion. Furthermore, a plurality of rod-shaped stays 17 are inserted in the axial direction of the shaft 13 between the winding wheel 16 and the rotating portion of the outer rotating wheel 15, and the winding wheel 16 and the rotating portion of the outer rotating wheel 15 are connected to each other via the stays 17. In addition, the upper end of the slat curtain 10 is fixed to the winding wheel 16, and when the motor 2 of the shutter opening / closing device 1 rotates, the rotating portion of the outer rotating wheel 15, the winding wheel 16, and the stays 17 rotate together on the radial outer periphery of the shaft 13 in conjunction with the rotation of the motor 2, so that the slat curtain 10 is wound up on the outer periphery of the winding wheel 16. As can be seen from FIG. 1, when the slat curtain 10 is wound up on the outer periphery of the winding wheel 16, the shutter opening / closing device 1 is housed inside the wound slat curtain 10 and cannot be seen from the outside.

[0034] A push button switch box 4 is installed on the wall of the building near the slat curtain 10 and the guide rail 11 to input an operation to open, close, or stop the slat curtain 10. The push button switch box 4 is provided with an up (open) button PBU, a down (close) button PBD, and a stop button PBS, and this push button switch box 4 is electrically connected to the control unit 3 of the shutter operator 1. When the up (open) button PBU of the push button switch box 4 is pressed while the motor 2 of the shutter operator 1 is stopped, the motor 2 rotates in a predetermined direction, and the slat curtain 10 of the shutter starts an opening operation (rising). Similarly, when the down (close) button PBD of the push button switch box 4 is pressed while the motor 2 of the shutter operator 1 is stopped, the motor 2 rotates in a direction opposite to that in the case of the above-mentioned opening operation, and the slat curtain 10 of the shutter starts a closing operation (lowering). In addition, when the stop button PBS of the push button switch box 4 is pressed while the shutter slat curtain 10 is performing an opening or closing operation, the rotation of the motor 2 stops and the opening or closing operation of the slat curtain 10 stops.

[0035] As shown in Fig. 2, the motor 2 of the shutter opening / closing device 1 is composed of a motor body, a reducer, and a brake, and the brake of the motor 2 is in a released state during the opening or closing operation of the slat curtain 10. When the rotation of the motor 2 stops and the opening or closing operation of the slat curtain 10 stops, the brake of the motor 2 is reset. Next, with reference to FIG. 2, the electrical configuration of the shutter opening and closing device 1 according to this embodiment will be described.

[0036] As already explained, the shutter opening / closing device 1 includes a motor 2 for opening and closing the slat curtain 10, and a control unit 3 for controlling the motor 2. The motor 2 includes a motor body, a reducer, and a brake, and an output shaft gear 2a provided on the output shaft of the motor 2 (after deceleration by the reducer) meshes with a gear of an outer rotating wheel 15 (see FIG. 1). In this embodiment, the motor body of the motor 2 is a capacitor-run type single-phase 100V induction motor. The brake of the motor 2 is a non-excitation actuation type electromagnetic brake that brakes the output shaft of the motor 2 (after deceleration by the reducer) when not energized. The control unit 3 includes a microprocessor 3a that executes a control program, and a motor drive circuit 3c and a brake drive circuit 3d connected thereto. An AC 100V power supply (not shown) is connected to the motor drive circuit 3a and the brake drive circuit 3d. A motor capacitor (not shown) is also connected to the motor drive circuit 3c. The control unit 3 also includes a control power supply circuit (not shown) that generates power for controlling the microprocessor 3a and other circuits. As a result, the microprocessor 3a of the control unit 3 outputs motor drive signals Mu, Mv, Mx and brake drive signals B+, B- to the motor 2 through the motor drive circuit 3c and brake drive circuit 3d.

[0037] In addition, the motor 2 is equipped with a motor rotation pulse detection sensor 2b for detecting the rotation of the rotating shaft of the motor body of the motor 2 (before deceleration by the reducer). The motor rotation pulse detection sensor 2b is specifically composed of a ring-shaped rotation detection magnet provided on the outer periphery of the rotating shaft of the motor body of the motor 2, and two Hall sensors for detecting the change in the magnetic field caused by the rotation of the rotation detection magnet, and outputs two-phase motor rotation pulses Ha and Hb whose phase relationship is reversed according to the rotation direction of the motor 2. In other words, the rotation direction and the amount of change in rotation of the motor 2 can be identified by the motor rotation pulses Ha and Hb. The motor rotation pulses Ha and Hb are input to the microprocessor 3a of the control unit 3 through the motor rotation pulse input circuit 3e of the control unit 3. The motor rotation pulses Ha and Hb input to the microprocessor 3a are processed by the motor rotation pulse count processing unit 3a1 by the program or internal counter of the microprocessor 3a, and are converted into a count value CT that is added or subtracted according to the rotation direction of the motor 2. As a result, the count value CT becomes position information indicating the open / closed position of the slat curtain 10. In this embodiment, components such as an origin sensor are not used as a means for detecting position, and only the motor rotation pulses Ha, Hb outputted by the motor rotation pulse detection sensor 2b serve as a means for detecting position.

[0038] 1 is connected to the control unit 3, and an open operation signal SU corresponding to the operation of the up (open) button PBU, a close operation signal SD corresponding to the operation of the down (close) button PBD, and a stop operation signal SS corresponding to the operation of the stop button PBS are input to the microprocessor 3a through the push button input circuit 3b. As described above, the microprocessor 3a of the control unit 3 controls the motor 2 based on the above operation signals SU, SD, SS, and position information on the open / closed positions of the slat curtain 10 based on the count value CT.

[0039] Next, a control method for the shutter opening and closing mechanism 1 according to this embodiment will be described with reference to FIGS. Fig. 3 is a flowchart showing the relationship between the execution order of the origin return operation mode and the normal operation mode after the power is turned on for the shutter operator 1 according to this embodiment. Also, Figs. 4 and 5 are flowcharts showing the operation of the shutter operator 1 according to this embodiment in the normal operation mode. Furthermore, Figs. 6 to 9 are flowcharts showing the operation of the shutter operator 1 according to this embodiment in the origin return operation mode. All of these flowcharts show the processing contents of the control program executed by the microprocessor 3a of the control unit 3.

[0040] As shown in Fig. 3, the shutter operator 1 executes the origin return operation mode in step S1 after power is turned on, and executes the normal operation mode in step S2 after the origin return operation mode ends. Here, the normal operation mode executed later will be described first. The normal operation mode is an operation mode in which the slat curtain 10 of the shutter, which is the opening / closing body, is opened and closed between a preset fully open position UL (=upper limit, see step S209 in Fig. 5) and a fully closed position DL (=lower limit, see step S204 in Fig. 4) based on the position information from the above-mentioned operation signals SU, SD, SS and the count value CT. Note that the fully open position UL and the fully closed position DL are set when the shutter is installed, but the method and the like will not be described here.

[0041] In the normal operation mode, with the motor 2 stopped, first, in step S201 of FIG. 4, a check is made as to whether or not there is a close operation signal SD. If there is a close operation signal SD (Yes), the process proceeds to step S202, where the closing operation of the slat curtain 10 in the closing direction DC is started. On the other hand, if there is no close operation signal SD (No), the process proceeds to step S206 of FIG. 5. Also, in step S206, a check is made as to whether or not there is an open operation signal SU. If there is an open operation signal SU (Yes), the process proceeds to step S207, where the opening operation of the slat curtain 10 in the opening direction DO is started. On the other hand, if there is no open operation signal SU (No), the process returns to step S201 of FIG. 4.

[0042] After the closing operation in the closing direction DC is started in step S202, a check is made in step S203 as to whether or not there is a stop operation signal SS. If there is a stop operation signal SS (Yes), the process proceeds to step S205, where the motor 2 is stopped. On the other hand, if there is no stop operation signal SS (No), the process proceeds to step S204, where a check is made as to whether or not the fully closed position DL is detected based on the position information by the count value CT. If the fully closed position DL is detected (Yes), the process proceeds to step S205, where the motor 2 is stopped, and if the fully closed position DL is not detected (No), the process returns to step S203 while continuing the closing operation in the closing direction DC, and the checks in steps S203 and S204 are repeated. After the motor 2 is stopped in step S205, the process proceeds to step S206 in FIG. 5, which has already been described.

[0043] Similarly, after starting the opening operation in the opening direction DO in step S207 of FIG. 5, a check is made in step S208 as to whether or not there is a stop operation signal SS. If there is a stop operation signal SS (Yes), the process proceeds to step S210, where the motor 2 is stopped. On the other hand, if there is no stop operation signal SS (No), the process proceeds to step S209, where a check is made as to whether or not the fully open position UL is detected based on the position information by the count value CT. If the fully open position UL is detected (Yes), the process proceeds to step S210, where the motor 2 is stopped, and if the fully open position UL is not detected (No), the process returns to step S208 while continuing the opening operation in the opening direction DO, and the checks in steps S208 and S209 are repeated. After the motor 2 is stopped in step S210, the process returns to step S201 in FIG. 4, which has already been described.

[0044] In addition, the flowcharts in Figures 4 and 5 omit descriptions of processing in the event of an abnormality, such as when a fault is detected during the opening or closing operation. Also, although the start of the opening operation when the fully open position UL is detected and the start of the closing operation when the fully closed position DL is detected are each prohibited, descriptions of these processes are also omitted in the flowcharts in Figures 4 and 5.

[0045] Next, the origin return operation mode by the control method of the shutter opening / closing device 1 according to this embodiment will be described with reference to the flowcharts of Figs. 6 to 9. In this embodiment, as already described, only the motor rotation pulses Ha, Hb output by the motor rotation pulse detection sensor 2b are means for position detection. From these motor rotation pulses Ha, Hb, only the rotation direction and rotation change amount of the motor 2 can be identified, and the mechanical absolute position of the opening / closing position of the slat curtain 10 cannot be identified when the power is turned on. In other words, when the power is turned on, the control unit 3 of the shutter opening / closing device 1 cannot recognize whether the slat curtain 10 is in a fully open state, a fully closed state, or a state stopped at an intermediate position, and it is also unclear where the fully open position UL and the fully closed position DL, which were preset when the shutter was installed, are located.

[0046] Therefore, in the control method of the shutter opening / closing device 1 according to this embodiment, when the slat curtain 10 is opened, the position where the seat plate portion 10a of the slat curtain 10 abuts against the lintel portion 12 is determined as the origin position OP (see step S149 in FIG. 9) which is the reference for the fully open position UL and the fully closed position DL, and the operation for correctly detecting this origin position OP is performed in the origin return operation mode. In other words, after power is turned on, the origin return operation mode (step S1 in FIG. 3) is executed to determine the origin position OP, and in the normal operation mode (step S2 in FIG. 3) executed thereafter, the opening / closing operation is performed between the fully open position UL and the fully open position DL which are determined based on the origin position OP. Note that the position of the fully open position UL is set slightly closer to the closing direction DC than the origin position OP.

[0047] The operation in the origin return operation mode will be described below in order. Note that, in the following, the description of the process of stopping the motor 2 when the stop operation signal SS is received during the opening operation or the closing operation will be omitted. When the origin return operation mode (step S1 in FIG. 3) is started after power is turned on, the opening and closing positions of the slat curtain 10, which is the opening and closing body, vary, sometimes being fully open, sometimes being fully closed, and sometimes being in other states. In this embodiment, the position where the seat plate portion 10a of the slat curtain 10 abuts against the lintel portion 12 is set as the origin position OP, so that if an opening operation is performed in the opening direction DO after power is turned on, this operation is performed to detect the origin position OP. The detection of the origin position OP by this opening operation is explained in Patent Document 3, and a detailed explanation will be omitted. Here, a case will be considered in which the power is turned on again in a state in which the slat curtain 10, which is the opening / closing body, was stopped at or near the fully open position UL in the previous normal operation mode.

[0048] After the start of the origin return operation mode by re-applying the power, in step S101 of Fig. 6, the slat curtain 10, which is the opening / closing body, is stopped at the fully open position UL (or in the vicinity thereof). Then, in the following step S102, a check is made as to whether or not there is an opening operation signal SU. If there is an opening operation signal SU (Yes), the process proceeds to step S111, where the opening operation of the slat curtain 10 in the opening direction DO is started. This causes the process to proceed to a process for detecting the origin position OP (details omitted).

[0049] On the other hand, if there is no open operation signal SU (No), the process proceeds to step S103, where a check is made to see if there is a close operation signal SD. If there is no close operation signal SD (No), the process returns to step S102, and steps S102 and S103 are repeated until there is either an open operation signal SU or a close operation signal SD. In this case, since the slat curtain 10 is stopped at the fully open position UL (or near there) (i.e., close to the fully open state), a normal user would naturally not perform an opening operation, but would try to perform a closing operation in the closing direction DC until the fully closed state is reached first. Therefore, the following will explain the case where the closing operation signal SD is received before the opening operation signal SU.

[0050] If there is a close operation signal SD in step S103 (Yes), the process proceeds to step S121, where the closing operation of the slat curtain 10 in the closing direction DC is started. This closing operation is an operation in the opposite direction to the direction in which the origin position OP is detected, but in the control method for the shutter opening and closing device 1 according to this embodiment, the closing operation of the slat curtain 10 can be performed according to the command of the close operation signal SD without any operational restrictions, even before the origin position OP is detected.

[0051] After starting the closing operation of the slat curtain 10 in step S121, a check is made in step S122 to see if an obstacle has been detected during the closing operation. If an obstacle has not been detected during the closing operation (No), the closing operation in the closing direction DC is continued while repeating the check in step S122. If an obstacle has been detected in step S122 (Yes), that is, if it is detected that the slat curtain 10 cannot move any further in the closing direction DC, the process proceeds to step S123 and the motor 2 is stopped.

[0052] In this embodiment, when an obstacle is detected during the closing operation, that is, when the slat curtain 10 cannot move any further in the closing direction DC, it means when an obstacle is caught between the bottom plate portion 10a of the slat curtain 10 and the floor surface 18, or when the bottom plate portion 10a of the slat curtain 10 abuts against the floor surface 18, mechanically locking the rotation of the motor 2. Methods for detecting such a state include, for example, when the number of rotations of the motor 2 calculated from the motor rotation pulses Ha, Hb falls below a specified value, or when there is no change in the motor rotation pulses Ha, Hb within a specified time.

[0053] After the process proceeds from step S122 to step S123 and the motor 2 is stopped, the position where the motor 2 is stopped (i.e., the count value CT at this time) is stored as the first position P1 in step S124 in FIG. 7. After the first position P1 is stored in step S124, the opening operation of the slat curtain 10 in the opening direction DO is automatically started in step S125. Furthermore, in step S126, it is determined whether a predetermined time (for example, about 1.5 to 2.5 seconds) has elapsed since the start of the opening operation. If the predetermined time has not elapsed (No), the opening operation is continued as is. If the predetermined time has elapsed since the start of the opening operation (Yes) in step S126, the process proceeds to step S127 and the motor 2 is stopped. Here, the automatic opening operation in steps S125 to S127 is a general operation that is performed when an obstacle is detected in order to prevent the obstacle from being stuck between the seat plate portion 10a at the lower end of the slat curtain 10 and the floor surface 18. In step S126, it is determined whether a predetermined time has elapsed since the start of the opening operation. Alternatively, it may be determined whether the opening operation has been performed a predetermined amount of movement (e.g., about 10 cm) since the start of the opening operation (= whether there has been a change in the count value CT equivalent to the predetermined amount of movement).

[0054] Next, in step S128 following step S127, it is determined whether or not a predetermined time (for example, about 10 seconds) has elapsed since the motor 2 was stopped in step S127. If the predetermined time has not elapsed (No), the stopped state is continued. If the predetermined time has elapsed (Yes), the process proceeds to step S129, where the closing operation of the slat curtain 10 in the closing direction DC is automatically started. This automatic closing operation of steps S128 to S129 is also one of a series of operations performed when an obstacle is detected to prevent the slat curtain 10 from remaining open after the obstacle is detected and removed.

[0055] Then, after starting the closing operation of the slat curtain 10 in step S129, a check is made in step S130 to see whether or not an obstacle has been detected during the closing operation, similar to the determination in step S122 during the initial closing operation. If no obstacle has been detected during the closing operation (No), the closing operation in the closing direction DC is continued while repeating the check in step S130. If an obstacle has been detected in step S130 (Yes), that is, if it is detected that the slat curtain 10 cannot move any further in the closing direction DC, the process proceeds to step S131 and the motor 2 is stopped.

[0056] Furthermore, after the motor 2 is stopped in step S131, the position where the motor 2 is stopped (i.e., the count value CT at this time) is stored as the second position P2 in the following step S132 in Fig. 8. Then, in the following step S133, it is determined whether the stored first position P1 and second position P2 match. Here, if the first position P1 and the second position P2 match, it is assumed that the seat plate portion 10a at the lower end of the slat curtain 10 abuts against the floor surface 18 in both the first closing operation and the second closing operation, and the rotation of the motor 2 is mechanically locked, except for a case where an obstacle is pinched and not removed. Therefore, if it is determined in step S133 that the first position P1 and the second position P2 are the same (Yes), the process proceeds to step S134, and the position of the matching first position P1 and second position P2 (or the position corrected by a predetermined count value offset amount in the count value CT) is determined as the temporary fully closed position TDL, which is a temporary position of the fully closed position DL determined based on the origin position OP. In addition, when using an offset amount of a predetermined count value to determine the temporary fully closed position TDL, the offset amount is determined taking into consideration the degree of deflection of the slat curtain 10 when the rotation of the motor 2 is mechanically locked. Furthermore, if it is determined in step S133 that the first position P1 and the second position P2 do not match (No), a predetermined process is performed when an obstacle is detected, and then the process proceeds to receiving the next operation signals SU and SD (details omitted).

[0057] Furthermore, after the first position P1 and the second position P2 match and the temporary fully closed position TDL is determined in step S134, the count value of the temporary fully closed position TDL and the count value CT of the current position (= the position stopped in step S131) ​​are replaced in the following step S135 so that the count value of the temporary fully closed position TDL becomes the count value corresponding to the regular fully closed position DL. That is, the count value CT is corrected by detecting the origin position OP and the operation is shifted to the operation based on the regular position information, but the count value of the temporary fully closed position TDL and the count value CT of the current position are temporarily corrected at this point before that. Although it is possible to omit the process of this step S135, in this embodiment, by executing the process of this step S135, it is possible to perform various processes based on the position information in the process in the origin return operation mode thereafter in the same manner as in the normal operation mode. The process based on the position information includes the detection process of obstacles with high sensitivity in the normal operation mode and the output process such as the output of the signal transfer contact based on the position information, but a detailed description thereof will be omitted here.

[0058] Furthermore, in the following steps S136 to S138, similar to steps S125 to S127, the slat curtain 10 is automatically opened in the opening direction DO as an operation to be performed when an obstacle is detected, and the motor 2 is stopped after a predetermined time has elapsed. Note that the operations of steps S136 to S138 may be performed for a shorter time (or movement amount) than usual as an operation to be performed when an obstacle is detected in the same position as the previous time. Also, assuming that the temporary fully closed position TDL has been normally detected (determined), the operations of steps S136 to S138 may not be performed, and the motor may remain stopped after steps S134 and S135.

[0059] After step S138, the process proceeds to step S139 in Fig. 9, and from this point onwards, the process proceeds to the operation after the temporary fully closed position TDL is determined, among the operations in the return to origin operation mode. In step S139, a check is made to see if there is an opening operation signal SU, and if there is no opening operation signal SU (No), the process proceeds to step S140 to check whether there is a closing operation signal SD. If there is no closing operation signal SD (No), the process returns to step S139, and steps S139 and S140 are repeated until either the opening operation signal SU or the closing operation signal SD is present.

[0060] If there is an opening operation signal SU in step S139 (Yes), the process proceeds to step S141 to start the opening operation in the opening direction DO of the slat curtain 10. This opening operation is an operation for detecting the origin position OP, and if the origin position OP is detected (step S149), the origin return operation mode is terminated and the process transitions to the normal operation mode (step S2 in FIG. 3).

[0061] On the other hand, if there is a close operation signal SD in step S140 (Yes), the process proceeds to step S151 to start the closing operation of the slat curtain 10 in the closing direction DC. This closing operation is an operation in the opposite direction to the direction in which the origin position OP is detected, but similar to step S121 before the determination of the temporary fully closed position TDL, the slat curtain 10 can be closed as instructed by the close operation signal SD without any operational restrictions.

[0062] Furthermore, after starting the closing operation in step S151, the process proceeds to step S152, where it is determined whether or not the temporary fully closed position TDL (= the position determined in step S134 (in this embodiment, the position into which the count value is further replaced in step S135)) has been detected (whether or not the count value CT matches the temporary fully closed position TDL). Then, in step S152, if the temporary fully closed position TDL has not been detected (No), the closing operation continues as is, and if the temporary fully closed position TDL has been detected (Yes), the process proceeds to step S153, where the motor 2 is normally stopped in the same manner as when it is stopped at the fully closed position DL in the normal operation mode. Then, the flow returns to step S139, and the opening operation in the opening direction DO is performed, and the home return operation mode continues until the home position OP is detected. Until then, the closing operation in the closing direction DC is not restricted, and if a closing operation is performed, it is normally stopped at the temporary fully closed position TDL.

[0063] In this way, in the shutter opening / closing device 1 and the control method thereof according to this embodiment, when the slat curtain 10 is stopped at a position where the origin position OP can be detected by opening the slat curtain 10 in the opening direction DO after power-on, if a closing operation signal SD instructing a closing operation is received before the origin position OP is detected, the slat curtain 10 can be closed in the closing direction DC according to the operation instruction without any restriction. After that, a position near the floor surface 18 is determined as the temporary fully closed position TDL by a series of operations performed when an obstacle is detected, and a stopping process equivalent to that in normal times can be performed at the temporary fully closed position TDL until the origin position OP is detected. This does not force the user to perform unnatural operations due to operational restrictions. In particular, in this embodiment, the position where the seat plate portion 10a of the slat curtain 10 abuts against the lintel portion 12 is the origin position OP, and this origin position OP is located above the fully open position UL. If the power is turned on again while the slat curtain 10 is in the fully open state, it is natural for the user to first try to perform a closing operation (an operation in the opposite direction to the direction in which the origin position OP is detected), so the effect of applying the present invention is great.

[0064] As described above, the opening / closing device for an opening / closing body of the present invention and the control method thereof have been described based on the first embodiment, with the opening / closing body being the slat curtain 10 of a shutter and the opening / closing device being the shutter opening / closing device 1. In this embodiment, the motor rotation pulse detection sensor 2b, the motor rotation pulse input circuit 3e of the control unit 3, and the motor rotation pulse count processing unit 3a1 of the microprocessor 3a correspond to a position detection unit of the present invention. Also, the push button switch box 4 and the push button input circuit 3b of the control unit 3 correspond to an operation input unit of the present invention, and the open operation signal SU, close operation signal SD, and stop operation signal SS correspond to operation signals of the present invention.

[0065] In this embodiment, steps S103 and S121 correspond to the first closing operation step of the present invention, and these steps executed by the microprocessor 3a correspond to the first closing operation means of the present invention. Steps S122 to S123 correspond to the first fault detection stop step of the present invention, and these steps executed by the microprocessor 3a correspond to the first fault detection stop means of the present invention. Step S124 corresponds to the first position storage step of the present invention, and this step S124 executed by the microprocessor 3a corresponds to the first position storage means of the present invention.

[0066] Furthermore, steps S125 to S127 correspond to the automatic opening operation step after failure stop of the present invention, and these steps executed by the microprocessor 3a correspond to the automatic opening operation means after failure stop of the present invention. Furthermore, steps S128 to S129 correspond to the second closing operation step of the present invention, and these steps executed by the microprocessor 3a correspond to the second closing operation means of the present invention. Furthermore, steps S130 to S131 correspond to the second failure detection stop step of the present invention, and these steps executed by the microprocessor 3a correspond to the second failure detection stop means of the present invention. Furthermore, step S132 corresponds to the second position storage step of the present invention, and this step S132 executed by the microstep 3a corresponds to the second position storage means of the present invention. Furthermore, step S133 corresponds to the position determination step of the present invention, and this step S133 executed by the microstep 3a corresponds to the position determination means of the present invention.

[0067] Second embodiment Next, a second embodiment of the present invention will be described with reference to FIGS. 6 to 9 and the flow chart of FIG. In this embodiment, among the control method of the shutter opening / closing device 1 according to the first embodiment, a part of the process after the temporary fully closed position TDL is determined in the origin return operation mode is changed, specifically, a process is added for the case where the origin position OP cannot be detected in the opening operation performed after the temporary fully closed position TDL is determined. Therefore, the description of the parts common to the first embodiment will be omitted.

[0068] In this embodiment, similarly to the first embodiment, in the origin return operation mode after power-on, if a closing operation signal SD is received before an opening operation signal SU, the process proceeds from step S103 to step S121 in Fig. 6, and the closing operation of the slat curtain 10 in the closing direction DC is started, and then the process goes through the processes of each step in Fig. 6 to Fig. 7, and the temporary fully closed position TDL is determined in step S134 in Fig. 8, and further proceeds to step S139 in Fig. 9. Thereafter, similarly to the first embodiment, after the temporary fully closed position TDL is determined, steps S139 and S140 in Fig. 9 are repeated until either an opening operation signal SU or a closing operation signal SD is received, and when these operation signals SU and SD are received, the process proceeds to step S141 or step S151, and either an opening operation or a closing operation is started.

[0069] Here, if the opening operation is started in step S141 and the home position OP is detected (step S149 in FIG. 9), the home return operation mode is terminated and the normal operation mode is entered. However, it is assumed that the home position OP cannot be detected due to some abnormality when the opening operation is performed. Therefore, in this embodiment, a process for the case where the home position OP cannot be detected in the opening operation after the determination of the temporary fully closed position TDL is added to the control method of the first embodiment. FIG. 10 is a flowchart showing a part of the operation after the determination of the temporary fully closed position TDL, including the added process. In FIG. 10, the processes of steps S139 to S141 and S151 indicated by the same reference numerals as in FIG. 9 are the same as those in FIG. 9. Also, in FIG. 10, the process after step S151 (steps S152 to S153 in FIG. 9) is omitted. Below, the process after step S141 in FIG. 10, which replaces the process after step S141 in FIG. 9, will be described.

[0070] When an opening operation signal SU is received and the process proceeds to step S141 in FIG. 10 to start the opening operation, in this embodiment, in the subsequent step S142 in FIG. 10, a check is made to see whether the movement amount during the opening operation has reached a preset predetermined movement amount. Here, the movement amount during the opening operation used for the judgment is the movement amount in the opening direction DO as seen from the temporary fully closed position TDL. The predetermined movement amount serving as the judgment value is set to a value exceeding a count value corresponding to the distance between the regular fully closed position DL and the origin position OP. In other words, the predetermined movement amount is set to a value exceeding the movement amount assumed in a normal opening operation in the opening direction DC. Then, in step S142, if the movement amount during the opening operation has not reached the predetermined movement amount (No), the process proceeds to step S143 to check whether a fault has been detected during the opening operation.

[0071] In this embodiment, as in the first embodiment, the position where the seat plate portion 10a of the slat curtain 10 abuts against the lintel portion 12 is set as the origin position OP, so if an obstacle is detected during the opening operation, the result is Yes in step S143, and the process thereafter becomes the detection process of the origin position OP (details are omitted). Also, if no obstacle is detected during the opening operation, the result is No in step S143, and the process returns from step S143 to step S142, and the opening operation is continued while repeatedly checking steps S142 and S143.

[0072] Normally, before the movement amount during the opening operation reaches the predetermined movement amount, a fault is detected during the opening operation (Yes in step S143), and the process proceeds to detection of the origin position OP. However, there may be cases where the origin position OP cannot be detected during the opening operation due to some abnormality such as a mechanical failure. Therefore, in this embodiment, if the movement amount during the opening operation reaches the predetermined movement amount in step S142 (Yes), the process proceeds to step S144, and the motor 2 is stopped at that point as a detection abnormality of the origin position OP. Furthermore, in the following step S145, the temporary fully closed position TDL is discarded (= the determination is cancelled), and thereafter, the origin return operation mode is resumed from the state before the temporary fully closed position TDL was determined.

[0073] In this manner, in this embodiment, even if the home position OP cannot be detected due to some abnormality, the abnormality is detected when a preset predetermined movement amount is reached and the motor 2 is stopped, so operation will not continue in the abnormal state and it is safe. In addition, since the state before the temporary fully closed position TDL was determined is reset thereafter, the temporary fully closed position TDL at the time the abnormal state occurred will not be used continuously.

[0074] Examples of abnormalities that prevent the origin position OP from being detected include failures in the main body (motor 2, control unit 3) of the shutter opening / closing device 1, as well as mechanical failures of the opening / closing body, such as the slat curtain 10, the seat plate 10a, the guide rail 11, and the lintel 12. Another possible cause is a case in which the temporary fully closed position TDL was determined in an abnormal state, such as when the amount of deflection of the slat curtain 10 was too large. Another possible cause is when the origin sensor, such as a mechanical counter switch, is used to detect the origin position, as in the opening / closing device for the opening / closing body described in Patent Document 2, and the origin sensor itself fails.

[0075] While the present invention has been described above with reference to the first and second embodiments, it goes without saying that the present invention is not limited to these embodiments and can be modified as appropriate without departing from the spirit of the present invention.

[0076] For example, in the first and second embodiments, no components such as an origin sensor were used, and the position at which the opening operation results in a mechanically locked state was set as the origin position. However, the present invention may also be applied to an opening / closing device that uses an origin sensor such as a mechanical counter switch as a means for position detection, and if the position at which the origin sensor is detected is close to the fully open position of the opening / closing body, the same effects as in the embodiments can be obtained. In addition, in the first and second embodiments, when the slat curtain of the shutter, which is the opening / closing body, is rolled up, the shutter opening / closing device, which is the opening / closing device, is accommodated inside the opening / closing body, but the shape of the opening / closing body and the mounting state of the opening / closing body and the opening / closing device are not limited to this. In addition, in the first and second embodiments, the motor of the switching device is a capacitor-run type single-phase 100V induction motor, but the switching device may use a three-phase 200V induction motor or a three-phase DC brushless motor.

[0077] In the first and second embodiments, an example was shown in which a motor rotation pulse was output by a motor rotation pulse detection sensor consisting of a rotation detection magnet and two Hall sensors as a position detection unit, but a rotary encoder or the like may also be used as the position detection unit that outputs the motor rotation pulse. In addition, when the motor is a three-phase DC brushless motor, the combination of a magnet for detecting the rotation position of the rotor and three Hall sensors may be used as it is as the position detection unit.

[0078] In the first and second embodiments, the method of detecting that the slat curtain of the shutter, which is the opening and closing body, cannot move further in the closing direction is described as determining whether the number of rotations of the motor calculated from the motor rotation pulse falls below a specified value or whether the motor rotation pulse does not change within a specified time, but other methods may be used for detection. For example, if a means for detecting the load current of the motor is provided in addition to the means for detecting the position using the motor rotation pulse, a method of determining whether the load current of the motor changes suddenly may be used. [Explanation of symbols]

[0079] 1. Shutter opening and closing mechanism (opening and closing device) 2 Motors 2a Motor output shaft gear 2b Motor rotation pulse detection sensor (position detection section) 3. Control Unit 3a Microprocessor 3a1 Motor rotation pulse count processing unit (position detection unit) 3b Push button input circuit (operation input section) 3c Motor drive circuit 3d Brake drive circuit 3e Motor rotation pulse input circuit (position detection section) 4. Push button switch box (operation input section) 10 Slat curtain (opening and closing body) 10a Seat plate part 10b Top edge of slat curtain 11 Guide rail 12 Lintel 13 Shaft 14 Bracket 15 Outer rotating wheel 16 Winding wheel 17 Stay 18 Floor DO open direction DC closing direction PBU lift (release) button PBD Down (Close) Button PBS stop button SU open operation signal (operation signal) SD Close operation signal (operation signal) SS Stop operation signal (operation signal) Mu, Mv, Mx Motor drive signals B+, B- Brake drive signal Ha,Hb Motor rotation pulse CT count value UL Fully open position (upper limit) DL Fully closed position (lower limit) OP origin position P1 1st position P2 2nd position TDL Temporary closed position S1 Return to origin operation mode S2 Normal operation mode S103, S121 First closing operation step (first closing operation means) S122 to S123: First fault detection stop step (first fault detection stop means) S124: First position storage step (first position storage means) S125 to S127: Automatic opening operation step after fault stop (automatic opening operation means after fault stop) S128 to S129 Second closing operation step (second closing operation means) S130 to S131: Second fault detection stop step (second fault detection stop means) S132: Second position storage step (second position storage means) S133 Position determination step (position determination means)

Claims

1. a motor for performing an opening and closing operation of the opening / closing body supported so as to be operable in both an opening direction and a closing direction; a position detection unit that detects an open / close position of the opening / closing body based on a count value of a motor rotation pulse that is output in a manner that enables a rotation direction and a rotation change amount to be identified in conjunction with the rotation of the motor; an operation input unit for inputting an operation signal for instructing the opening / closing operation or stopping of the opening / closing body; A control unit that controls the motor based on the operation signal and position information detected by the position detection unit, The control unit is After power is turned on, a home return operation mode is executed before a normal operation mode in which the opening / closing body is opened and closed between a preset fully open position and a fully closed position based on the operation signal and the position information, and an operation for detecting a home position serving as a reference for the fully open position and the fully closed position is executed, In the origin return operation mode, a first closing operation step of closing the opening / closing body in the closing direction when the operation signal instructing a closing operation is received before the opening operation of the opening / closing body is performed to detect the origin position, in a state in which the opening / closing body is stopped at a position where the opening / closing body can be opened in the opening direction after power is turned on, and the opening / closing body is opened and the origin position is detected; a first fault detection and stopping step of detecting that the opening / closing body cannot move any further in the closing direction during the closing operation by the first closing operation step and stopping the motor; a first position storage step of storing a position where the motor is stopped in the first fault detection and stopping step as a first position; an automatic opening operation step after the failure is stopped, in which the opening / closing body is automatically opened in the opening direction by a predetermined amount or for a predetermined time after the first position storage step, and the motor is stopped; a second closing operation step of automatically closing the opening / closing body again in the closing direction after a predetermined time has elapsed since the opening operation was stopped by the automatic opening operation step after the failure was stopped; a second fault detection and stopping step of detecting that the opening / closing body cannot move further in the closing direction during the closing operation by the second closing operation step and stopping the motor; a second position storage step of storing the position at which the motor is stopped in the second fault detection and stopping step as a second position; and executing a position determination step of determining whether the first position and the second position match, When it is determined that the first position and the second position are the same by the position determination step, the position or a position corrected by an offset amount of a predetermined count value with respect to the first position is determined as a temporary fully closed position which is a temporary position of the fully closed position determined based on the origin position, and thereafter, until the origin position is detected and the origin return operation mode is ended, when there is an operation signal instructing a closing operation, the opening / closing body is closed in the closing direction and stopped at the temporary fully closed position. A method for controlling an opening / closing device of an opening / closing body.

2. A method for controlling an opening / closing device for an opening / closing body according to claim 1, In the origin return operation mode, When it is determined in the position determination step that the first position and the second position are identical and the temporary fully closed position is determined, the count value of the temporary fully closed position and the count value of the position stopped in the second fault detection stop step are replaced so that the count value of the temporary fully closed position corresponds to the fully closed position, and then the subsequent processing is executed. A method for controlling an opening / closing device of an opening / closing body.

3. A method for controlling an opening / closing device for an opening / closing body according to claim 1 or 2, comprising: In the origin return operation mode, When the opening / closing body is opened in the opening direction by the operation signal instructing an opening operation after the determination of the temporary fully closed position, if the origin position cannot be detected even when the amount of movement in the opening direction as viewed from the temporary fully closed position reaches a predetermined amount of movement exceeding a count value corresponding to the distance between the fully closed position and the origin position, the motor is stopped as a detection abnormality of the origin position, and the temporary fully closed position is discarded and the origin return operation mode is resumed from the state before the determination of the temporary fully closed position. A method for controlling an opening / closing device of an opening / closing body.

4. a motor for performing an opening and closing operation of the opening / closing body supported so as to be operable in both an opening direction and a closing direction; a position detection unit that detects an open / close position of the opening / closing body based on a count value of a motor rotation pulse that is output in a manner that enables a rotation direction and a rotation change amount to be identified in conjunction with the rotation of the motor; an operation input unit for inputting an operation signal for instructing the opening / closing operation or stopping of the opening / closing body; and a control unit that controls the motor based on the operation signal and position information detected by the position detection unit, The control unit is After power is turned on, a home return operation mode is executed before a normal operation mode in which the opening / closing body is opened and closed between a preset fully open position and a fully closed position based on the operation signal and the position information, and an operation for detecting a home position serving as a reference for the fully open position and the fully closed position is executed, a first closing operation means for closing the opening / closing body in the closing direction when the operation signal instructing a closing operation is received before the opening / closing body is opened and the origin position is detected, while the opening / closing body is stopped at a position where the opening / closing body is opened in the opening direction after power is turned on; and a first fault detection and stopping means for detecting that the opening / closing body cannot move any further in the closing direction during the closing operation by the first closing operation means and stopping the motor; a first position storage means for storing a position at which the motor is stopped by the first fault detection and stopping means as a first position; an automatic opening operation means for automatically opening the opening / closing body in the opening direction by a predetermined amount of movement or for a predetermined period of time after the first position is stored by the first position storage means, and stopping the motor; a second closing operation means for automatically closing the opening / closing body again in the closing direction after a predetermined time has elapsed since the opening operation by the automatic opening operation means after the failure has stopped; a second fault detection and stopping means for detecting that the opening / closing body cannot move any further in the closing direction during the closing operation by the second closing operation means and stopping the motor; a second position storage means for storing the position at which the motor is stopped by the second fault detection and stopping means as a second position; a position determination means for determining whether the first position and the second position are coincident with each other, and executing the position determination means in the origin return operation mode; When the position determination means determines that the first position and the second position are the same, that position or a position corrected by an offset amount of a predetermined count value with respect to the first position is determined as a temporary fully closed position which is a temporary position of the fully closed position determined based on the origin position. Thereafter, until the origin position is detected and the origin return operation mode is ended, the opening / closing body is caused to perform a closing operation in the closing direction and stopped at the temporary fully closed position when there is an operation signal instructing a closing operation. Opening and closing device for opening and closing body.

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