JPH07100994B2 - Door device such as hangar - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an improvement of a large self-propelled door used for a doorway of a hangar or a warehouse.

[Conventional technology]

Conventionally, since the opening that serves as the doorway of a hangar of an airplane has a width of 200 m, a door that uses a self-propelled door that incorporates a traveling device that drives wheels and a control device for each is adopted. In addition, a plurality of self-propelled doors are provided so as to be able to travel and move on each of a plurality of guide rails laid in parallel along the opening / closing direction.

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

[Problems to be Solved by the Invention]

However, the cable feeding method is not suitable for feeding power to self-propelled doors that have a wide range of movement because the feeding cable must be connected to each self-propelled door. In hangars often provided in the vicinity, rust is likely to occur on the power supply rail due to salt damage, and there is a problem that the power supply rail must be frequently polished to remove rust.

In addition, when opening and closing a wide opening such as a hangar, each self-propelled door is optional depending on whether the front is opened or partially opened, and when it is partially opened, etc. In this case, the positions of the self-propelled doors are frequently exchanged depending on how they are opened, so the wiring of communication cables for transmitting control signals to each self-propelled door becomes complicated and at the same time. However, there is a problem that it is easy to cause a damage accident.

Therefore, the present invention has been made by paying attention to the unsolved problem of the above-mentioned conventional example, and uses a communication cable to exchange control signals between the main controller on the ground and the controller for the self-propelled door. It is possible to provide a self-propelled door such as a hangar that can solve the above-mentioned problems of the conventional example by performing wireless transmission without performing the above-mentioned operation and supplying power to a control device installed in the self-propelled door by a storage battery. Has an aim.

[Means for Solving the Problems]

In order to achieve this object, in the invention described in claim (1), a plurality of self-propelled doors that close an opening serving as a doorway of a hangar or the like are laid in parallel along the opening / closing direction. A main control that is movably arranged on each of the guide rails and wirelessly transmits, to each of the self-propelled doors, transmission data for movement control that indicates the movement direction and movement amount according to the opening / closing pattern. A device is installed, and in each of the self-propelled doors, a data transmission control device that receives the transmission data for movement control, and a data transmission control device that receives the transmission data for movement control addressed to itself And a storage battery charged by a charging device that supplies power to the data transmission control device and the travel control device. To.

In the invention described in claim (2), the charging device of the invention according to claim (1) is configured such that the current collector provided on each self-propelled door and the self-propelled door are stopped at a predetermined stop position. And a contactor that is brought into contact with the current collector, the current collector is connected to a storage battery of each self-propelled door, and the contactor is connected to a charger.

Further, in the invention according to claim (3), a plurality of self-propelled doors that close an opening serving as a doorway of a hangar or the like travels on each of a plurality of guide rails laid in parallel along the opening / closing direction. The main control device is movably arranged and wirelessly transmits movement control transmission data for instructing the movement direction and movement amount to each self-propelled door according to the opening / closing pattern of the door. A mark sensor that detects a marker formed at a preset stop position, a data transmission control device that receives the transmission data for movement control, and a movement control that is addressed to itself by the data transmission control device And a data transmission control for driving a self-propelled door to a predetermined position while detecting a marker by the mark sensor based on the received transmission data It is characterized in that a storage battery that is charged by the charging device for supplying power to the location and travel control device.

Further, in the invention described in claim (4), the marker of the invention according to claim (3) is composed of a stop position marker portion and deceleration marker portions formed on both sides thereof at predetermined intervals. .

Still further, in the invention according to claim (5), a plurality of self-propelled doors that close an opening serving as an entrance / exit of a hangar or the like is provided in each of the plurality of guide rails laid in parallel along the opening / closing direction. A main control device is provided which is arranged so as to be able to travel and move, and which transmits wirelessly transmission data for movement control, which indicates a moving direction and a moving amount according to the opening / closing pattern of the self-propelled door, Each self-propelled door has a data transmission control device that receives the transmission data for movement control, and a self-propelled door based on the data when the transmission data for movement control addressed to itself is received by the data transmission control device. Is charged by a traveling control device that drives the vehicle to a predetermined position, an obstacle detection sensor that detects an obstacle in the traveling direction, and a charging device that supplies power to the data transmission control device and the traveling control device. And a storage battery, the travel control device, and performs the emergency stop processing for stopping the self-propelled door upon detecting an obstacle by the obstacle detection sensor.

[Action]

According to the invention according to claim (1), the moving direction and movement of each self-propelled door are wirelessly transmitted from the main control device to each self-propelled door that is arranged to be movable on each of the plurality of guide rails. The movement control transmission data indicating the amount is transmitted. Therefore, transmission data for traveling control can be easily transmitted without using a complicated communication cable.

Further, when the data transmission control device receives the transmission data for movement control addressed to itself, each self-propelled door is driven to travel in a predetermined movement direction by a predetermined movement amount based on the data. Thereby, each self-propelled door can be moved to an arbitrary position to open the entire surface of the opening, or partially open the door, and the like.

Furthermore, at this time, since power is supplied to the control device built into the self-propelled door by the storage battery, there is no need to use a power supply cable or a trolley mechanism, so when the self-propelled door moves, it is not connected to the fixed part. No connection line is required.

Further, in the self-propelled door such as the hangar according to claim (2), the storage battery installed in the self-propelled door is charged by the charging device when the self-propelled door is stopped at the target stop position. Therefore, the charging can be performed easily.

Furthermore, in a self-propelled door such as a hangar according to claim (3), in addition to the action of the self-propelled door of claim (1), it is necessary to stop the self-propelled door at a target stop position. The marker provided at the stop position is detected by the mark sensor, and the drive device is stopped by the travel control device based on this detection signal, so that the self-propelled door can be stopped accurately at the target stop position.

Furthermore, in the self-propelled door such as the hangar according to claim (4), since the marker includes the stop position marker portion and the deceleration marker portion, when the self-propelled door is stopped,
It is possible to stop after decelerating, and it is possible to reliably prevent overrun of the stop position due to inertia of the self-propelled door.

Still further, the self-propelled door such as the hangar according to claim (5) has a sensor for detecting an obstacle in the traveling direction,
Since the self-propelled door is brought to an emergency stop when an obstacle is detected by this sensor, it is possible to reliably prevent the self-propelled door from colliding with the obstacle.

〔Example〕

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

FIG. 1 is a plan view showing an embodiment of the present invention, and FIG. 2 is a configuration diagram showing a schematic configuration of a self-propelled door.

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

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

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

Furthermore, self-propelled to the left end surface of the running direction of the door 3a ₁ ~3c _4, the light receiver 11L consists of a photo diode as transmitting and receiving unit from the upper side in this order, directivity of a certain light emitting diodes for outputting infrared light Projector 12 consisting of a collimator lens, etc.
L, door collision prevention sensor 13L, obstacle detection sensor 14L ₁ , 14L ₂
And the obstacle detection bumper 15L is provided, the right end face is provided with a light projector 12R at a position corresponding to the light receiver 11L, and a light receiver 11R is provided at a position facing the light projector 12L, and below these. Door collision prevention sensor 13L, obstacle detection sensor 1
Door collision prevention sensor 13R, obstacle detection sensors 14R ₁ and 14R ₂ and obstacle detection bumper 15R are arranged at positions corresponding to 4L ₁ and 14L ₂ and obstacle detection bumper 15L, and a control mark sensor is further provided on the lower end surface. 16 are arranged. Here, each of the door collision prevention sensors 13L and 13R is composed of a diffused light reflection type photoelectric sensor, and as shown in FIG. 4, when the distance to the adjacent self-propelled door is within 130 cm, for example. Outputs detection signals DS _1L and DS _1R in the ON state, and obstacle detection sensors 14L ₁ and 14L ₂ and 1
4R ₁ and 14R ₂ are also composed of diffuse reflection photoelectric sensors, and output detection signals DS _2L , DS _3L , DS _2R , DS _3R that are turned on when the distance to an obstacle is within 70 cm, for example. However, the obstacle detection bumpers 15L and 15R have detection signals DS _4L and DS that are turned on when a micro switch is built in and they contact an obstacle.
Output _4R . Note that the light receiver 11R and the projector 12R on the right side of the self-propelled doors 3a ₄ and 3b ₄ are omitted.

Further, the light receiver 11L and the light projector 12R and the light receiver 11R and the light projector 12L have frequencies different from each other, for example, 3.9 kHz and 4.6 kH.
It is set to transmit and receive with FSK modulated signal by z carrier, preventing mutual interference, and if necessary, FSK with different frequency for each guide rail 1a to 1c.
If the transmission and reception are performed by using the modulated signal, the self-propelled doors traveling on different rails do not interfere with each other.

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

The traveling control device 19 is composed of, for example, a microcomputer, receives the self-addressed transmission data output from the optical transmission control device 20, and receives each door collision prevention sensor 13
L, 13R, obstacle detection sensors 14L ₁ , 14L ₂ , 14R ₁ , 14R ₂ , the detection signals of obstacle detection bumpers 15L, 15R and control mark sensor 16 are input, and based on these, FIG. 7 and FIG. 8
A control signal for driving and controlling each drive motor 6a and 6b is output to the motor drive circuits 21a and 21b in accordance with the flowchart of the drawing. Here, each of the motor drive circuits 21a and 21b receives the forward rotation signal, so that the drive motors 6a and 6b are first accelerated and then brought into a constant speed operation state, and when the deceleration signal is input, the The motors 6a and 6b are decelerated, and the drive motors 6a and 6b are stopped when the stop signal and the emergency stop signal are input.

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

On the other hand, on the left end side of each of the guide rails 1a, 1b and 1c, the main control unit 22 arranged on the ground portion facing the light receiver 11L and the light projector 12L of the self-propelled doors 3a ₁ , 3b ₁ and 3c _1. Connected floodlight 23
a to 23c and light receivers 24a to 24c are provided. here,
The main controller 22 FSK-modulates and outputs digital transmission data for controlling the movement of each self-propelled door 3a _{1 to} 3c ₄ , and as the transmission data, each self-propelled door 3a _{1 to} 3c ₄ is transmitted. Has a structure in which movement amount data, movement direction data, and door connection state code are added to the unique identification code of the self-propelled door 3a.
Transmission data for _{1 to} 3a ₄ is output to the projector 23a, transmission data for self-propelled doors 3b _{1 to} 3b ₄ is output to the projector 23b, and transmission data to self-propelled doors 3c _{1 to} 3c ₄ is the projector 23.
output to c. In addition, the main control unit 22 includes the light receivers 24a to 24a.
The transmission data from each of the self-propelled doors 3a _{1 to} 3c ₄ received in c is monitored, an alarm is issued when an emergency stop status signal is received, and each self-propelled door 3a ₁ is received when a movement completion signal is received.
~ 3c ₄ moving accumulated time is calculated, and when this exceeds a predetermined time set in advance, for example, 30 minutes, the charger 31 to be described later is activated, and the battery 17 of each self-propelled door 3a _{1 to} 3c ₄ and.
Charge 18

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

In addition, the upper surface along the guide rails 2a, 2b and 2c has a sixth
At the stop position shown in the figure, conductive sliding contact plates (contacts) 30 are arranged facing the current collectors 7 of the self-propelled doors 3a _{1 to} 3c ₄ , respectively. Connected to one charger 31. Here, the chargers 31a to 31c monitor the terminal voltages of the batteries 17 and 18 and automatically adjust the charging voltage and current according to the terminal voltage fluctuations to prevent overcharging and charge to an appropriate value. If so, the supply of charging power is stopped, and if the charging voltage is insufficient, a predetermined alarm device such as an alarm or a warning light (not shown) is activated.

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

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

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

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

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

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

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

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

In this step, it is determined whether or not the stop position mark 25 is detected by the control mark sensor 16, and when the stop position mark 25 is not detected, the control mark sensor 16 waits until it is detected, and when the stop position mark 25 is detected, the process proceeds to step. To do.

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

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

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

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

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

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

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

Then, the self-propelled door 3a that needs to be moved from the main controller 22.
_{1 ~3a 3, 3b 1, 3b} 2 and 3c _1, to create a transmission data to 3c _2, and sends these transmission data to the projector 23a to 23c.
Here, the transmission data, for example, for self-propelled door 3a _1, the unique identification code to the self-propelled door 3a _1, the movement amount L (=
5), the moving direction data indicating the right movement and the concatenation stop state code of "1" are added, and as the transmission data for the self-propelled door 3a ₂ , the movement amount L (= 1) and the right movement are added to the identification code. The moving direction data and the connection stop status code of "1" are added,
The transmission data to the self-propelled door 3a _3, the identification code, the movement amount L (= 1), connecting the stop state code of the moving direction data and "0" is added representing the rightward movement. Also a self-propelled door
As the transmission data for 3b ₁ , the movement amount L (= 4), the movement direction data indicating right movement, and the connection stop state code of “1” are added to the identification code, and the transmission data for the self-propelled door 3b ₂ is added. Is added with the movement amount L (= 2), the movement direction data indicating the right movement, and the connection stop state code of “1” to the identification code, and as the transmission data for the self-propelled door 3c ₁ ,
The movement amount L (= 3), the movement direction data indicating the right movement, and the connection stop state code of "1" are added to the identification code, and as the transmission data for the self-propelled door 3c ₂ , the movement amount is added to the identification code. L (= 3), moving direction data indicating rightward movement, and a connection stop state code of "1" are added.

Then, the transmission data for the self-propelled doors 3a _{1 to} 3a ₃ is serially connected and then output to the projector 23a after performing FSK modulation, and the transmission data for the self-propelled doors 3b ₁ and 3b ₂ are serially connected. After that, FSK modulation is performed and output to the projector 23b,
The transmission data for the self-propelled doors 3c ₁ and 3c ₂ are serially connected and then FSK modulated and output to the projector 23c. Therefore, as shown in FIG. 9, from each of the projectors 23a to 23c,
Infrared light having directivity corresponding to the FSK modulation signal is emitted, and these are radiated to the light receivers 11L of the self-propelled doors 3a ₁ , 3b ₁ and 3c ₁ facing each other. These are transmitted to the opposite side of the projector 12R are reproduced relayed by regenerative repeating circuit 20a, that is the optical transmission in addition to the self-propelled door 3a _2, the 3b ₂ and 3c ₂ light receiver 11L adjacent from the projector 12R The light is sequentially transmitted to the remaining self-propelled doors.

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

Therefore, the traveling control device 19 starts the processing shown in FIGS. 7 and 8 and drives the drive motor based on the movement amount L, the movement direction data and the connection stop state code included in the transmission data addressed to itself.
By outputting a control signal for driving 6a, 6b to the motor drive circuits 21a, 21b, the drive motors 6a, 6b are driven to drive the self-propelled doors 3a _{1 to} 3a ₃ , 3b ₁ , 3b ₂ and 3c ₁ , 3c. ₂ is moved to the target position shown in FIG. 6 (b) and the deceleration marker 26a arranged at each target position is detected by the control mark sensor 16,
The deceleration is started after a predetermined time T ₂ and is stopped when the stop position marker 25 is detected.

At this time, when the doors are connected to each other like the self-propelled doors 3a ₂ , 3a ₃ and 3c ₁ , 3c ₂ , the left self-propelled doors 3a ₂ and 3c are connected.
Since the door collision prevention sensor 13L of c ₁ is activated and the detection signal DS _1L thereof is turned on, when the safety confirmation interrupt process of FIG. 8 is executed, the step shifts from step to step, By outputting the emergency stop signal to the motor drive circuits 21a, 21b, the drive of the drive motors 6a, 6b is forcibly stopped, and the traveling control processing task of FIG. 7 is transited to the waiting state. And the self-propelled doors 3a ₃ and 3 that connect to each other
When c ₂ moves to the right to cause the door collision prevention sensor 13L of the self-propelled doors 3a ₂ and 3c ₁ to be in the inoperative state, when the process of FIG. 8 is executed, the steps from step to step are performed. By shifting to the step, the waiting state of the traveling control processing task in FIG. 7 is released and the emergency stop signal becomes the logical value “0”. For this reason, the traveling control processing task of FIG. 7 is started to be executed, and the process shifts from step to forward rotation drive processing, and the drive motors 6a and 6b are driven to move the self-propelled doors 3a ₂ and 3c ₁ . To start.

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

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

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

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

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

On the other hand, when the movement of each self-propelled door 3j is completed, a movement completion signal is transmitted from the traveling control device 19 of each self-propelled door 3j to the main control device 22, and the main control device 22 receives this signal, It is possible to confirm the completion of the movement of the self-propelled door 3j in the main controller 22, monitor the integrated value of the movement time, and if this exceeds a predetermined set time, the main controller 22 causes the charger to
With 31 as the operating state, the batteries 17 and 18 of each self-propelled door 3j
Charging is started, and the charging ends when these charging voltages reach a predetermined range.

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

As described above, according to the above-described embodiment, since the data transmission between the main control device and the traveling control device for the self-propelled door is performed by optical transmission, complicated communication for data transmission between the two is performed. Since it is not necessary to provide a cable and optical transmission using infrared light is performed, accurate data transmission can be performed without being affected by noise due to radio waves from the outside. Further, since the self-propelled doors are equipped with the batteries 17 and 18 for supplying power to the control devices 19 and 20 and the drive motors 6a and 6b, which are installed therein, it is not necessary to provide a special power supply means, No maintenance required.
Further, the batteries 17 and 18 are charged by the charger 31 in a state where the self-propelled door is stopped at the target stop position, so that the number of chargers can be easily reduced.

Furthermore, the stop control of the self-propelled door is performed by detecting the marker arranged on the ground with the mark sensor 16, so that accurate position control can be performed, and the marker can be used as the stop position marker 25 and the deceleration marker. By using two types, it is possible to reliably prevent overrun due to inertia of the self-propelled door.

In the above embodiment, the main controller 22 and the self-propelled door
The case where the optical transmission means composed of the issuing diode and the photodiode is applied as the data transmission means of 3j has been described, but the present invention is not limited to this, and a semiconductor laser oscillator may be applied instead of the issuing diode. Alternatively, a wireless transmission means using electromagnetic waves may be applied instead of the optical transmission means.

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

Further, in the above embodiment, the case where the self-propelled door 3j is driven by the DC servo motor has been described, but the present invention is not limited to this, and another step motor, a drive motor such as a linear motor is applied. Not to mention getting it.

Furthermore, in the above embodiment, the case where the batteries 17 and 18 provided on the self-propelled door 3i are charged by connecting to the charger 31 via the current collector 7 and the sliding contact plate 30 has been described. However, the invention is not limited to this, and the batteries 17 and 18 may be charged by electromagnetic induction from coils embedded near the guide rails 1a to 1c.

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

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

Further, in the above embodiment, the case where the present invention is applied to the hangar has been described, but the present invention is not limited to this, and can be applied to the case where a large door of another warehouse or the like is automatically opened and closed.

〔The invention's effect〕

As described above, according to the door device for the hangar or the like according to claim (1), movement control transmission data representing the movement direction and movement amount of each self-propelled door is transmitted from the main control device by wireless transmission. Therefore, by transmitting the transmission data for traveling control without using a complicated communication cable, highly reliable door opening / closing control with few failures can be performed, and it is also built into the self-propelled door. The storage battery is used to supply power to the control equipment, and it is possible to reduce the time and effort involved in maintenance and inspection without the need for a separate power supply device. Since the vehicle is driven to travel in the predetermined movement direction by the predetermined movement amount based on the transmitted data, it is possible to open and close the opening by any method such as opening the entire surface of the opening or partially opening it. Can It has an excellent effect that.

Further, according to the self-propelled door such as the hangar according to claim (2), the storage battery mounted on the self-propelled door is charged when the self-propelled door stops at the target stop position. Therefore, the effect of being able to perform reliable charging with a small number of chargers can be obtained.

Further, according to the self-propelled door such as a hangar according to claim (3), in addition to the effect of claim (1), a marker provided with a stop position control of the self-propelled door on the ground is a mark sensor. Since the detection is performed by detecting, the effect that the stop position control can be accurately performed is obtained.

Furthermore, according to the self-propelled door such as the hangar according to claim (4), since the stop position marker portion and the deceleration marker portion are provided as the markers, the overrun due to the inertia of the self-propelled door is surely prevented. The effect that can be obtained is obtained.

Still further, according to the self-propelled door such as the hangar according to claim (5), the obstacle detection sensor detects an obstacle in the traveling direction, and when the obstacle is detected, the self-propelled door is brought to an emergency stop. Therefore, it is possible to reliably prevent the self-propelled door from colliding with an obstacle.

[Brief description of drawings]

1 is a plan view showing an embodiment of the present invention, FIG. 2 is a schematic view showing a schematic structure of a self-propelled door, and FIG. 3 is a schematic view showing an example of a current collecting mechanism of the self-propelled door, FIG. 4 is an explanatory view showing a detection range of each collision detection sensor, FIG. 5 is an explanatory view showing a stop position marker and a deceleration marker formed on the ground surface, and FIGS. 6 (a) to 6 (f) are entrances and exits, respectively. 7 and 8 are flowcharts showing an example of the processing procedure of the traveling control device, and FIG. 9 is an explanatory view showing a signal transmission mode. Explanation of symbols 1a to 1c …… Guide rails, 3a _{1 to} 3c ₄ …… Self-propelled doors, 4a, 4b
...... Wheels, 6a, 6b ...... Drive motor, 7 ...... Current collector, 11L, 1
1R: Emitter, 12L, 12R: Light receiver, 16: Control mark sensor, 17 ... Lead battery (storage battery) for control system, 18 ... Lead battery (storage battery) for drive system, 19 ... Travel control device, 20 …
... Optical transmission controller (data transmission controller), 21a, 21b ...
… Motor drive circuit, 22 …… Main controller, 23a-23c …… Emitter, 24a-24c …… Receiver, 25 …… Stop position marker, 26
a, 26b ... Deceleration marker, 30 ... Sliding contact plate (contact), 31 ...
… Charger.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroki Morito 2-1-1, Nishishinjuku, Shinjuku-ku, Tokyo Sanwa Shutter Industry Co., Ltd. (56) Reference JP-A-58-86281 (JP, A) Actual Open Sho 63-143678 (JP, U) Actual Open Sho 58-156869 (JP, U) Japanese Patent Publication 1-19552 (JP, B2)

Claims (5)

[Claims] 1. A plurality of self-propelled doors (3a _{1 to} 3a ₄ , 3b _{1 to} 3b ₄ , 3b _{1 to} 3b ₄ ) that close an opening serving as a doorway of a hangar or the like are arranged in parallel along the opening and closing direction. Multiple guide rails (1a
～1C, while being run movably arranged to each of the 2 a to 2 c), the opening and closing pattern to the respective self-propelled doors _{(3a 1 ~3a 4, 3b 1} ~3b 4, 3b 1 ~3b 4) A main control device (22) for transmitting movement control transmission data indicating a moving direction and a moving amount according to the wireless transmission is installed, and each of the self-propelled doors (3a ₁ to 3a 3
a _4, 3b _{1 ~3b 4,} the 3b ₁ ~3b _4), the data transmission control apparatus for receiving moving control and transmission data (20), the movement control of the self-addressed by the data transmission control unit (20) When the transmission data for use is received, a travel control device (19) for driving the self-propelled door to drive to a predetermined position based on the data, and a power supply for the data transmission control device (20) and the travel control device (19) A storage battery (1
7, 18) and a door device for a hangar or the like. Wherein said charging device includes a current collector provided in each self-propelled doors (7), self-propelled door _{(3a 1 ~3a 4, 3b 1} ~3b 4, 3b 1 ~3
b ₄ ) is provided with a contactor (30) that comes into contact with the current collector when it stops at a predetermined stop position, and the current collector (7) is attached to the storage battery (17, 18) of each self-propelled door. With each being connected,
The door device for a hangar or the like according to claim 1, wherein the contactor (30) is connected to a charger (31). 3. A plurality of self-propelled door for closing an opening serving as a doorway or the like hangar _{(3a 1 ~3a 4, 3b 1} ~3b 4, 3b 1 ~3b 4) is, in parallel along the opening and closing direction Multiple guide rails (1a
～1C, while being run movably arranged to each of the 2 a to 2 c), the opening and closing pattern to the respective self-propelled doors _{(3a 1 ~3a 4, 3b 1} ~3b 4, 3b 1 ~3b 4) A main control device (22) for transmitting movement control transmission data indicating a moving direction and a moving amount according to the wireless transmission is installed, and each of the self-propelled doors (3a ₁ to 3a 3
a _4, 3b _{1 ~3b 4,} the 3b ₁ ~3b ₄₎ the marker (25,26A formed in the predetermined stop position, a mark sensor (16) for detecting the 26b), the movement control A data transmission control device (20) that receives transmission data, and when the data transmission control device (20) receives the movement control transmission data addressed to itself, the mark sensor (16) creates a marker based on the data. A travel control device (19) that drives the self-propelled door to travel to a predetermined position while detecting, and a storage battery charged by a charging device that supplies power to the data transmission control device (20) and the travel control device (19). (17, 18) A door device for a hangar or the like, which is provided with. 4. The marker comprises a stop position marker portion (25),
Deceleration marker parts (26a, 26a) formed at predetermined intervals on both sides
A door device for a hangar or the like according to claim 3, which is constituted by b) and. 5. A plurality of self-propelled door for closing an opening serving as a doorway or the like hangar _{(3a 1 ~3a 4, 3b 1} ~3b 4, 3b 1 ~3b 4) is, in parallel along the opening and closing direction Multiple guide rails (1a
～1C, while being run movably arranged to each of the 2 a to 2 c), the opening and closing pattern to the self-propelled door _{(3a 1 ~3a 4, 3b 1} ~3b 4, 3b 1 ~3b 4) A main control device (22) for transmitting movement control transmission data indicating a moving direction and a moving amount according to the wireless transmission is installed, and each of the self-propelled doors (3a ₁ to 3a 3
a _4, 3b _{1 ~3b 4,} the 3b ₁ ~3b _4), the data transmission control apparatus for receiving moving control and transmission data (20), the movement control of the self-addressed by the data transmission control unit (20) Travel control device (19) that drives the self-propelled door to drive to a predetermined position based on the received transmission data, and an obstacle detection sensor (14L ₁ , 14L) that detects an obstacle in the traveling direction.
₂₎ , 14R ₁ and 14R ₂ ) and a storage battery (17, 18) charged by a charging device that supplies power to the data transmission control device (20) and the travel control device (19). (19) is the obstacle detection sensor (14L ₁ , 14L ₂ , 14R ₁ , 1
Self-propelled doors (3a ₁ ~ 3a ₄ , 3b) when an obstacle is detected by 4R ₂ )
_{1 ~3b 4, 3b 1 ~3b 4} ) door device hangar or the like and performs emergency stop processing for stopping the.