U8005218282A
`,
`,
`.
`5,218,282
`[11] Patent Number:
`[19]
`Ulllted States Patent
`
`Duhame
`‘ [45] Date of Patent:
`Jun. 8, 1993
`
`[54] AUTOMATIC noon OPERATOR -
`INCLUDING ELEchONIC TRAVEL
`DETECTION
`.
`
`[56]
`
`.
`Inventor: Dean Duhame, Roseville, Mich.
`[75]
`[73] Assignee:
`Stanley Home Automation, N0vi,
`Mich.
`,
`.
`..
`[21] Appl No _ 496 796
`[22] Filed:
`Mar._22, 1990
`H02K 27/30
`U
`[51]
`Int. 0.5 .L..................-
`[52] us. C1. 318/603- 318/434-
`318/468; 318/466; 318/470
`[58] Field of Search ................................ 318/268-293,
`318/560-1540, 430—434, 16, 267, 266, 480, 469;
`49/25, 360, 230, 167, 194, 199, 357, 358, 59
`,
`References C'ted
`_
`U-S- PATENT DOCUMENTS
`4,234,833 11/1980 Barrett ...............,................. 318/282
`4,328,540 5/1982 Matsuoka ct 31,
`364/167
`
`4,338,553
`7/1982 Scott, Jr. ..........
`318/266
`
`318/466 X
`4,364,111 12/1982 JOCZ .................
`
`:Hgggigg 131:3 flail“)? c: 31‘]
`313128624);
`
`4,394,607 7/1983 hintingeefix
`”318/469 x
`
`'
`... 318/466
`4:408:146 10/1983 Beckerman
`
`,__ 318/466
`4,429,264 4/1984 Richmond
`
`4/1984. Fry ...............
`318/283 X
`4,445,075
`4:468:595 8/1934 K912183131» ------
`313/287
`
`2:232:23 1?;1332 {adolgorloket all.
`I
`31:23;
`
`4/1986 zmlrrceea
`4,585,981
`318/615
`
`
`4,625,291 ll/l986 Hermann .....
`318/265
`l/ 1987 Schindler ............................ 364/400
`4,638,433
`
`.....
`
`
`
`318/266
`.............
`4,673,848 6/1987 Hagiwara et 8.1.
`...... 318/282
`4,701,684
`1/1987 Scldel et a].
`.. 318/466x
`4,794,309 12/1988 Saito etal
`364/1610]
`4,831,509
`5/1989 Jones etal
`4,887,205 12/1989 Chou ........................... 364/400
`4,922,168 5/1990 Waggamon etal. ................ 318/286
`Primary Examiner—Paul Ip
`Attorney, Agent, or Firm—Krass & Young
`[57]
`ABSTRACT
`,
`The present invention is an automatic door operator
`WhiCh includes an 099mm“ detecmr ‘01 at least 5‘01"
`ping the motor when the detected motor speed indicates
`a motor torque greater than the selected closing torque
`limit while closing the door. and for at least stepping
`the motor when the detected motor speed indicates a
`motor torque greater than the selected opening torque
`limit while opening the door. The motor speed is de-
`tected based upon a predetermined count of electrical
`Pulses COUeSPonding to motor shaft rotation in order
`smooth noise. Selection of the number of pulses per
`rotation enables the same controller to control motors
`operating on either 60 Hz or so HZ power. A travel
`count of rotation pulses permits identification of a plu-
`rality of regions in the opening and closing travel of the
`door and corresponding adaptive torque limits. The
`travel counter may also be employed for detection of
`. the fully opened and fully closed limits. The controller
`can be used to control either a four-pole motor or a
`six-pole motor via a manual motor type selection
`“Vim"! WhiCh “has a “‘1‘” ““1" table‘
`
`53 Claims, 11 Drawing Sheets
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`Webasto Roof Systems, Inc.
`Exhibit 1009
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`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`

`

`US. Patent
`
`June 8, 1993
`
`Sheet 1 of 11
`
`5,218,282
`
`1""""""
`1
`FIG -
`.
`READ
`Z—> --------------------------- ‘
`ONLY
`115
`121
`MEMORY
`
`
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`PROCESSING
`UNIT
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`123
`
`125
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`
`153 134
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`
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`
`‘
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`2
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`

`

`US. Patent
`
`’June 8, 1993
`
`Sheet 2 of 11
`
`5,218,282
`
`'61
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`g9
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`70
`
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`INPUT
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`
`Webasto Roof Systéms, Inc.
`Exhibit 1009
`
`3
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`

`

`US. Patent
`
`June 8,1993
`
`Sheet 3 of 11
`
`A 5,218,282
`
`
`
`ANALOG TO
`DIGITAL
`
`’
`
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`
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`
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`
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`4
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`4
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`

`

`.- U.S. Patent;
`
`June 8, 1993'
`
`Sheet 4 of 11
`
`5,218,282
`
`FIG? 5
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`411
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`
`Webasto Roof Systems, Inc..
`Exhibit 1009
`
`5
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`

`

`US. Patent
`
`June 8, 1993
`
`Sheet 5 of 11
`
`5,218,282.
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`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`
`
`
`

`

`US. Patent
`
`June 8, 1993 '
`
`Sheet 6 of 11 ‘
`
`5,218,282
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`Exhibit 1009
`
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`
`

`

`US. Patent
`
`June 8, 1993
`
`Sheet 7 of 11
`
`5,218,282
`
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`Exhibit 1009
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`

`

`US. Patent
`
`June 8, 1993
`
`Sheet 8 of 11
`
`5,218,282
`
`
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`Exhibit 1009
`
`9
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`
`
`
`
`
`
`

`

`US. Patent
`
`June 8, 1993
`
`Sheet 9 of 11
`
`5,218,282
`
`1002 -
`
`1010 /
`
`‘ POLE
`MOTOR ?
`
`A No
`
`
`
`
`1012
`
`RECALL 6
`POI-E MOTOR
`TABLE
`
`1611
`
`,
`
`RECALL 4
`POLE MOTOR
`TABLE
`
`yes
`
`MOTOR
`TlMEqOUT
`
`'
`
`N0
`
`MOTOR
`MOVING
`CW ?
`
`1003
`
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`
`
`
`
`
`DOORATCLOSE
`
`DOORATOPEN
`
`LIMIT ?
`LIMIT?
`
`
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`1013
`
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`
`0
`
`MOTOR
`MOVING
`CW?
`
`I STOP
`MOTOR
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`1005
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`1' 01 4
`
`SEQUENCE
`FOUR PHASE
`LOGIC FLAGS
`
`1 ' '7
`
`
`
`
`READ
`OPENING
`TORQUE Lm
`'
`
`READ
`CLOSING
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`
`RESET/START
`LAMP TIMER
`
`1 08
`
`.
`
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`MOTOR ~
`SPEED
`
`.
`
`1016
`
`-
`
`1009
`
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`
`0
`
`10 >
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`10
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`

`

`US. Patent
`
`June 8, 1993
`
`Sheet 10 of 11
`
`5,218,282
`
`0
`
`1017
`
`1018 /
`
`I
`
`MOTOR
`
`SPEED <
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`LIMIT ?
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`LOGIC FLAGS
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`TRAVEL
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`
`- 1032
`
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`MOTOR
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`LIMIT ?
`
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`
`1 033
`
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`
`”0
`
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`
`1 034
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`
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`NEAR
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`
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`
`TIME
`PERIOD
`EXPIRED ?
`
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`
`,
`
`
`
`COMMAND
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`
`1 029
`
`YES
`
`11
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`11
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`

`

`US. Patent
`
`June 8, .1993
`
`Sheet 11 of 11
`
`5,218,282
`
`‘°‘ 6m /
`
`182
`
`1800
`
`1803
`
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`
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`
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`
`No
`
`RETURN
`
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`
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`
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`
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`SPEED RATE ,
`OF CHANGE
`
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`SPEED<
`LIMIT ?
`
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`
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`
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`
`1041
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`RECALL 4
`RECALL 6
`POLE RATE
`POLE RATE
`
`_
`LIMIT ,
`LIMIT
`
`
`
`
`
`YES
`
`INCREMENT
`WRITE
`COUNT
`
`,
`
`13°“
`
`185
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`
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`NEW AREA
`
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`1
`
`809
`
`1810
`
`1811
`
`1812
`
`FIG - 17
`
`'
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`COUNT
`
`»
`
`FIG - 18
`
`12
`
`Webasto Roof Systéms, Inci
`Exhibit 1009
`
`12
`
`Webasto Roof Systems, Inc.
`Exhibit 1009
`
`

`

`AUTOMATIC noon OPERATOR INCLUDING
`ELECTRONIC TRAVEL DETECTION
`
`TECHNICAL FIELD OF THE INVENTION
`
`The technical field of the present invention is auto-
`matic door operators, such as typically employed for
`residential garage doors, and particularly such auto-
`matic door operators which electronically detect the
`door travel for electronic obstruction detection and/or
`electronic opening and closing limit detection.
`BACKGROUND OF THE INVENTION
`
`Automatic door operators for residential garage
`doors are known in the art.'The typical prior art system
`includes a portable radio frequency transmitter which
`can be disposed in the user’s automobile. It is also typi-
`cal
`to include a permanently mounted momentary
`contact pushbutton switch within the garage for control
`of the garage door.
`-
`The typical pattern of use is as follows. The user
`enters the garage and opens the closed garage door by
`momentary depression of the pushbutton switch. The
`automatic door operator moves the garage door from
`the fully closed position to the fully opened position.
`The automatic door operator includes some mechanism
`for detection of when the door has reached this fully
`opened position to stop the door. The user enters his
`automobile, starts it and then leaves the garage. After
`clearing the garage door, the user presses a momentary
`contact pushbutton on the portable radio frequency
`transmitter. This transmits an encoded signal
`to the
`automatic door operator. The automatic door operator
`determines whether or not the received radio frequency
`signal is correctly encoded for that particular automatic
`door operator. If this is the case, then the automatic
`door operator closes the door and stops when the fully
`closed position is detected. When the user returns, the
`process is reversed. The user presses the pushbutton
`switch on the portable radio frequency transmitter, the
`automatic garage door operator opens the door allow-
`ing the user to park his automobile within the garage.
`Then the user exits the automobile and closes the garage
`door by momentary actuation of the garage mounted
`pushbutton. The typical automatic door operator also
`enables the operator to stop movement of the door
`when it is' partially opened or partially closed by addi-
`tional activation of either the pushbutton switch or the
`portable radio frequency transmitter.
`All such automatic door operators are required to
`solve two types of problems during their control opera-
`tion. Firstly, the automatic door operator needs some
`manner of detecting when the door has reached the
`fully Opened or the fully closed position. Secondly, the
`automatic door operator needs some manner of deter-
`mining when the door has encountered an obstructing
`object during its operation. In older automatic door
`operators these functions were carried out employing
`mechanical switches. An open switch and a close
`switch coupled in some manner to the drive train of the
`automatic door operator were tripped when the door
`reached their respective positions An obstruction was
`detected when a tensionisensitive mechanical switch
`connected to the drive train of the automatic door oper-
`ator detected greater than a predetermined amount of
`force applied to the door.
`In recent years there has been interest in control of
`the obstruction and limit functions electronically. This
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`interest is driven by the great reduction in the expense
`of electronic controllers, coupled with their greater
`versatility as compared to mechanical controllers. The
`typical electronic controller cf the prior art includes
`some manner of detection of shaft rotation of the motor
`which drives the door. This typically takes places by
`detection of pulses produced by motor shaft rotation.
`The rate of generation of these rotation pulses is a mea-
`sure of the speed ofdoor travel. In a typical installation
`the torque developed by'the motor driving the door is
`inversely proportional to the motor speed. Electronic
`obstruction detection has heretofore detected whether
`
`or not themotor speed is less than a predetermined
`speed corresponding to the greatest permitted torque.
`This greatest permitted torque is set greater than the
`torque required for ordinary operation of the door but
`less than a damaging torque. Open and close limit detec—
`tion takes place by comparison of a count of these shaft
`rotation pulses with numbers corresponding to the re-
`spective limit positions.
`There remains some problems in implementing the
`electronic limit detection and electronic obstruction
`detection in accordance with the prior art.‘ It is not
`heretofore known how to easily select a particular
`torque limit value for a particular'installation. It is also
`heretofore not known how to easily adjust the open and
`closed limit numbers for a particular garage door instal-
`lation. Automatic door operators such as typically em-
`ployed for residential garage doors are manufactured in
`large numbers and typically a single electronic control-
`ler must be capable of installation in a variety of set-
`tings. Thus, it Would be useful in the art to provide a
`convenient means for setting the torque obstruction
`limits and setting the travel limits in such automatic
`door operators.
`
`SUMMARY OF THE INVENTION
`
`The present invention is an automatic door operator
`for controlling a motor coupled for closing and opening
`a door. This automatic door operator includes a motor
`_ speed detector, and input devices for selecting a closing
`torque limit and an opening torque limit. The automatic
`door operator further includes a controller for control-
`ling motor operation. This controller has an obstruction
`detector for at least stopping the motor when the de-
`tected motor speed indicates a motor torque greater
`than the selected closing torque limit while closing the
`door, and for at least stopping the motor when the
`detected motor speed indicates a motor torque greater
`than the selected opening torque limit while opening
`the door. In the preferred embodiment there are eight
`possible closing torque limits and four possible opening
`torque limits which are manually selectable upon instal-
`lation of the automatic door operator. In an alternative
`embodiment, the opening and closing torque limits are
`determined by the manually adjustable position of a
`potentiometer.
`The motor speed detector is based upon electrical
`pulses generated corresponding to rotation of the shaft
`of the motor. In the preferred embodiment a rotating
`multipole magnet triggers pulse production by a pair of
`Hall effect devices. A counter connected to the pulse
`generator counts a predetermined number of these elec-
`trical pulses in order smooth noise due to differences in
`the magnetic pole strength and differences in the angle
`between poles.
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`13
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`Webasto Roof Systems, Inc.
`Exhibit 1009
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`13
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`Webasto Roof Systems, Inc.
`Exhibit 1009
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`

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`5,218,282
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`The controller of the automatic door operator is pref-
`erably capable of controlling motors operating on either
`60 Hz AC power or 50 Hz AC power. The number of
`pulses per revolution is set 20% higher when operating
`on 50 Hz power. This is achieved by, for example, em-
`ploying a 10 pole magnet when operating on 60 Hz
`power and a 12 pole magnet when operating on 50 Hz
`power. The multipole magnet installed in a particular
`automatic door operator is selected with the number of
`poles corresponding to the expected power frequency.
`The automatic door operator further includes a travel
`counter for counting the rotation pulses. In one embodi-
`ment of the invention, this travel count permits identifi-
`cation of a plurality of regions in the opening and clos-
`ing travel of the door. An adaptive closing torque limit
`memory stores an adaptive closing torque limit for each
`region of closing travel. Likewise, an adaptive opening
`torque limit memory stores an adaptive opening torque
`limit for each region of opening travel. The obstruction
`detector determines the current region of closing or
`opening travel from the travel count. An obstruction is
`detected when closing if the detected motor speed indi-
`cates a motor torque greater than the lesser of the-oper-
`ator selected closing torque limit or the adaptive closing
`torque limit for the current region of door closing
`travel. Likewise, an obstruction is detected when open-
`ing if the detected motor speed indicates a motor torque
`greater than the lesser of the operator selected opening
`torque limit and the adaptive opening torque limit for
`the current region of door opening travel. The respec-
`tive adaptive torque limits are updated based upon the
`weighted sum of the prior adaptive torque limit for the
`corresponding region and the actual torque correspond-
`ing to the average motor speed for that region.
`In an alternative embodiment, the above described
`adaptive torque limits are replaced with a rate of change
`limit. The controller continuously determines the rate
`of change of motor speed during operation. An obstruc-
`tion is detected whenever this rate of change of speed
`indicates a rate of increase in torque greater than a
`predetermined amount.
`The travel counter may also be employed for detec-
`tion of the fully opened and fully closed limits. A close
`travel memory stores a close travel count correspond-
`ing to the fully ’closed position. An open travel memory
`stores an open travel count corresponding to the fully
`opened position. The controller stops the motor when
`the travel reaches or passes the close travel count while
`closing the door, and stops the motor when the travel
`count reaches or passes the open travel count while
`opening the door.
`In accordance with the preferred embodiment of this
`invention, both the .close travel count and the open
`travel count are operator settable. This is accomplished
`in a first embodiment via a close travel limit momentary
`contact push button switch and a open travel limit mo-
`mentary contact push button switch. The controller
`changes the open and close limits dependant upon the
`button pushed and the state of operation of the auto-
`matic door operator. The close travel count is advanced
`toward more fully closed if the close limit button is
`activated when the motor is closing the door or when
`the motor is stopped and last operated to close the door.
`The close travel count is advanced toward less fully
`closed upon operation of the close limit button if the
`motor is opening the door or if the motor is stopped and
`last moved to open the door. Likewise, the open limit is
`advanced toward more fully opened if the motor is
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`opening the door or last moved to open the door, and is
`advanced toward less fully opened if the motor is clos-
`ing the door or last moved to close the door upon oper-
`ation of the open limit button.
`In an alternative embodiment, the open and close
`limit buttons are interpreted differently. Momentary
`activation of the open limit button alone advances the
`open travel count toward a more open position regard-
`less of the state of the controller. Likewise, momentary
`activation of the close limit button alone advances the
`close travel count toward a more closed position. Si-
`multaneous activation of both these buttons, causes both
`the open and close travel counts to be reset to predeter-
`mined values.
`
`In yet a further alternative embodiment, differing
`switches are employed. Each of the open limit switch -
`and the close limit switch is a single pole, double throw
`momentary contact switch with a center off position.
`Momentary‘activation of the up position of the open
`limit switch advances the open travel count toward
`more fully open. Momentary activation of the down
`position of the open limit switch advances the open
`travel count toward less fully closed. Likewise, activa-
`tion of the up position of the close limit switch advances
`the close travel count toward less fully closed and acti-
`vation of the down position of the close limit switch
`advances the close travel count
`toward- more fully
`closed.
`
`In the preferred embodiment, the travel counter, the
`close travel memory and the open travel memory all
`have'the same count range. This count range is selected
`to be greater than the expected maximum count of rota-
`tion pulses for movement between the open and close
`limit positions. These counts are initialized upon initial
`application of electrical power to the automatic door
`operator. The travel counter is initialized to a number
`near the middle of this count range. The close travel
`count is initialized to a number greater than the travel
`counter. The open travel count is initialized to a number
`no greater than the travel counter. The operational
`values of the open and close limits are then set upon
`installation of the automatic door operator.
`In the preferred embodiment the controller of the
`automatic door operator can be used to control either a
`four-pole motor or a six-pole motor.'A manual motor
`type selection switch indicates which motor type is
`installed. A torque limit table memory has predeter-
`mined torque limits each of the predetermined closing
`torque limits for a four-pole motor, each of the opening
`torque limits for a four-pole motor, each of the closing
`torque limits for a six-pole motor, and each of the open-
`ing torque limits fer a six-pole motor. The controller
`recalls the appropriate torque limit from this torque
`limit table memory corresponding to whether the door
`is opening or closing, the selected opening or closing
`torque limit, and the selected motor type. The motor
`type selection switch is constructed to default to selec-
`tion of a founpole motor, which develops less torque at
`all speeds than a six-pole motor.
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`65
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`These and other objects and aspects of the present
`invention will become clear from the following descrip-
`tion of the invention including the Figures, in which:
`FIG. 1 illustrates in block diagram form the auto-
`matic door operator in accordance with the present
`invention;
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`Webasto Roof Systems, Inc.
`Exhibit 1009
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`Webasto Roof Systems, Inc.
`Exhibit 1009
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`FIGS. 2A and 2B illustrate in greater detail the pre-
`ferred embodiment of the closing torque limit and the
`opening torque limit input devices;
`FIGS. 3A and 3B illustrate respective switches for
`the closing torque limit and opening torque limit input
`devices in accordance with an alternative embodiment;
`FIG. 4 illustrates potentiometers for the closing
`torque limit and opening torque limit input devices in
`accordance with a yet further alternative embodiment;
`FIG. 5 illustrates in greater detail the pulse counting
`circuit illustrated in FIG. 1;
`FIG. 6 illustrates in greater detail the travel limit
`circuit illustrated in FIG. 1;
`FIG. 7 illustrates in flow chart form a program for
`control of the central processing unit illustrated in FIG.
`1;
`‘
`»
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`FIG. 8 illustrates inflow chart form the command
`input subroutine illustrated in FIG. 1;
`FIG. 9 illustratesin flow chart form a first embodi-
`ment of the open limit subroutine illustrated in FIG. 7;
`FIG. 10 illustrates in flow chart form a first embodi-
`ment of the close limit subroutine illustrated in FIG. 7;
`FIG. 11 illustrates in flow chart form .an alternative
`embodiment of the open limit subroutine illustrated in
`FIG. 7;
`FIG. 12 illustrates in flow chart form an alternative
`embodiment of the close limit subroutine illustrated in
`FIG. 7;
`FIG. 13 illustrates in schematic diagram form an
`alternative embodiment of the open and close limit
`switches illustrated in FIG. 1;
`FIG. 14 illustrates in flow chart form an alternative
`embodiment of the open limit subroutine illustrated in
`FIG. 7 suitable for use with the open and close limit
`switches illustrated in FIG. 13;
`' FIG. 15 illustrates in flow chart form an alternative
`embodiment of the close limit subroutine illustrated in
`FIG. 7 suitable for use with the open and close limit
`switches illustrated in FIG. 13;
`'
`. FIGS. 16a and 16b illustrate in flow chart form the
`motor operation subroutine illustrated in FIG. 6;
`FIG. 17 illustrates in flow chart form an alternative
`embodiment of a portion of the motor operation subrou-
`tine illustrated in FIG. 16B;
`FIG. 18 illustrates in flow chart form a subroutine for
`extending the effective life of the electrically alterable
`_ programmable read only memory illustrated in FIG. 1;
`and
`
`FIG. 19 illustrates in schematic diagram form an
`alternative manner of powering the pulse counting cir-
`cuit and the travel limits circuit illustrated in FIG. 1.
`
`DETAILED DESCRIPTION OF THE
`PREFERRED EMBODIMENTS
`
`The present invention is an automatic door operator,
`such as employed for operation of residential garage
`doors, which includes electronic detection of door
`travel. The present invention is particularly directed to
`use of electronic detection of door travel for electronic
`Obstruction detection and for electronically setting
`open and close limits. More particularly, the present
`invention is directed toward the manner in Which the
`obstruction detection limits and the open and close-
`travel limits are entered into the automatic door opera-
`tor. FIG. 1 illustrates in block diagram form the general
`structure of the automatic door operator. FIGS. 2—6, 13
`and 19 illustrate in greater detail, some of the parts of
`the automatic door operator. FIGS. 7-12 and 14—18
`
`6
`illustrate in flow chart form various portions of the
`program for control of the automatic door operator.
`FIG. 1 illustrates in block diagram form the general
`construction of the automatic door operator of the pres-
`ent invention. Most of the operation and control func~
`tions of the automatic door operator of this invention
`are performed by special purpose processor circuit 100.
`Special purpose processor circuit 100 is an application
`specific processor circuit (ASPC). Special purpose pro-
`cessor circuit 100 is in general a microprocessor circuit
`includingsome special purpose peripheral devices par-
`ticularly designed for this application. Special purpose
`processor circuit 100 is preferably embodied in a single
`integrated circuit.
`Special purpose processor circuit. 100 is the heart of
`the automatic door operator of the present invention.
`Special purpose processor circuit 100 includes central
`processing unit 110 which is capable of performing
`arithmetic and logic operations in a programmed se-
`quence. Clock 115 is preferably a circuit capable of
`generating signals corresponding to the passage of real
`time. Several processes of the automatic door operator
`of the present invention are controlled by measured
`increments of time. Central processing unit 110 prefera-
`bly performs these processes by reference to the output
`of clock 115 at a' beginning time and at later times until
`a particular time interval has elapsed.
`Central processing unit 110 is bi-directionally cou-
`pled to a memory. This memory includes read only
`memory 121, random access memory 123 and electri-
`cally alterable programmable read only memory (EA-
`PRQM) 125. Read only memory 121 includes data per-
`manently fixed during the manufacture of special pur-
`pose processor circuit 100. Read only memory 121 pref-‘
`erably includes a program for control of central pro-
`cessing unit 110 permitting central processing unit 110
`to control various functions of the automatic door oper- '
`ator. This program will be further detailed below in
`conjunction with FIGS. 7—12 and 14—18. Read only
`memory 121 also includes various data constants em-
`ployed in the operation of the central processing unit
`110. Random access memory 123 serves as read/write
`memory employed by central processing unit 110 for
`temporary storage of data, the intermediate results of
`computations, and the like. The data stored within ran-
`dom access memory 123 is easily alterable by central
`processing unit 110. Electrically alterable programma-
`ble read only memory 125 is a semi-permanent memory.
`Electrically alterable programmable read only memory
`125 can be easily read by central processingunit 110 in
`the same manner as reading read only memory 121 and
`random access memory 123. Central processing unit 110
`may also alter the data stored within electrically alter-
`able read only memory 125 in a special write cycle. It is
`known in the art that such electrically alterable pro-
`grammable read only memory hasa limited number of
`such write cycles during its operational life. For this
`reason electrically alterable programmable read only
`memory 125 is preferably employed to store data which
`does not change often, such as the open and close travel
`limits, the adaptive torque limits for respective regions
`of opening and closing travel, or the like in a manner
`which will be further detailed below.
`The automatic door operator of the present invention
`includes a‘conventional‘radio frequency command link.
`Radio frequency transmitter 10 including antenna 15
`produces a coded radio frequency signal when acti-
`vated. In accordance with the prior art, radio frequency
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`Exhibit 1009
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`Exhibit 1009
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`' transmitter 10 preferably includes a momentary contact
`pushbutton switch which is manually operated. This
`radio frequency signal
`is received on antenna 21 of
`radio frequency receiver 20. Radio frequency receiver
`20 preferably includes some manner. for determining
`whether or not any received radio frequency signal is
`encoded for the particular automatic door operator. In
`accordance with the prior art,
`the radio frequency
`transmitter 10 and the radio frequency receiver 20 are
`set to operate on the same code, in order to lessen inter-
`ference between similar automatic door operators em-
`ployed in the same vicinity. Radio frequency receiver
`20 generates an input signal to input circuit 131 only if
`it receives a properly encoded radio frequency signal.
`Input circuit 131 is coupled to input/output bus 140
`which is further coupled to central processing unit 110.
`Thus receipt of properly encoded radio frequency sig-
`nal
`is communicated to central processing unit 110
`which can then take appropriate action in accordance
`with the then current state of the automatic door opera-
`tor.
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`A momentary contact pushbutton switch 25 is cou-
`pled to input circuit 131 in parallel to radio frequency
`receiver 20. Resistor 23 is coupled to the positive volt-
`age supply in order to assure a logical “high” input to
`input circuit 131 when neither radio frequency receiver
`20 nor switch 25 is activated. In accordance with the
`prior art, momentary contact pushbutton switch 25 is
`mounted within the garage at a location near to the
`door to the adjoining interior spaCe. The automatic
`door operator of the present invention operates in the
`same fashion whether an input command is received via
`radio frequency transmitter 10 or via pushbutton switch
`25.
`
`There are several additional switches for input to
`special purpose processor circuit 100. These include
`open limit switch 30, close limit switch 40 and motor
`type selection switch 50. Open limit switch 30 and close
`limit switch 40 are each momentary contact pushbutton
`switches. Activation of one of these switches supplies a
`logical “high” input to respective input circuits 132 and
`133. Resistors 33 and 43, are coupled to ground to in-
`sure that a logical “low” signal