WO1993026080A1

WO1993026080A1 - Solid-state sensing and control transit car door system

Info

Publication number: WO1993026080A1
Application number: PCT/US1993/005408
Authority: WO
Inventors: Frederick Earl Templeton; David Lee Crawforth; Darin M. Macfarland
Original assignee: Morrison Knudsen Corporation
Priority date: 1992-06-08
Filing date: 1993-06-08
Publication date: 1993-12-23

Abstract

Movement of a doorway panel (22) for a transit car passenger doorway is controlled by programmable doorway controller (30) which enables opening and closing movement of the doorway panel (22). A reversible direction drive, connected to the rotary drive (54) through mechanical linkage (56), is responsive to the controller (30) to actuate movement of the panel (22). Solid-state detector (65) in which the movement of a cam (60) is interrelated with the rotary drive (54). Solid-state sensor (64) is located to verify closure of the doorway panel (22). The controller (30) enables reading of stored operation data, from the sensors (64 and 65), for each doorway panel (22) of the transit car system and provides interrelation for safety purposes.

Description

SOLID-STATE SENSING AND CONTROL TRANSIT CAR DOOR SYSTEM

This application is a continuation-in-part of co- owned pending U. S. patent application Serial No. 07/603,785, filed November 19, 1990 as a division of co- owned patent application Serial No. 07/333,703, filed April 5, 1989, assigned to Morrison Knudsen Corporation, now Patent No. 4,981,084,

This invention is concerned with automated self- regulating closure of a transit vehicle doorway enabling control of rate of movement of doorway panel means during opening or closure of a transit car doorway and providing for inspection of doorway panel operation for a transit vehicle from memory-stored operational data.

In its more specific aspects, the invention enables time-modulated solid-state control of drive power for doorway panel movement. Also, safer and more efficient operation results are achieved by combining programmable control with solid-state sensing which eliminates any requirement for mechanical switch-type means for sensing door panel status or movement. Further, the solid-state sensing and control features facilitate customizing concepts of the invention for use with newly developing transit systems or existing transit car door installations. The above and other advantages and contributions of the invention are considered in more detail in relation to the accompanying drawings, in which:

FIG. 1 is a diagrammatic view of doorway control means of the invention for a transit car;

FIG. 2 is a diagrammatic view of sensing and operating means embodying the invention for opening and closing doorway panel means;

FIG. 3 is a diagrammatic view of a plurality of transit cars with doorway panel means operable in accordance with the invention for safe transit car movement;

FIG. 4 is a block diagram for describing a closed loop feedback control embodiment of the invention for operating panel means at an individual doorway and of programmable logic controller means for a transit car;

FIG. 5 is a block diagram of an embodiment of the invention for describing assembly of control means for solid-state regulation of time-modulated pulsing of power to doorway panel drive means;

FIG. 6 is an electrical schematic for describing a specific embodiment of the invention with digital control of power pulsing for a reversible-direction electric motor drive for movement of doorway panel means; FIG. 7 is an electrical schematic of solid-state door panel sensing devices for coacting with the embodiment of FIG. 6;

FIG. 8 is a schematic perspective view for describing an embodiment of cam modulating means for effecting the electrical output of solid-state detector means for use in the invention for evaluating door panel movement and for indicating closed door panel position;

FIG. 9 is a flow chart for describing a programmed main opening sequence of the invention;

FIG. 10 is a flow chart for describing an opening speed adjustment subroutine of the main opening sequence of Fig. 9;

FIG. 11 is a flow chart for describing an opening subroutine of the main opening sequence of FIG. 9;

FIG. 12 is a schematic for describing solid-state control of drive means during an opening sequence such as FIG. 11;

FIG. 13 is a timing diagram for describing time- modulated power pulsing for movement of doorway panel means in response to an opening subroutine such as that of FIG. 11 or other programmed actions of later figures;

FIGS. 14 a and b present a flow chart of the main closing sequence for a transit car door program embodiment of the invention; FIG. 15 is a flow chart for describing a doorway ob¬ struction subroutine made available during the main closing sequence of FIGS. 14 a and b;

FIG. 16 is a flow chart for describing a closing speed adjustment subroutine made available by the main closing sequence of Fig. 14;

FIG. 17 is a flow chart for describing a closing subroutine provided during the main closing sequence of FIGS. 14 a and b; FIG. 18 is a schematic for describing solid-state control of drive means during the closing subroutine of FIG. 17;

FIG. 19 is a flow chart for describing "last-close" subroutine of FIGS. 14 a and b for doorway panel means, and

FIG. 20 is a schematic of solid-state for describing solid-state control of drive means during the subroutine of FIG. 19.

Prior art rapid transit systems generally relied on manually controlling opening or closing of doorway panel means and correcting panel movement problems or doorway obstruction problems. In the present invention, solid- state sensing means in combination with solid-state programmed control of reversible direction drive means enables automated self-regulation of movement sequences for doorway panel means including a doorway closure procedure which is safe and reliable.

Referring to FIG. 1, elongated transit car 20 includes two doorways on each of its longitudinal sides. Coacting door panels 22, 23 and 24, 25 close their respective doorways on one side of the car; and door panels 26, 27 and 28, 29 are located to close respective doorways on the remaining longitudinal side of the car. Present teachings enable control of doorway panel means for doorways with two coacting panels as well as the less frequently occurring single panel doorway.

In FIG. 1, doorway control means 30 controls panels 22, 23 and doorway control means 31 controls panels 24, 25. Doorway control means 30, 31 are connected individually with a transit car programmable logic controller (36) for certain functions. Doorway controllers 38, 39 control door panels 26, 27 and 28, 29, respectively, on the remaining longitudinal side of the car; and programmable logic controller (PLC 36) coordinates opening on each designated side; such as through connecting lines 41 and 43 for door panels 22, 23 and 24, 25 and through lines 44, 45 to control means 38, 39 for the doorways on the remaining side.

The present invention automates self-regulating sequencing of doorway panel means movement subsequent to an initiating supervisory (opening or closing) signal. The source of the supervisory signal can be manually generated or an automatically generated signal can initiate door panel movement while providing for manual override. PLC 36 is connected to receive information from doorway control means through connections 46, 47, 48, 49 and connections 50, 51, 52, 53 as shown in FIG. 1. Such connections are used for safety purposes; for example, to verify that each door panel in a transit car is fully closed before allowing a car to move; or for trouble¬ shooting purposes in a transit car through individual connection of a doorway control means with the PLC 36.

FIG. 2 schematically shows components for sensing opening and closing an individual doorway. Movement of panel 22 is controlled by programmable doorway control means 30 which enables opening and closing movement of door panel 22. A reversible-direction drive, in a specific embodiment, is connected to rotary drive means 54 through mechanical linkage 56. A preferred rotary drive means comprises a reversible-direction electric motor with integrated gear box 58. The automated self-regulating door closure and other features of the invention can be adapted because of the solid-state sensing and controls taught herein to single or dual panel doorway drives. In a rotary drive embodiment, mechanical linkage 56 converts rotary motion into linear motion for a door panel oriented for sliding movement into a recess in the longitudinal side wall of a transit car. Various types of suitable connector rod or gear linkages, based on known mechanical principles, can be adapted to carry out doorway panel movement as sensed and controlled by the invention. Cam means 60 of FIG. 2 moves in synchronism with drive 54 (e.g. through its gear unit 58) such that movement of the cam means is responsive to the rate of movement of doorway panel 22. Actual movement of the doorway panel means is reflected back to the drive arrangement by the door linkage (56) and is detected for utilization with programmable doorway controller 30. A rotary drive unit facilitates use of a rotary-movement cam (60) for indicating doorway panel position and movement. Important contributions of the invention relate to the ability to establish in an automated manner the location, for electronic control purposes, of a discrepancy in movement of panel means at a particular doorway and to limit remedial measures to the doorway(s) at which a discrepancy is indicated. Efficiency and effectiveness for rapid transit purposes are enhanced by solid-state monitoring control of movement of doorway panel means which facilitates automated individual corrective action(s) at an indicated doorway including control of rate of movement of doorway panel means during doorway closure. Solid-state sensing means and timer means enable digital control of power regulator means supplying a reversible drive for panel means of each doorway during opening and closure.

A primary objective is to provide for safe self- regulating closures of transit car doorways as part of rapid transit operations; also, provision is made for restraining car movement dependent, for safety purposes, on a verified status of closure of doorway panel means throughout a transit car. Solid-state sensors and associated solid-state power regulator means facilitate use of a microprocessor as part of programmable control means for each doorway while increasing reliability by eliminating any requirement for mechanical movement devices in the control of power to panel drive means or for mechanical-type switch means for sensing doorway panel means. That is, in assembly and utilization, electromechanical moving parts are essentially limited to power drive and linkage means for physically moving doorway panel means. As doorway panel 22 opens in FIG 2, solid-state proximity sensor device 64 signals an "open" condition; and, solid-state detector 65 is associated with movement of cam 60 to perform multiple functions such as: sensing movement of doorway panel means to determine movement rate and indicating return of doorway panel means to closure position. While the doorway panel means are in motion, detector 65 can sense such movement and coact with a timer function of the programmable doorway controller 30 to indicate a departure (as it is occurring) from standardized rate of movement for doorway panel means. The solid-state sensing and computer-assisted solid- state control achievable during opening and closing of doorway panel means provide an effective and practicable method for minimizing hazards to safety in terminating movement of passengers through doorways. An automated self-regulating opening and closure procedure for each doorway is achieved in a commuter transit environment. For example, passenger car doorway control taught herein does not involve procedures of the type found on elevators or at building entrances in which doorway panels spring full-open when a person approaches or an obstruction exists in a doorway; such procedures would be inconsistent with concepts and technology being presented for facilitating rapid transit objectives. The present computer-assisted solid-state control and solid-state sensing contributions are directed to safely achieving rapid transit purposes for heavily-used commuter systems by avoiding and/or substantially eliminating transit delays due to faulty or ineffective doorway control.

As a specific example, a doorway panel "push-back" feature in the operation of certain prior car door systems could result in an indication of "locked closure" from a connector linkage arm for doorway panel means notwithstanding that a passenger item, such as a briefcase, could be trapped between doorway panels. In effect, a variance from "fully-closed" status could exist notwithstanding an indication of "locked closure" to a train conductor. With present teachings an obstruction to closure is identified, a remedial procedure is provided and doorway closure is verified. For safety purposes and rapid transit efficiency, the invention detects and locates an obstruction to doorway closure and automates a response (limited to the identified locationfs]) which is directed to clearing the obstruction and establishing doorway closure.

Detection of an obstruction in any boarding doorway of a transit car automatically initiates a pre-programmed self-regulating doorway closure procedure; for example, limited reopening and altered reclosing movements for that doorway. The objectives of selected preprogrammed closure procedures are to give a person the opportunity to move away from an obstructed doorway while, at the same time, eliminating the opportunity for obstruction to closure of other doorways by preventing any reopening of those doorways where no obstruction occurred.

Use of programmable means (such as a microprocessor) as part of the doorway control means 30 enables storing of operational data for doorway panel means in the microprocessor memory module of the doorway control along with altering movement for doorway panel means in which a change of rate of movement is achievable during doorway closure. In FIG. 2, solid-state panel status sensor 64 is located to verify closure of doorway panel means. Preferably, "full-closure" status is directly established from an integral and fixed portion of doorway panel structure. Sensed data relating to doorway panel movement and reaching a closed position are achieved through cam modulating solid-state detector 65 in which movement of a cam 60 is interrelated with the drive means. The "full- closure" status of the doorway panel means obtained through status sensor means (64) verifies the closed position sensed by the detector means 65 associated with cam 60.

Also, as schematically indicated in FIG. 2, a doorway controller (such as 30) is connected through transit car PLC (such as 36) for restraining car movement until closure has been verified. Movement of a transit car is subject to manual override at manual interrupt means 67.

FIG. 3 schematically sets forth cars 20, 64 and 66 in a train indicated generally at 68. "Car" refers to a commuter passenger vehicle and a "train" refers to two or more such vehicles moving by rail or other means of coordinated movement to facilitate passenger transfer at appropriate stations or platforms.

Provisions are made for analyzing operations of doorway panel means at each doorway in a transit car. Transit car programmable logic controllers (PLC's 36, 70, 72, respectively, for individual cars of train 68 in FIG. 3) each provide for interrelating transit cars for train movement through electrical cables 74, 76 which include specialized connector lines 78, 80 and lines 82, 84 for separating supervising sequence initiating signals for each longitudinal side of a car. Each transit car PLC (36, 70, 72) is also electrically interconnected from the power supply signal source 87 (by means of lines 88, 90) to train braking system 92. Braking signal control lines can be used to prevent travel until all doorways in the train are closed. Manual override for restraining train movement is also provided (for example, 67 in FIG. 2) .

The transit car programmable logic controller (such as PLC 36) functions to interrelate individual programmable doorway control means. Closed loop feedback aspects provided for control of a doorway panel means are represented in the block diagram embodiment of FIG. 4. A microprocessor can comprise the programmable portion of each doorway control means which also includes isolation means and power regulator means. PLC 36 is shown schematically within an interrupted-line border for coaction with each programmable doorway control means. As shown, a specific doorway microprocessor 96 is connected via gating means 98 to PLC 36; gating means 98 also provides connection for other doorway controls (the number dependent on the type of transit car) .

In a preferred embodiment, each doorway control microprocessor is configured to respond to a sequence initiating signal, to process panel movement and position sensed data and to coordinate timer or other relevant microprocessor functions for preprogrammed sequencing of movement of the doorway panel means at that doorway. A supervisory signal input source 100 (manual or automatically generated) for initiating opening or closing is connected at 102, 104 to gating means 98. Sequence initiating and sensed doorway panel movement or position data are arranged for normal operating purposes to control doorway openings on one side of a train upon a given supervisory signal; a separate supervisory signal can be utilized for opening doorways on the remaining longitudinal side of a transit car (as indicated by connections of FIG. 3) .

A supervisory signal for closing doorway panel means can be timed so as to be automatically generated (with manual override) or can also be manually initiated from a conductor's cab. Also, supervisory signals for opening doorways can be used in combination with platform location means (not shown) which determine that train cars are properly stopped at a station platform to permit passenger transfer by sensing a platform on one or both longitudinal sides of each car in a train. A display means (such as 106, FIG. 4) can be made available at each transit car controller for providing an instantaneous visual check of the status of the doorway panel means at individual doorways.

Referring to FIG. 4, the programmable doorway control means 30 includes microprocessor 96 connected through interface means 110 to solid-state power regulator 112. Drive 114 is connected for power supply by 116 to the power regulator 112. Mechanical linkage, schematically indicated as 118 in this figure, can be used to connect drive 114 to doorway panel means 22 (single panel or dual doorway panels) and provides for direct mechanical-linkage with feedback of actual movement of doorway panel means (to cam 60 of FIG. 2) . Also, positional information from the cam-actuated detector means described in relation to FIG. 2, and verification of complete closure (by proximity sensor means) are represented by arrow 124 between doorway panel means 22 and sensing means 126. Sensed data is connected by 130 to the microprocessor (96) of the respective doorway control means. In a reversible DC motor drive embodiment provision is made for controlling current direction in the armature windings (FIGS. 5, 6) to control the rotational direction of drive 114 to carry out opening or closing of its respective doorway panel means. Solid-state power regulator 112, utilizing a timer function of microprocessor 96, pulses power to field and armature windings providing prompt response and accurate control of drive direction and rate of movement during closure.

Each doorway motor drive can include an integral gear box (58, FIG. 2) for delivering appropriate mechanical output to a linear movement linkage (56, FIG. 2) for its respective doorway. A drive means with linkage means and programmable control means are used for each doorway. Present solid-state sensing and control with microprocessor programming enable certain advantages of the invention to be adapted for control of two panels with one each in doorways which are longitudinally adjacent along a car side wall.

Doorway panel information from the multiple sources represented by sensing means 126 is transferred directly as shown in FIG. 4 to doorway microprocessor 96; which, as part of the doorway control means, provides signals to power regulator 112 for time-modulated pulsing of power to drive 114. Advantages of time-pulsed directional-control are facilitated by microprocessor 96 which is preprogrammed for automated regulation of doorway panel means. As shown in later flow charts, microprocessor timer means time each opening or closing event providing for evaluating rate of movement of doorway panel means and generating signals as well as providing for pulsing of power to alter movement of panel means. Doorway microprocessors (such as 96) are selected with architecture and instruction set capabilities which are optimum for control and bit-sensing applications. A commercially available single-chip programmable microprocessor adaptable to present teachings comprises model MCS-51 manufactured by Intel Corporation of Santa Clara, California, USA and, in particular, #8751 of that MCS-51 family which incorporates an on-chip, programmable, read-only memory which is useful for customizing the microprocessor for differing installations. The programmable logic controller (such as 36) for a car can be appropriately programmed and connected to handle the desired inputs to display status of doorway panel means for a car, to provide access to memory stored operational data for each doorway, and to provide desired outputs for car braking system signals according to specific conditions of operation. The doorway microprocessor (such as 96) and the car PLC (such as 36) can be customized to a particular installation based on the representative programming described herein. The block diagram of FIG. 5 presents a general arrangement for assembly of apparatus (such as shown in more detail in FIGS. 6, 7) for achieving digital control of time modulated pulsed power for drive control of doorway panel means. In response to a sequence initiating input (not shown in FIG. 5) , microprocessor 96 functions through isolation means 132. A specific embodiment of an isolation means is the Phillips ECG Type 3045 Opto- Isolator, available from Phillips ECG, Inc. , Williamsport, PA. Local display 134 indicates status of a doorway motor drive using, for example, light emitting diodes (LEDs) connected to the control wires. Such local indication is especially useful during operational testing.

Solid-state power regulator 112 is electronically activated through doorway microprocessor 96 to control power from supply connection 136 (FIG. 5) for doorway panel movement during opening and closing. As shown in more detail in the specific embodiment of FIG. 6, the solid-state regulator uses control voltage to gate direct current (at power voltage level) under microprocessor control to field windings 138 and armature windings 140 of a reversible-direction DC motor (connected as shown in FIG. 6) . Opening or closing drive movement is controlled by the direction of the current established in the armature windings. Drive power for the motor 114 is regulated and adjusted as programmed in the microprocessor to provide time period control and pulse width modulation during a working cycle. FIGS. 6 and 7 present circuitry for assembly into a specific embodiment for exercising solid-state control. Certain functions can be subdivided, and separate circuit boards can be utilized for ease of assembly (and ease of replacement during repair) . Interface circuitry 110 is combined with doorway control circuitry 111 in FIG. 6 and coacting doorway sensing means and circuitry are set forth in FIG. 7.

In Fig. 6, doorway panel movement signal means 150, 152, 154, 156 from the microprocessor (not shown in this figure) are directed through open-collector buffers (such as 160) to isolators (such as optical isolator 162) . The input circuit of an isolator (such as 162) is fed via control voltage connection 164 (at a control voltage of about five volts) and its output circuit is fed via power supply connection 166 (at power voltage level selected, for example, at about thirty-seven volts) .

The power supply shares a common ground connection at 168 with the light emitting diodes (such as 170) which are used for local display. The latter connects each isolator output with an LED showing instantaneous state of door movement commands being sent to the power regulator 112 shown within a broken line border in FIG. 6) . Each isolator output passes through a current limiting resistor (such as 172, typically 750 ohms) to connectors (such as 180) to the solid-state power regulator 112 for time-modulated pulsing of power such that rate and direction of doorway panel movement can be constantly under digital control. Connections 150, 152, 154, 156 transmit signals under control of the microprocessor for combinations involving three modes: ON, OFF and PULSED. As covered in program descriptions, the relative state of those signal connections ultimately determines power (e.g. , current in the reversible DC motor embodiment) as well as direction of motion (OPEN or CLOSE) and control of rate of movement during closing (or opening) of the doorway panel means.

FIGS. 6 and 7 set forth a circuitry embodiment for two panels coacting at a doorway with four signals from the isolation and local (doorway) display circuits being transmitted via connectors 180, 182, 184 and 186. Signal connectors 180 and 184 transmit the "open" signal for the reversible-direction drive motor for the two coacting panels to be opened together; both 180 and 184 must be activated before the coacting panels will open. Signal connectors 182, 186 transmit a "close" signal for the DC motor drive for doorway panels to be closed; both signals must be activated for drive controlled closing movement.

In the doorway control circuitry 111 of FIG. 6, motor drive control signals are directed via connectors 180, 182, 184 and 186 to the solid-state power regulator 112 which is connected to 166 for power supply. Circuit breaker 190 and an emergency cutoff switch (such as 67 of FIG. 2) are connected in the power supply line to field windings 138 and the armature winding 140 of the reversible-direction DC drive motor through the solid- state power regulator 112.

In the solid-state power regulator 112 each transistor circuit (such as 200) includes a transistor and diode (as shown) so as to provide for controlling direction of current in the armature windings of the DC motor. In order to open coacting doorway panel means, signals on connectors 180, 184 trigger transistor circuits 200, 206 to establish pulsed current (as shown later herein) in field windings 138 and armature windings 140. In order to close doorway panel means, pulsed current is established oppositely in the armature windings by connector 182, 186 signals triggering transistor circuits 202, 204 (while transistor circuits 200, 206 are non-conducting) .

In order to slow the motor drive to buffer movement of the doorway panels as full-close (or full-open) position is approached, the doorway microprocessor pulses one of the transistor circuits to bypass (in effect short out) the armature for short periods of time (causing an electrical braking effect) . The following table illustrates input signal combinations to achieve (in the order listed) an opening mode, a closing mode, and a "last-close" or "slowing" mode in the embodiment of FIG. 6:

OPERATING MODE

Opening Closing Last-close

ON OFF OFF PULSE ON ON ON PULSE OFF

OFF ON PULSE

In each case, the PULSE signal serves to bypass current in the armature and increase field current thus applying a speed-regulating cushioning as a function of the controlled working cycle. Power to the armature is digitally pulsed by the microprocessor to slow panel movement in approaching full closure and/or full opening. Timing for start of each pulsing can be determined, for example, by termination of the most recent pulse from the "cam-modulated" panel movement sensing means to the doorway controller microprocessor.

FIG. 7 shows sensing and circuit connections for use with FIG. 6 for closing and opening coacting doorway panels. Sensed data are directed through connectors 230, 232, 234, 236 and 238 of FIG. 7 from the solid-state proximity sensors 240, 242 of FIG. 7 as well as from solid-state cam-modulated circuit mεins of Hall-effect detectors 245, 247. Doorway closure verification sensor means include a proximity sensor 240, 242, respectively, for each coacting doorway panel. In the illustrated embodiment of FIG 8, two detectors 245, 247 are activated due to motion of the cam 60 which is synchronized for movement with the drive means (whether for a single panel or pair of coacting doorway panels) . Preferably two cam-modulated detectors are used and positioned, for example, as shown in FIG 8. A local indication (LED) can be provided for each signal connection monitored. Power supply connection means (250, 252 in the FIG. 7 schematic) are at the same voltage level providing a current path depending on sensed condition through an optical isolator (such as 253) and other optical isolators in series with a current limiting resistor (such as 254) and an LED (such as 255) for the optical isolator 256 for doorway microprocessor connector 238.

An input for the doorway microprocessor is typically connected, for example, to connector 230; a signal trace for cam modulated detector means 245 is connected at node 260 to a "pull-up" resistor such as 262; signal current is established when detector 245 is active. In a specific embodiment, solid-state proximity sensors 240, 242 rely on modifying the circuit value of electrical induction, for example, by doorway panel structure being positioned in juxtaposition to indication means, and ca - responsive (Hall-effect) detectors 245, 247 rely on modulation (by cam 60) of a magnetic field. Each proximity sensor is used to verify closure of a doorway panel; and, preferably, full-closure of each coacting panel is established directly from a fixed portion of doorway panel structure.

One of the Hall-effect detectors of FIG. 8 can be used for signalling doorway panel means position and one can be used for sensing movement of the doorway panel means. Hall-effect detector means are selected from commercially available units such as the 4AV series manufactured by Micro Switch Division of Honeywell, Freeport, Illinois. Typically an internal permanent magnet and a responsive semiconductor sensor element are separated by a gap. Interposition of a magnetically permeable material, in effect, shields the solid state sensor so that the device becomes active when the permeable material is removed. The detectors can be connected for opposite utilization or the doorway microprocessor(s) can be programmed to respond to either active or inactive status dependent on permeable material shielding of the solid-state element.

In the perspective view of FIG. 8, the cam configuration is positioned for relative movement with respect to the Hall-effect detectors in which peripheral portions (radially extending fingers) of the cam configuration move into or through a gap, presented by the detector structure, between a permanent magnet on one leg and a responsive semiconductor on the other leg.

Hall-effect detectors 245, 247 are, per se, isolators and thus connectors 230, 232 need no further isolation with respect to the doorway microprocessor (96) . The circuits responding to activation of proximity sensors 240, 242, however, utilize two levels of isolation. The first is between the sensor voltage (twenty-four) and the control logic voltage (five) of connectors 234, 236.

The output signals of the sensing circuitry are as follows: signal wire 230 represents the Hall-effect detector 245 signal that the permeable-material cam has come to its rotational position indicating that the cam (and doorway panel means associated through the drive means) are in a closed position; that signal is connected directly to doorway microprocessor (96) input because the Hall-effect detector isolates sensor voltage from control (logic) voltage level. Signal wire 232 represents movement of a peripheral configurational portion of FIG. 8 passing through the gap of the detector means 247 which can be used to sense rate of doorway panel movement during opening or closing. Such signal is connected by 232 to another input connection for the doorway microprocessor (96) providing, for example, for measuring the exact time of the motion event, or for measuring rate of movement or position of doorway panel means.

Signal wire 238 is directed to the doorway microprocessor (96) through a differing input connection with isolation at 256; in other customized installations, the doorway microprocessor inputs can also be responsive to signals for representing other events or states. The connectors 234, 236 operate at the higher sensor signal voltage level and represent selected combinations of activation of the four sensors for use in safety control of movement. Provision can be made for sensing the status of each connector 234, 236 at any time.

A common ground is provided for both power and control. The magnetic field for the Hall-effect sensors is, preferably, by permanent magnet but could be provided by electromagnet means (not shown) .

The permeable-material cam 60, in combination with

Hall-effect semiconductor sensor elements, comprise detector means 245, 247 and is used in connection with doorway microprocessor timer means which establishes standardized rate of movement (in a particular transit car door system) for opening or closing a doorway.

Cam 60 rotates in the closing direction indicated by arrow 284 of FIG. 8. Closing movement can be sensed to indicate a departure from normal closing time. A change from standardized movement during closure is used to cause activation of an altered closing sequence. An obstruction to closure can be determined based on departure from an established standard closing time program or by sensing stoppage of movement during closure. In a specific embodiment, a doorway microprocessor (such as 96) can be selected from units manufactured by Intel Corporation, Santa Clara, CA 95052 from that company's designations 8032, 8052 or 8751; or, similar microprocessor units with stored program control in combination with an internal or external program memory such as a programmable read-only memory (PROM) . Programmable logic controllers for transit cars are available from General Electric Fanue Automation, Charlottesville, VA 22906, designated Series 1. Transistor circuits (such as 200 in power regulator 112) are available from Powerex, Inc. of Youngwood, PA 15697. Proximity Sensors (such as 240, 242) are available from Microswitch Division, Honeywell, Inc. of Freeport, IL 61032. A suitable motor drive is operated at 37 volts, Model #DV-37, with associated gearbox, available from Vapor Corporation, Chicago, Illinois.

The program for a doorway controller microprocessors (such as 96) has been subdivided for purposes of illustration and description into opening sequencing (FIGS. 9 through 13) and closing sequencing (FIGS. 14 through 20) with the latter including an obstruction sensing sequence.

In accordance with one objective to provide for a variety of installation options and features for a particular transit system, a programmable doorway microprocessor (selected from the MCS-51 family, produced by Intel Corp. of California, in particular # 8071, 8571) facilitates taking advantage of the solid-state sensing of data and control features for interrelating apparatus to carry out transit car doorway opening and closing methods of the invention. A doorway microprocessor may be programmed in machine language or otherwise. A specific embodiment of the doorway microprocessor program incorporates flow charts as described and presented in the drawings. The program may at any instant be under control of a main operating loop, or under control of an event which may have occurred, externally; such as, for example, the change of state of a designated input pin. Or an event which may have occurred internally, such as, for example, a change of state of a timer.

In the main operating loop of a preferred embodiment, if an opening sequence is needed, an opening routine is executed; if a closing sequence is needed, a closing routine is executed; if neither is needed, the test is repeated until one or the other becomes logically appropriate. Programming is carried out to ensure that all routines preserve and restore processor status so that no routine will corrupt another routine. The main processing loop is described first with respect to opening then with respect to closing.

In FIG. 9, a "Main Opening Routine" first clears final "CLOSE" flag (302), then tests for doors fully opened (304) ; if so, a clearing routine (306) is executed and program control returns to the main loop. If the direction has changed, status flags are set (308) . If a "SLOW" flag is active, a particular numeric value is stored (310) for use, by e.g. an on-chip timer. If for any reason a "CHECK SPEED" flag has become active as a result of any other process, an "Open Speed Adjustment" subprogram (312) described below is invoked.

In FIG. 10, an "Open Speed Adjustment" subprogram 312 tests data derived from panel position sensors to see if an "almost open" condition exists, and stores 314 or 316 in appropriate "fast" or "slow" numeric value for use by timer registers. Measured timing data from measured movement of panel means is compared for "too fast" or "too slow, and a correction is made to a stored numeric value for use by timing registers.

FIG. 11 illustrates program flow during opening and FIGS. 12 and 13 are for describing the effect on the drive motor direction and the timer function for control of the drive motor. In the program flow of FIG. 11, output pins are unconditionally set to establish the direction of current through the motor armature 140. While doorway panel means are in motion, there are always three of the four inputs set to a static state (ON or OFF) , and the fourth is pulsed for speed or braking control of panel means. The discussion associated with FIGS. 6, 7 sets forth a more detailed description of how the signals coact with transistor circuits 200, 202, 204 and 206 of solid- state power regulator 112. FIG. 13 illustrates how the value stored in timing registers affects motor speed (hence doorway panel rate of movement) by imposing absolute control over period (also referred to as "PER") and pulse width (also referred to as "PW") so as to determine the "duty cycle."

In addition to the Main Opening Routine and its subprograms, the other component of the Main Operating Loop affects doorway closing as follows:

FIGS. 14 a and b embody the closing, closing speed control, and features for sensing an obstruction to closure. If the doorway panel is indicated as closed according to one panel sensor a redundant check is made at 320, using an alternate sensor, before a signal is transmitted allowing vehicular movement; an exception invokes an obstruction routine 322, described below (FIG. 15) . Even if fully closed is indicated, an obstruction test is made with optional execution of the same routine. A "change of direction" test is made with appropriate reestablishment 324 of status and register values. A "slow" request state is interrogated with appropriate storing 326 of numeric values for use by timer registers. Another obstruction test is performed with appropriate action as described. A "final close" test is performed 328 with appropriate subtests of desired speed and position. A position test is performed 330 with appropriate context switching. Finally before returning to the main loop, a "last close" test is performed 332 to enable the feature that prevents train delay by a passenger attempting to re-open a door after a prior attemp . FIG. 15 illustrates the "Obstruction Subroutine" 322 that may be invoked as part of FIGS. 14 a and b or elsewhere. A position test 340 is based primarily on the Hall-effect position sensor acting with cam 60 as described above. A review of prior obstruction action 342 and a direction change test 344 are performed with exit if either is true. Finally, if all conditions are appropriate, the motor is stopped 346,, numeric values are stored for the desired speed, and the "Open" subprogram 348 is invoked until a preselected desired position is reached. FIG. 16 illustrates the adjustment of speed for closing, in response to a "nearly closed" condition, a mismatch between panel positions, an obstruction, or any other designated purpose. A sequence of position tests 350 first determines whether the adjustment is necessary, with exit if not; then allows alteration of speed for final closing. Numeral values are stored for use by timer registers in comparing motion of the cam 60 of the Hall-effect detector device (described above under FIG. 8) . A flag is cleared to indicate to other routines that the function has been accomplished.

FIGS. 17 and 18 relate to the elemental "Close Subroutine" that is invoked as part of the "Main Closing Routine" of FIGS. 14 a,b or elsewhere. Like the "Open Subroutine" of FIG. 13, the close subroutine illustrated by FIG. 17 is accompanied by the FIG. 18 schematic showing input states for armature current direction.

FIGS. 19 and 20 relate to the elemental "Last Close Subroutine" provided for the "Main Closing Routine" of FIGS. 14 a,b. Like the "Open" routine of FIG. 11, the program flow illustrated by FIG. 19 is accompanied by FIG. 20 schematic showing input states for armature current direction.

The "Close" programs and subprograms are invoked within the main processing loop. Other handling as needed is invoked by events rather than program control and is outside the main processing loop.

An important feature is the ability to observe the operation as it is being performed by observation of the light emitting diode (LED) displays described in regard to FIGS. 6, 7, and elsewhere above. In the case of a fault which is intermittent in nature, it is valuable to be able to test for the same or similar events for subsequent analysis made possible by use of a doorway microprocessor with read-write random access memory (RAM) for the circulating storage of control, motion and status events as they occur, combined with means for transferring its contents at a car PLC (such as 36) into, for example, a personal computer, a display terminal, a printer, or a combination thereof.

To conserve memory space, maintenance logging data is stored in an on-board RAM with memory access identical in method to the storage of any other dynamic data used by the microprocessor. The event data, along with its day number (since reset of the date)and time of occurrence are stored in abbreviated alphanumerical character format. The storage function can be inserted at any point in the main control loop of the microprocessor program. When it is desired to transfer or display the data, a control switch (not shown) applied to one of the doorway microprocessor inputs causes a separate program to read the stored data and apply it to a input-output pin of that microprocessor. By connecting a conventional data communication port (such as an RS 232 connector as standardized by the Electronic Industries Association of Washington, DC) , the data may be accepted, stored and/or displayed by any compatible personal computer, display terminal or printer; or may be transmitted via a modem to a similarly equipped device by telephone. The data then may be viewed and analyzed by a knowledgeable maintenance operator, may be analyzed by a custom computer program constructed in any programming language, or with the aid of a simple formatting routine in the BASIC language or any other computer language,may be expanded from its abbreviated alphanumeric format into a formal report or a selected portion thereof.

By way of example, such a report may contain the date and time of the last setting of date and time; the time elapsed since then to that of the current data; the date and time of the current data; the existence of a particular "open" or "close" command signal or any other related event; the execution of subordinate commands to the doorway microprocessor (or control circuit means) for the execution of an intended subordinate operation; the actual response of elements of the door control system in carrying out the intended operation or subordinate operation; a comparison of intended versus actual operations or subordinate operations; and a "pass-fail" event result from analysis or direct use in maintenance or inspection activities.

It should be noted that the use of terminology within the flow charts may differ from that used for earlier description of methods or apparatus without departing from the spirit of the invention or from the microprocessor enablement provided by the illustrated program flow charts. The operation and function of components combined by the present invention have been set forth for purposes of describing novel and nonobvious concepts, and the interrelation of functions brought about by the programming of the invention has been set forth for description of such purposes. While specific circuit values, elements and process steps have been identified for purposes of setting forth a specific preferred embodiment, it should be understood that in the light of the above teachings, drawings and description, other circuit values, elements or particulars of the steps can be used or otherwise interrelated to carry out objectives of the invention so that the scope of the present invention should be determined by reference to the appended claims.

Claims

CLAIMS 1. Apparatus for automated self-regulating control of opening and closing of doorway panel means oriented for movement between open and closed positions in a transit car doorway, comprising reversible-direction drive means for moving the doorway panel means between open and closed positions, means for connecting the mechanical output of the reversible drive means to doorway panel means for carrying out reversible direction movement to open and/or close a transit car doorway, means for supplying power for the drive means, solid-state power regulator means for regulating delivery of power to the drive means, and programmable control means for digitally controlling rate of doorway panel movement during OPENING OR closing of the doorway by time-modulated pulsing of power to the drive means. 2. Apparatus for automated self-regulating movement of doorway panel means oriented for movement between opened and closed positions for a transit car doorway, comprising electromechanical means including electrical drive motor means for carrying out such movement of the doorway panel means, means for supplying electrical power for the drive motor means, solid-state power regulator means operable between the means for supplying power and the drive motor means, programmable control means for digitally controlling time-modulated pulsing of electrical power to the motor drive means to control rate of movement of the panel means during opening or closing of the transit car doorway. 3. The apparatus of claim 2 including solid-state sensing means responsive to movement of the doorway panel means in the doorway, in which the control means is programmed for electrically receiving responses of the solid-state sensing means to selectively modify time-modulated pulsing of power to the drive motor means by the solid-state regulator. 4. The apparatus of Claim 3 in which the electromechanical means comprises a reversible DC motor having armature means mechanically-linked to the doorway panel means to reflect movement thereof, the solid-state sensing means comprises solid-state detector means for sensing rate of movement of the doorway panel means, in which cam means is synchronized for rotary movement with the armature means of the DC motor and positioned in juxtaposition to a solid-state detector element having an electrical output responsive to the synchronistic rotary movement of the cam means to produce an electrical output indicative of the actual rate of movement of the doorway panel means. 5. The apparatus of claim 4 in which the programmable control means includes a doorway microprocessor with, timer means for evaluating rate of movement of the doorway panel means during opening and/or closing of the transit car doorway. 6. The apparatus of claim 5 in which the solid- state sensing means further includes solid-state proximity sensor means for producing an electrical output verifying a fully-closed position for the doorway panel means. 7. The apparatus of claim 6 in which the proximity sensor means is directly responsive to an integral and fixed portion of the doorway panel means for establishing fully-closed position for the doorway panel means. 8. The apparatus of Claim 1, in which the programmable control means includes means for receiving solid-state sensed electrical response indicative of the rate of movement of the doorway panel means toward closed position for the doorway, and timer means responsive to start of closing movement of the doorway panel means to provide a standardized rate of movement for comparison with the measured rate of closure movement to determine that an obstruction to closure exists. 9. The apparatus of claim 8 in which the programmable control means includes a doorway microprocessor programmed for automated sequencing of a self-regulating closure procedure for movement of the doorway panel means. 10. The apparatus of claim 9, in which the automated sequencing of the self-regulating closure procedure provides for limited reopening movement of the doorway panel means when an obstruction to closure exists to facilitate clearing such obstruction, followed by altered rate of reclosing movement of the doorway panel means to achieve closure of the transit car doorway. 11. The apparatus of claim 9 in which the doorway microprocessor is programmed to decrease rate of movement of the doorway panel means in approaching closed and/or open position in the transit car doorway. 12. Apparatus for automated self-regulating opening and closing of doorway panel means oriented for movement between full-open and fully-closed positions in a transit car doorway, comprising means for receiving a supervisory initiating signal for opening or closing the transit car doorway, drive means for moving the doorway panel means between open and closed positions, power supply means for supplying power to the drive means for opening and closing the doorway, solid-state power regulator means for regulating power to the drive means, sensing means including (A) solid-state detector means for responding to the rate of movement of the doorway panel means during movement from open position toward closed position, and for providing a signal indicating when closed position is reached, and (B) solid-state proximity sensor means for establishing closed position of the doorway panel means; and programmable control means for exercising control of movement of the doorway panel means, including (i) means for generating control signals for time-modulated pulsing of power by the power regulator means, (ii) means for receiving sensed response of the rate of movement of the doorway panel means toward closed position, (iϋ) timer means for establishing a standardized rate of movement for the doorway panel means for comparison to the sensed rate of movement to indicate that an obstruction to closure of the doorway exists, and (iv) means for automated sequencing a limited reopening and an altered rate of reclosing movement procedure for the doorway panel means in response to such indication of obstruction to doorway closure. 13. The apparatus of claim 7 in which programmable control means, in response to the solid- state sensing means, provides a signal when the doorway is in other than closed position so as to restrain transit car movement prior to closure of the doorway. 14. The apparatus of claim 2 in which the drive means comprises a reversible-direction DC motor having field windings and armature windings, the power supply means provides for connection to a source of direct current, and the solid-state power regulator means provides direction of time modulated pulsing of current in the armature windings of the DC motor to control direction of movement of the doorway panel means in the transit car doorway. 15. The apparatus of claim 13 for doorway control of an elongated transit car having a plurality of doorways distributed along at least one longitudinal side of the transit car for controlling ingress or egress of passengers, in which the programmable control means for each doorway comprises a doorway microprocessor programmed for controlling operation of doorway panel means at each doorway, and in which the doorway microprocessor comprises memory means for storing operational data of the doorway panel means at each such doorway; and further including a programmable logic controller for the transit car for receiving data from individual doorway microprocessors for coordinating closure information of each such doorway of the transit car, and data transfer means for memory stored data relating to doorway panel means operation at each such transit car doorway. 16. Apparatus for controlling opening and closing of a transit car doorway in which doorway panel means are oriented for movement between open and closed positions, comprising means for supplying current at power voltage level, electrical drive motor means operable at power voltage level, means for physically interlinking the doorway panel means and drive motor means for movement of the doorway panel means between such open and closed positions, solid-state sensing means producing electronic output responsive to the movement and positioning of the doorway panel means in the transit car doorways, means for supplying a control voltage, programmable control means with a program for control of automated self-regulating operation of the doorway panel means, including solid-state power regulator operable by means of control voltage signals to regulate power voltage output, timer means for electronically generating time signals for digital control of time-modulated pulsing of electrical power to the drive motor means by the power regulator to control rate and direction of movement of the doorway panel means in the transit car doorway, and means for connecting the electronic output of the solid-state sensing means to the programmable control means for controlling the solid-state power regulator means to selectively modify such control of the doorway panel means in response to output of the solid-state sensor means. 17. Method for controlling opening and closing of a transit car doorway in which doorway panel means are oriented for movement between open and closed positions in a transit car doorway, comprising the steps of providing reversible-direction drive means for moving the doorway panel means between open and closed positions, connecting the mechanical output of the reversible drive means to doorway panel means for carrying out opening or closing a transit car doorway, providing power regulator means for supplying power to the drive means, providing programmable control means to digitally control the power regulator, and controlling rate of movement of the doorway panel means during opening or closing of doorway by time- modulated pulsing of power to the drive means. 18. The method of claim 17 including providing for monitoring movement and position of the doorway panel means by solid-state sensing means responsive to the direction of movement, rate of movement and/or position of the doorway panel means, and selectively altering movement of the doorway panel means responsive to such monitoring of the doorway panel means. 19. The method of claim 17 including providing connector means for an electrical supervisory signal for initiating movement of the doorway panel means to open or close the transit car doorway, and in which the reversible drive means comprises an electric drive motor, the solid-state power regulator means controls electrical power to control rate and direction of movement of the doorway panel means, and the programmable control means includes a doorway microprocessor by which supervisory signals for initiating movement of the doorway panel means and signals for controlling output of the solid-state power regulator are programmed to initiate, carry out and terminate opening or closing movement of the doorway panel means. 20. The method of claim 19 in which the doorway microprocessor is programmed to selectively combine output of the solid-state sensor means to modify movement of the doorway panel means during closing of the doorway. 21. Method for controlling doorway panel means oriented for movement to open or close a transit car doorway, comprising the steps of providing a DC drive motor with windings enabling reversible direction movement of its armature, connecting the mechanical output of the reversible- direction DC drive motor to move the doorway panel means between open and closed positions, providing an electrical power connection for supplying DC at power level voltage to the drive motor for opening or closing the doorway panel means, providing an electrical control voltage connection, providing control circuit means with a solid-state circuit operable by electronic signals at control voltage level for regulating DC at power voltage level between the electrical power connection and the drive motor, and timer means for generating electronic signals for time-modulated pulsing of DC in windings of the DC drive motor to control direction and rate of rotation of the drive motor so as to control direction of movement and rate of movement of doorway panel means for opening or closing a doorway. 22. The method of claim 21 including providing solid-state sensing means for generating an electronic output responsive to position and/or movement of the doorway panel means in the doorway, and modifying time-modulated power pulsing to windings of the DC drive motor responsively to the electronic output of the solid-state sensing means to alter direction and/or rate of movement of the doorway panel means during closing of the transit car doorway. 23. The method of claim 22 in which the control means comprises a doorway microprocessor having a doorway panel movement timer means for providing a standardized rate of movement of the doorway panel means, further including the steps of programming the microprocessor for combining output of the solid-state sensor means indicating start of movement of the doorway panel means and generated timer signals to provide digital control of time-modulated pulsing of current in the armature windings of the DC drive motor, and providing Hall-effect detector means for sensing movement of the doorway panel means, in which a cam means is synchronized for rotary movement with the DC motor drive and positioned for modulating the electrical output of a semiconductor detector element responsive to a magnetic field so as to send signals indicative of the sensed rate of movement of the doorway panel means toward closed position for comparison with a standardized rate of movement for the doorway panel means, and determining when a departure from the standardized rate of movement for the doorway panel means exists for purposes of providing an altered movement procedure for doorway panel means for closure of the rapid-transit car doorway. 24. The method of claim 23 in which altering movement of the doorway panel means as part of the reclosing procedure is carried out by providing a limited reopening movement of the doorway panel means in order to facilitate clearing an obstruction to closure prior to starting reclosing movement of the doorway panel means. 25. Manufacturing assembly of apparatus to provide automated self-regulated control of movement of doorway panel means oriented for movement between open and closed positions in a transit car doorway, comprising the steps of providing mechanical output reversible-direction drive means for moving the doorway panel means between open and closed positions, providing for connecting mechanical output of the reversible drive means to doorway panel means for carrying out reversible direction movement to open or close a transit car doorway, providing a solid-state power regulator for delivering power to the drive means, providing programmable control means, and programming such control means for digitally activating the solid-state regulator to control rate of movement of doorway panel means during closing or opening of the transit car doorway by time-modulated pulsing of power to the drive means.