EP0771923A2 - Movement monitor for a single or multiple panel door or gate - Google Patents
Movement monitor for a single or multiple panel door or gate Download PDFInfo
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- EP0771923A2 EP0771923A2 EP96111204A EP96111204A EP0771923A2 EP 0771923 A2 EP0771923 A2 EP 0771923A2 EP 96111204 A EP96111204 A EP 96111204A EP 96111204 A EP96111204 A EP 96111204A EP 0771923 A2 EP0771923 A2 EP 0771923A2
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- 238000000034 method Methods 0.000 claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 230000008859 change Effects 0.000 claims description 36
- 238000012546 transfer Methods 0.000 claims description 34
- 230000006870 function Effects 0.000 claims description 14
- 238000009795 derivation Methods 0.000 claims description 6
- 230000015654 memory Effects 0.000 claims description 6
- 238000000418 atomic force spectrum Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- 230000008878 coupling Effects 0.000 description 10
- 238000010168 coupling process Methods 0.000 description 10
- 238000005859 coupling reaction Methods 0.000 description 10
- 238000012806 monitoring device Methods 0.000 description 6
- 230000001960 triggered effect Effects 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000004013 groin Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
- E05Y2900/106—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for garages
Definitions
- the invention relates to a method for monitoring the movement of a drivable, one- or multi-part door or gate leaf according to the preamble of claim 1 and a device for carrying out the method according to the preamble of claim 14.
- Such a method and such a device are known from EP-B1-0 083 947.
- the monitoring device disclosed therein is based on the basic idea that the actual profile of the force required to drive the door leaf is continuously compared with a target profile over the transfer path. If the difference between the actual profile and the target profile exceeds a predetermined amount, an interrupt signal is generated which switches off the drive of the door leaf or reverses its direction of movement.
- the target profile is recorded and stored at least once before the gate is put into operation for an unobstructed normal operation along the transfer route.
- Such a monitoring system already points towards other known monitoring devices, such as flexible ones Beaded electrical contacts, improved hazard protection. Nevertheless, even with such a monitoring device, cases can still arise in which the criterion for generating the interrupt signal is not sufficiently sensitive. If the edge of the door leaf hits soft obstacles, for example, the movement force for moving the door leaf increases more slowly than a hard obstacle, so that a longer period of time passes until the interruption signal is triggered. If, for example, the edge of the door leaf bumps into the lateral groin area of a person who accidentally gets into the path of movement during the movement of the door leaf, the interruption signal from the monitoring device is sometimes not triggered sufficiently early.
- the object of the invention is therefore to monitor the transfer movement between the open position and the closed position of gates or doors of the type in question as sensitively as possible for a deviation from normal operation.
- the solution according to the invention consists in that, in addition to the known method, a derivation of the actual profile of a physical operating variable of the door movement after the transfer path is formed at each scanned point and that an interrupt signal is also generated if a criterion according to the determined derivation is not met is.
- the target course of the relevant physical operating variable is recorded and stored at least once before the gate is put into operation for an unobstructed normal operation along the transfer route.
- the advantages achieved with the invention are in particular in that the monitoring device is equally sensitive to hard objects and / or soft objects when it hits the gate. Compared to a monitoring device of the generic type, this improvement can be achieved with relatively little effort.
- the first derivative is preferably formed after the transfer route or according to the time, but higher derivatives can also be used.
- the difference value to be specified is dependent on the one hand on external influences such as wind influences, slight icing and the like, on the other hand it takes into account minor changes in the outlet resistance.
- a fixed difference value is predetermined beforehand over the entire movement sequence, but in principle the difference value can also be dimensioned differently over the transfer route, in particular to compensate for the different wind impairments depending on the movement route achieved.
- the set course and the actual course can be derived from different physical operating variables of the advance movement, but preferably the same physical output variables will be evaluated for both values.
- the target profile is recorded and stored only after the door has been installed at the place of use and the target change profile is then determined and also stored.
- the target profile can be newly recorded and saved after certain operating intervals of the door, and a new target change profile can be determined therefrom.
- the target change history can also be determined and saved once, but it is also possible that the target change history is determined anew during operation with each movement of the door leaf on the basis of the target history.
- the route-dependent determination of a physical operating variable of the door leaf movement can be carried out in different ways.
- the driving force of the door leaf is preferably taken as a basis, which in turn can be determined via a direct force measurement or also via a torque measurement.
- a preferred way of measuring the torque is to determine the angle of rotation between two elastically coupled coupling elements which are connected in series in the course of the driving force path.
- the transfer path itself is also determined by a suitable measuring device.
- a pulse generator is preferably used, which is also driven by the drive motor. In conjunction with two switching elements that detect the opening position and the closing position of the door leaf, the momentary position on the transfer line can be determined with the pulse generator within the resolution accuracy of the given pulses.
- the speed of movement of the door leaf is taken as a measure of a physical operating quantity of the movement.
- the movement speed is no longer recorded depending on the transfer route, but depending on the time.
- a speed profile which is also recorded as a function of time, serves as the target profile for an unobstructed normal operation.
- a tachometer generator or a pulse generator which is driven by the door drive, can be used to measure the speed of movement. While the pulses emitted by the pulse generator still have to be derived in a frequency proportional to the speed, the tachometer generator already supplies a voltage proportional to the speed of movement of the gate.
- the device consists of a door drive, a measuring element for measuring the transfer path, a measuring element for measuring a physical operating variable of the gate movement, a control unit with memories for the measured variables and a differentiating element.
- control unit consists of a microcontroller on which corresponding memories and AD converters are already integrated.
- the differentiator is preferably also implemented on the microcontroller in the form of software logic. But it is also conceivable that the differentiator consists of an analog differentiator, the signal of which is also fed to an AD converter. In any case, the differentiator must be designed so that the current derivative of the input signal in question is reliably determined regardless of short-term noise disturbances.
- the door drive consists of an electric motor.
- the power supplied by the electric motor can be used directly as a measure of a physical operating variable of the door movement. If the voltage is constantly applied, the current supplied to the electric motor can also serve as the basis for a physical operating variable, the current measured thereby being approximately a measure of the torque delivered by the electric motor.
- the interruption signal generated by the control unit results in the electric motor being switched off.
- the drive direction of the door drive is reversed due to an interruption signal, which can be done in a suitable electric motor by reversing the polarity of the supply voltage or by a suitable gear.
- the garage door from FIG. 1 has two vertical struts 1, at the upper end of which two track rails 2 are connected, in which the door leaf 3 is guided.
- the door leaf 3 is further articulated to the struts 1 with a linkage, not shown, so that the door leaf can be opened and closed with an overhead movement.
- compensating springs are provided which largely compensate for the dead weight of the door leaf during the movement and which keep the door leaf defined in its end positions.
- the drive system designated 4 consists overall of a drag chain drive with a drag chain 5 to which the door leaf 3 is articulated and which is guided over the deflection roller 6 and over a drive roller, not shown.
- the drive roller is located in the drive unit 7 and is driven by the electric motor 9 via a gear.
- a pulse generator 8 which is mounted on an elastic coupling and which emits a pulse after a certain angle of rotation.
- control unit 10 which consists of a microcontroller with integrated memory and AD converters.
- the output signal of the control unit 10 leads to an amplifier 11 which supplies the electric motor 9 with the necessary power via a current measuring element 12.
- the input variables of the control unit include the measurement variables 8a and 12a, the switching signals 13a and 14a and input signals 15, which are not specified in more detail, and which may include signals from an operating unit and also a voltage supply.
- the signal 8a of the pulse generator is evaluated by the control unit in connection with signals from the switching elements 13 and 14.
- the switching elements are actuated by the door leaf 3 in its end positions, that is in each case in the vertical and in the horizontal position.
- the signals 13a and 14a therefore each serve as start-stop signals in order to ensure reliable integration of the signal 8a.
- FIG. 2 shows a possible embodiment of the pulse generator 8.
- a coupling is shown, which is provided between the drive wheel of the drag chain 5 and the output of the drive motor 9.
- the driven coupling half 20 is designed as a torsionally flexible coupling member with a radial intermediate layer between the toothing and the hub, for example in the form of a rubber ring 21.
- the driven coupling half 22 has teeth 23 on its radial circumference, which are scanned by the inductive transmitter 24. When the clutch rotates, the inductive transmitter 24 emits corresponding pulses due to the periodic change in the inductance.
- the target curve of the motor current is recorded for an unobstructed normal operation depending on the transfer route.
- the signals 8a and 12a are read into the microcontroller via AD converters at the same sampling times and stored in such a way that an assignment of values of the same times is possible.
- the target curve thus recorded is stored in the EPROM so that the values can be loaded into the main memory each time the microcontroller is reset.
- an actual profile of the motor current depending on the transfer path is recorded in accordance with the target profile. For each actual value recorded, a calculation procedure is run through before the next actual value is recorded, that is to say within a sampling period, which checks whether there are inadmissible deviations from the target curve and whether an interrupt signal must be generated accordingly.
- each recorded actual value is first compared with the corresponding target value for the same values of the transfer route. If the actual value deviates from the target value by a predetermined amount, an interrupt signal is generated by the microcontroller, which results in the drive direction of the door leaf being reversed.
- the derivation is formed in a next step for the currently recorded actual value depending on the transfer route.
- Various methods are conceivable for this, the simplest of which consists in forming a difference between the currently recorded actual value and the previously recorded actual value. If the actual values are particularly noisy, the previous values may need to be smoothed before the difference is formed. For this purpose, a certain number of previously recorded actual values are interpolated with a predetermined function before the interpolated function Derivative is formed.
- the currently determined derivation is included in an actual change history, which is compared with a target change history. This target change history was likewise determined and stored before start-up based on the target history already recorded using the method just described. If the actual change value deviates from the target change value by a predetermined amount, an interrupt signal is generated, which in turn results in a reversal of the drive direction of the door leaf.
- the already known criterion between the target profile and the actual profile is supplemented by an additional criterion between the target change profile and the actual change profile, which allows a more precise assessment for generating an interruption signal.
- the target curve can be compared more and more precisely with the actual curve by forming further derivatives.
- the limit here is the noise behavior of both signals already mentioned, as a result of which a minimum tolerance range between the actual profile and the target profile is required so that the interrupt signal is not triggered undesirably.
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
- Operating, Guiding And Securing Of Roll- Type Closing Members (AREA)
- Burglar Alarm Systems (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Überwachung der Bewegung eines antreibbaren, ein- oder mehrteiligen Tür- oder Torblatts nach dem Oberbegriff des Patentanspruchs 1 und eine Vorrichtung zur Durchführung des Verfahrens nach dem Oberbegriff des Patentanspruchs 14.The invention relates to a method for monitoring the movement of a drivable, one- or multi-part door or gate leaf according to the preamble of claim 1 and a device for carrying out the method according to the preamble of claim 14.
Ein derartiges Verfahren und eine derartige Vorrichtung sind aus EP-B1-0 083 947 bekannt. Die darin offenbarte Überwachungseinrichtung beruht auf dem Grundgedanken, daß der Ist-Verlauf der erforderlichen Kraft zum Antrieb des Torblatts über die Überführungsstrecke fortlaufend mit einem Soll-Verlauf verglichen wird. Überschreitet die Differenz zwischen Ist-Verlauf und Soll-Verlauf einen vorher festgelegten Betrag, so wird ein Unterbrechungssignal erzeugt, das den Antrieb des Torblatts abschaltet oder dessen Bewegungsrichtung umkehrt. Der Soll-Verlauf wird dabei zumindest einmalig vor Inbetriebnahme des Tores für einen hindernisfreien Normalbetrieb entlang der Überführungsstrecke aufgenommen und abgespeichert.Such a method and such a device are known from EP-B1-0 083 947. The monitoring device disclosed therein is based on the basic idea that the actual profile of the force required to drive the door leaf is continuously compared with a target profile over the transfer path. If the difference between the actual profile and the target profile exceeds a predetermined amount, an interrupt signal is generated which switches off the drive of the door leaf or reverses its direction of movement. The target profile is recorded and stored at least once before the gate is put into operation for an unobstructed normal operation along the transfer route.
Ein derartiges Überwachungssystem weist bereits gegenüber anderen bekannten Überwachungseinrichtungen, wie z.B. unter nachgiebigen Wulsten angeordnete elektrische Kontakte, einen verbesserten Gefahrenschutz auf. Dennoch können auch bei einer derartigen Überwachungseinrichtung noch Fälle auftreten, in denen das Kriterium zum Erzeugen des Unterbrechungssignals nicht ausreichend empfindlich ist. Stößt die Torblattkante z.B. gegen weiche Hindernisse, so steigt die Bewegungskraft zur Bewegung des Torblatts gegenüber einem harten Hindernis langsamer an, so daß bis zum Auslösen des Unterbrechungssignals ein längerer Zeitraum verstreicht. Stößt die Kante des Torblatts also z.B. in die seitliche Leistengegend einer Person, die unbeabsichtigt während der Bewegung des Torblatts in dessen Bewegungsbahn gelangt, so wird das Unterbrechungssignal der Überwachungseinrichtung mitunter nicht ausreichend früh ausgelöst.Such a monitoring system already points towards other known monitoring devices, such as flexible ones Beaded electrical contacts, improved hazard protection. Nevertheless, even with such a monitoring device, cases can still arise in which the criterion for generating the interrupt signal is not sufficiently sensitive. If the edge of the door leaf hits soft obstacles, for example, the movement force for moving the door leaf increases more slowly than a hard obstacle, so that a longer period of time passes until the interruption signal is triggered. If, for example, the edge of the door leaf bumps into the lateral groin area of a person who accidentally gets into the path of movement during the movement of the door leaf, the interruption signal from the monitoring device is sometimes not triggered sufficiently early.
Aufgabe der Erfindung ist es daher, die Überführungsbewegung zwischen der Offenstellung und der Schließstellung von Toren oder Türen der in Frage stehenden Art auf eine Abweichung von dem Normalbetrieb hin möglichst feinfühlig zu überwachen.The object of the invention is therefore to monitor the transfer movement between the open position and the closed position of gates or doors of the type in question as sensitively as possible for a deviation from normal operation.
Ausgehend von einem Verfahren der gattungsgemäßen Art wird diese Aufgabe erfindungsgemäß durch die kennzeichnenden Merkmale des Patentanspruchs 1 gelöst. Die erfindungsgemäße Lösung besteht darin, daß zusätzlich zu dem bekannten Verfahren an jedem abgetasteten Punkt eine Ableitung des Ist-Verlaufs einer physikalischen Betriebsgröße der Torbewegung nach der Überführungsstrecke gebildet wird und daß ein Unterbrechungssignal auch dann erzeugt wird, wenn ein Kriterium gemäß der bestimmten Ableitung nicht erfüllt ist. Der Soll-Verlauf der betreffenden physikalischen Betriebsgröße wird dabei mindestens einmalig vor Inbetriebnahme des Tores für einen hindernisfreien Normalbetrieb entlang der Überführungsstrecke aufgenommen und gespeichert.Starting from a method of the generic type, this object is achieved according to the invention by the characterizing features of patent claim 1. The solution according to the invention consists in that, in addition to the known method, a derivation of the actual profile of a physical operating variable of the door movement after the transfer path is formed at each scanned point and that an interrupt signal is also generated if a criterion according to the determined derivation is not met is. The target course of the relevant physical operating variable is recorded and stored at least once before the gate is put into operation for an unobstructed normal operation along the transfer route.
Die mit der Erfindung erzielten Vorteile bestehen insbesondere darin, daß die Überwachungseinrichtung beim Auftreffen des Tores auf harte Gegenstände und/oder weiche Gegenstände gleichermaßen empfindlich reagiert. Gegenüber einer Überwachungseinrichtung der gattungsgemäßen Art läßt sich diese Verbesserung dabei mit einem verhältnismäßig geringem Aufwand erzielten.The advantages achieved with the invention are in particular in that the monitoring device is equally sensitive to hard objects and / or soft objects when it hits the gate. Compared to a monitoring device of the generic type, this improvement can be achieved with relatively little effort.
Vorzugsweise wird zur Bildung des Ist-Änderungsverlaufs und/oder des Soll-Änderungsverlaufs die erste Ableitung nach der Überführungsstrecke oder nach der Zeit gebildet, es können aber auch höhere Ableitungen Verwendung finden.To form the actual change course and / or the target change course, the first derivative is preferably formed after the transfer route or according to the time, but higher derivatives can also be used.
Der vorzugebende Differenzwert, um den der Ist-Änderungsverlauf von dem Soll-Änderungsverlauf abweichen muß, um den Hindernisfall zu signalisieren, ist zum einen von äußeren Einwirkungen wie Windeinflüssen, geringfügigen Vereisungen und dergleichen abhängig, zum anderen berücksichtigt er geringe Änderungen im Ablaufwiderstand. Nach einer bevorzugten Ausführungsform wird ein fester Differenzwert über den gesamten Bewegungsablauf hinweg vorher festgelegt, grundsätzlich kann der Differenzwert aber auch über die Überführungsstrecke hinweg unterschiedlich bemessen sein, insbesondere zur Kompensation der je nach erreichter Bewegungsstrecke unterschiedlichen Windbeeinträchtigung.The difference value to be specified, by which the actual change course must deviate from the target change course in order to signal the obstacle, is dependent on the one hand on external influences such as wind influences, slight icing and the like, on the other hand it takes into account minor changes in the outlet resistance. According to a preferred embodiment, a fixed difference value is predetermined beforehand over the entire movement sequence, but in principle the difference value can also be dimensioned differently over the transfer route, in particular to compensate for the different wind impairments depending on the movement route achieved.
Grundsätzlich können der Soll-Verlauf und der Ist-Verlauf von unterschiedlichen physikalischen Betriebsgrößen der Vorbewegung abgeleitet sein, vorzugsweise wird man aber für beide Werte die selben physikalischen Ausgangsgrößen auswerten.In principle, the set course and the actual course can be derived from different physical operating variables of the advance movement, but preferably the same physical output variables will be evaluated for both values.
Nach einer bevorzugten Ausführungsform wird der Soll-Verlauf erst nach Installation des Tores am Einsatzort aufgenommen und abgespeichert und daraufhin der Soll-Änderungsverlauf bestimmt und ebenfalls abgespeichert. Hierdurch lassen sich die tatsächlich auftretenden Betriebsverhältnisse unter normalen Bedingungen mit den tatsächlich herrschenden Umwelteinflüssen in realistischer Weise berücksichtigen. Da sich die Betriebsverhältnisse durch Verschleiß oder ähnliches im Laufe der Zeit ändern, kann der Soll-Verlauf nach bestimmten Betriebsintervallen des Tores neu aufgenommen und gespeichert sowie daraus ein neuer Soll-Änderungsverlauf bestimmt werden. Selbstverständlich ist es aber auch möglich, den Soll-Verlauf bereits bei der Herstellung je nach Tortyp vorzugeben und abzuspeichern. Der Soll-Änderungsverlauf kann ebenfalls einmalig bestimmt und abgespeichert werden, es ist aber auch möglich, daß der Soll-Änderungsverlauf während des Betriebes bei jeder Bewegung des Torblatts auf der Grundlage des Soll-Verlaufs neu bestimmt wird.According to a preferred embodiment, the target profile is recorded and stored only after the door has been installed at the place of use and the target change profile is then determined and also stored. This allows the operating conditions that actually occur under normal conditions with the actually prevailing environmental influences in a realistic manner. Since the operating conditions change over time due to wear or the like, the target profile can be newly recorded and saved after certain operating intervals of the door, and a new target change profile can be determined therefrom. Of course, it is also possible to predefine and save the target course during manufacture, depending on the type of door. The target change history can also be determined and saved once, but it is also possible that the target change history is determined anew during operation with each movement of the door leaf on the basis of the target history.
Die streckenabhängige Ermittlung einer physikalischen Betriebsgröße der Torblattbewegung kann auf verschiedene Weisen erfolgen. Vorzugsweise wird die Antriebskraft des Torblatts zugrundegelegt, die wiederum über eine direkte Kraftmessung oder auch über eine Drehmomentsmessung ermittelt werden kann. Eine bevorzugte Art der Messung des Drehmoments besteht darin, den Verdrehwinkel zwischen zwei elastisch miteinander verkuppelten, im Zuge des Antriebskraftweges hintereinander geschalteten Kupplungselementen zu ermitteln. Es läßt sich aber in bekannter Weise auch die Leistung eines elektrischen Antriebsmotors oder bei konstant anliegender Spannung der zugeführte Strom überwachen.The route-dependent determination of a physical operating variable of the door leaf movement can be carried out in different ways. The driving force of the door leaf is preferably taken as a basis, which in turn can be determined via a direct force measurement or also via a torque measurement. A preferred way of measuring the torque is to determine the angle of rotation between two elastically coupled coupling elements which are connected in series in the course of the driving force path. However, it is also possible to monitor the power of an electric drive motor in a known manner or, if the voltage is constantly applied, the current supplied.
Werden die obengenannten Meßgrößen einer physikalischen Betriebsgröße der Bewegung des Torblatts in Abhängigkeit von der Überführungsstrecke aufgenommen, so ist es hierzu erforderlich, daß auch die Überführungsstrecke selbst durch eine geeignete Meßeinrichtung ermittelt wird. Hierzu wird vorzugsweise ein Impulsgeber verwendet, der ebenfalls durch den Antriebsmotor angetrieben wird. In Verbindung mit zwei Schaltelementen, die die Öffnungsposition und die Schließposition des Torblatts detektieren, kann mit dem Impulsgeber die momentane Position auf der Überführungsstrecke innerhalb der Auflösungsgenauigkeit der abgegebenen Impulse bestimmt werden.If the above-mentioned measured variables of a physical operating variable of the movement of the door leaf as a function of the transfer path are recorded, it is necessary for this that the transfer path itself is also determined by a suitable measuring device. For this purpose, a pulse generator is preferably used, which is also driven by the drive motor. In conjunction with two switching elements that detect the opening position and the closing position of the door leaf, the momentary position on the transfer line can be determined with the pulse generator within the resolution accuracy of the given pulses.
Nach einer weiteren bevorzugten Ausführungsform ist vorgesehen, daß die Bewegungsgeschwindigkeit des Torblatts als Maß für eine physikalische Betriebsgröße der Bewegung genommen wird. Hierbei wird die Bewegungsgeschwindigkeit nicht mehr in Abhängigkeit der Überführungsstrecke, sondern in Abhängigkeit der Zeit aufgenommen. Als Soll-Verlauf dient ein ebenfalls in Abhängigkeit der Zeit aufgenommener Geschwindigkeitsverlauf für einen hindernisfreien Normalbetrieb. Zur Messung der Bewegungsgeschwindigkeit können ein Tachogenerator oder auch ein Impulsgeber dienen, die durch den Torantrieb angetrieben werden. Während die von dem Impulsgeber abgegebenen Impulse noch in eine zur Geschwindigkeit proportionale Frequenz abgeleitet werden müssen, liefert der Tachogenerator bereits eine zur Bewegungsgeschwindigkeit des Tores proportionale Spannung.According to a further preferred embodiment it is provided that the speed of movement of the door leaf is taken as a measure of a physical operating quantity of the movement. The movement speed is no longer recorded depending on the transfer route, but depending on the time. A speed profile, which is also recorded as a function of time, serves as the target profile for an unobstructed normal operation. A tachometer generator or a pulse generator, which is driven by the door drive, can be used to measure the speed of movement. While the pulses emitted by the pulse generator still have to be derived in a frequency proportional to the speed, the tachometer generator already supplies a voltage proportional to the speed of movement of the gate.
Eine weitere erfindungsgemäße Lösung der obengenannten Aufgabe besteht in einer Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens mit den im Patentanspruch 14 aufgeführten Merkmalen.Another solution according to the invention to the above object consists in a device for carrying out the method according to the invention with the features listed in claim 14.
Seinem grundsätzlichen Aufbau nach besteht die Vorrichtung aus einem Torantrieb, einem Meßglied zur Messung der Überführungsstrecke, einem Meßglied zur Messung einer physikalischen Betriebsgröße der Torbewegung, einer Steuereinheit mit Speichern für die Meßgrößen und einem Differzierglied.According to its basic structure, the device consists of a door drive, a measuring element for measuring the transfer path, a measuring element for measuring a physical operating variable of the gate movement, a control unit with memories for the measured variables and a differentiating element.
Nach einer bevorzugten Ausführungsform besteht die Steuereinheit aus einem Microcontroller, auf dem bereits entsprechende Speicher und AD-Wandler integriert sind. Vorzugsweise ist das Differenzierglied ebenfalls auf dem Microcontroller in Form einer Software-Logik implementiert. Es ist aber auch denkbar, daß das Differenzierglied aus einem analogen Differenziator besteht, dessen Signal ebenfalls einem AD-Wandler zugeführt wird. In jedem Fall muß das Differenzierglied so ausgelegt sein, daß die momentane Ableitung des betreffenden Eingangssignals unabhängig von kurzzeitigen Rauschstörungen zuverlässig bestimmt wird.According to a preferred embodiment, the control unit consists of a microcontroller on which corresponding memories and AD converters are already integrated. The differentiator is preferably also implemented on the microcontroller in the form of software logic. But it is also conceivable that the differentiator consists of an analog differentiator, the signal of which is also fed to an AD converter. In any case, the differentiator must be designed so that the current derivative of the input signal in question is reliably determined regardless of short-term noise disturbances.
Nach einer weiteren bevorzugten Ausführungsform besteht der Torantrieb aus einem Elektromotor. Die zugeführte Leistung des Elektromotors kann dabei direkt als Maß für eine physikalische Betriebsgröße der Torbewegung hergenommen werden. Bei konstant anliegender Spannung kann auch der dem Elektromotor zugeführte Strom als Basis für eine physikalische Betriebsgröße dienen, wobei der dabei gemessene Strom näherungsweise ein Maß für das abgegebene Moment des Elektromotors ist.According to a further preferred embodiment, the door drive consists of an electric motor. The power supplied by the electric motor can be used directly as a measure of a physical operating variable of the door movement. If the voltage is constantly applied, the current supplied to the electric motor can also serve as the basis for a physical operating variable, the current measured thereby being approximately a measure of the torque delivered by the electric motor.
Nach einer weiteren bevorzugten Ausführungsform ist vorgesehen, daß das von der Steuereinheit erzeugte Unterbrechungssignal ein Abschalten des Elektromotors zur Folge hat. Es ist aber auch möglich, daß die Antriebsrichtung des Torantriebs sich aufgrund eines Unterbrechungssignales umkehrt, was bei einem geeigneten Elektromotor durch Umpolung der Versorgungsspannung oder auch durch ein geeignetes Getriebe geschehen kann.According to a further preferred embodiment it is provided that the interruption signal generated by the control unit results in the electric motor being switched off. But it is also possible that the drive direction of the door drive is reversed due to an interruption signal, which can be done in a suitable electric motor by reversing the polarity of the supply voltage or by a suitable gear.
Weitere Einzelheiten und Vorteile der Erfindung werden anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert. In dieser zeigt:
- Fig. 1
- eine schematische Darstellung eines über Kopf bewegbaren Garagentors mit einem Blockschaltbild des erfindungsgemäßen Überwachungssystems und
- Fig. 2
- eine schematische Darstellung eines Impulsgebers auf einer elastischen Kupplung.
- Fig. 1
- a schematic representation of a garage door movable overhead with a block diagram of the monitoring system according to the invention and
- Fig. 2
- is a schematic representation of a pulse generator on an elastic coupling.
Das Garagentor aus Fig. 1 weist zwei vertikale Streben 1 auf, an deren oberen Ende sich zwei Laufschienen 2 anschließen, in denen das Torblatt 3 geführt ist. Das Torblatt 3 ist weiterhin mit einem nicht dargestellten Gestänge an die Streben 1 angelenkt, so daß sich das Torblatt mit einer Überkopfbewegung öffnen und schließen läßt. Außerdem sind Ausgleichsfedern vorgesehen, die das Eigengewicht des Torblatts während der Bewegung weitgehend kompensieren und die das Torblatt in seinen Endstellungen definiert halten. Das mit 4 bezeichnete Antriebssystem besteht insgesamt aus einem Schleppkettenantrieb mit einer Schleppkette 5, an der das Torblatt 3 angelenkt ist und die über die Umlenkrolle 6 sowie über eine nicht dargestellte Antriebsrolle geführt ist. Die Antriebsrolle befindet sich in dem Antriebsaggregat 7 und wird über ein Getriebe durch den Elektromotor 9 angetrieben. Ebenfalls durch den Elektromotor 9 angetrieben wird ein Impulsgeber 8, der auf einer elastischen Kupplung montiert ist und der nach einem gewissen Drehwinkel jeweils einen Impuls abgibt.The garage door from FIG. 1 has two vertical struts 1, at the upper end of which two
Das gesamte System wird durch die Steuereinheit 10 gesteuert, die aus einem Microcontroller mit integriertem Speicher und AD-Wandlern besteht. Das Ausgangssignal der Steuereinheit 10 führt zu einem Verstärker 11, der dem Elektromotor 9 über ein Strommeßglied 12 die notwendige Leistung zuführt. Zu den Eingangsgrößen der Steuereinheit gehören die Meßgrößen 8a und 12a, die Schaltsignale 13a und 14a sowie nicht näher spezifizierte Eingangssignale 15, zu denen Signale einer Bedieneinheit wie auch eine Spannungsversorgung zählen können.The entire system is controlled by the
Das Signal 8a des Impulsgebers wird von der Steuereinheit in Verbindung mit Signalen der Schaltelemente 13 und 14 ausgewertet.The
Die Schaltelemente werden dabei von dem Torblatt 3 in dessen Endstellungen, also jeweils in vertikaler und in horizontaler Stellung, betätigt. Die Signale 13a und 14a dienen also jeweils als Start-Stopsignale, um ein zuverlässiges Aufintegrieren des Signals 8a zu gewährleisten.The switching elements are actuated by the door leaf 3 in its end positions, that is in each case in the vertical and in the horizontal position. The
Figur 2 zeigt eine mögliche Ausbildung des Impulsgebers 8. In einem axialen Querschnitt und in einem radialen Schnitt ist eine Kupplung dargestellt, die zwischen dem Antriebsrad der Schleppkette 5 und dem Ausgang des Antriebsmotors 9 vorgesehen ist. Die angetriebene Kupplungshälfte 20 ist als ein drehelastisches Kupplungsglied mit einer radialen Zwischenschicht zwischen Verzahnung und Nabe, beispielsweise in Form eines Gummiringes 21 ausgebildet. Die abgetriebene Kupplungshälfte 22 weist an ihrem radialen Umfang Zähne 23 auf, die durch den induktiven Geber 24 abgetastet werden. Bei Drehung der Kupplung gibt dabei der induktive Geber 24 aufgrund der periodischen Änderung der Induktivität entsprechende Impulse ab.Figure 2 shows a possible embodiment of the
Mit einer derartigen elastischen Kupplung ist es ebenfalls möglich, das abgegebene Moment des Elektromotors 9 durch die Messung des Verdrehwinkels zwischen der angetriebenen Kupplungshälfte 20 und der abgetriebenen Kupplungshälfte 22 zu bestimmten. In dem vorliegenden Ausführungsbeispiel geschieht dies allerdings durch das Strommeßglied 12, das den dem Elektromotor zugeführten Strom mißt. Die Auswertung der Meßsignale 8a und 12a wird dabei im folgenden beschrieben:With such an elastic coupling, it is also possible to determine the torque delivered by the
Vor der Inbetriebnahme des Torantriebs wird der Soll-Verlauf des Motorstroms für einen hindernisfreien Normalbetrieb in Abhängigkeit von der Überführungsstrecke aufgenommen. Hierzu werden die Signale 8a und 12a über AD-Wandler zu gleichen Abtastzeitpunkten in den Microcontroller eingelesen und derart abgespeichert, daß eine Zuordnung von Werten gleicher Zeitpunkte möglich ist. Zusammen mit dem Steuerprogramm der Antriebssteuerung wird der somit aufgenommene Soll-Verlauf im EPROM abgespeichert, so daß die Werte bei jedem Reset des Microcontrollers wieder in den Arbeitsspeicher geladen werden können.Before the door drive is started up, the target curve of the motor current is recorded for an unobstructed normal operation depending on the transfer route. For this purpose, the
Während einer Öffnungs- oder Schließbewegung des Torblatts wird entsprechend dem Soll-Verlauf ein Ist-Verlauf des Motorstroms in Abhängigkeit von der Überführungsstrecke aufgenommen. Für jeden aufgenommenen Ist-Wert wird dabei vor Aufnahme des nächsten Ist-Werts, also innerhalb einer Abtastperiode, eine Rechenprozetur durchlaufen, die überprüft, ob unzulässige Abweichungen vom Soll-Verlauf vorliegen und ob demgemäß ein Unterbrechungssignal erzeugt werden muß.During an opening or closing movement of the door leaf, an actual profile of the motor current depending on the transfer path is recorded in accordance with the target profile. For each actual value recorded, a calculation procedure is run through before the next actual value is recorded, that is to say within a sampling period, which checks whether there are inadmissible deviations from the target curve and whether an interrupt signal must be generated accordingly.
Hierzu wird zunächst jeder aufgenommene Ist-Wert mit dem entsprechenden Soll-Wert für gleiche Werte der Überführungsstrecke vergleichen. Weicht der Ist-Wert von dem Soll-Wert um einen vorher festgelegten Betrag ab, so wird ein Unterbrechungssignal von dem Microcontroller erzeugt, das eine Umkehrung der Antriebsrichtung des Torblatts zur Folge hat.For this purpose, each recorded actual value is first compared with the corresponding target value for the same values of the transfer route. If the actual value deviates from the target value by a predetermined amount, an interrupt signal is generated by the microcontroller, which results in the drive direction of the door leaf being reversed.
Liegt der Ist-Verlauf dagegen innerhalb eines zulässigen Bereichs, so wird in einem nächsten Schritt für den aktuell aufgenommenen Ist-Wert die Ableitung in Abhängigkeit von der Überführungsstrecke gebildet. Hierzu sind verschiedene Verfahren denkbar, das einfachste besteht in einer Differenzbildung zwischen dem aktuell aufgenommenen Ist-Wert und dem vorher aufgenommenen Ist-Wert. Sind die Ist-Werte besonders Rauschbehaftet, so ist vor der Differenzbildung gegebenenfalls eine Glättung der vorhergehenden Werte notwendig. Hierzu werden eine bestimmte Anzahl vorher aufgenommener Ist-Werte mit einer vorgegebenen Funktion interpoliert, bevor dann von dieser interpolierten Funktion die Ableitung gebildet wird. Die aktuell bestimmte Ableitung findet Eingang in einen Ist-Änderungsverlauf, der mit einem Soll-Änderungsverlauf verglichen wird. Dieser Soll-Änderungsverlauf wurde ebenfalls vor Inbetriebnahme basierend auf dem bereits aufgenommenen Soll-Verlauf nach dem eben beschriebenen Verfahren bestimmt und abgespeichert. Weicht der Ist-Änderungswert von dem Soll-Änderungswert um einen vorher festgelegten Betrag ab, so wird ein Unterbrechungssignal erzeugt, das wiederum eine Umkehrung der Antriebsrichtung des Torblatts zur Folge hat.If, on the other hand, the actual curve lies within a permissible range, the derivation is formed in a next step for the currently recorded actual value depending on the transfer route. Various methods are conceivable for this, the simplest of which consists in forming a difference between the currently recorded actual value and the previously recorded actual value. If the actual values are particularly noisy, the previous values may need to be smoothed before the difference is formed. For this purpose, a certain number of previously recorded actual values are interpolated with a predetermined function before the interpolated function Derivative is formed. The currently determined derivation is included in an actual change history, which is compared with a target change history. This target change history was likewise determined and stored before start-up based on the target history already recorded using the method just described. If the actual change value deviates from the target change value by a predetermined amount, an interrupt signal is generated, which in turn results in a reversal of the drive direction of the door leaf.
Gemäß dem oben beschriebenen Verfahren wird also das bereits bekannte Kriterium zwischen Soll-Verlauf und Ist-Verlauf um ein zusätzliches Kriterium zwischen Soll-Änderungsverlauf und Ist-Änderungsverlauf ergänzt, was eine genauere Beurteilung zur Erzeugung eines Unterbrechungssignals erlaubt. Natürlich sind neben dem Ableitungskriterium noch weitere Kriterien denkbar, insbesondere kann der Soll-Verlauf durch die Bildung weiterer Ableitungen immer genauer mit dem Ist-Verlauf verglichen werden. Die Grenze bildet hier das bereits erwähnte Rauschverhalten beider Signale, wodurch eine Mindesttoleranzbreite zwischen dem Ist-Verlauf und dem Soll-Verlauf erforderlich wird, damit das Unterbrechungssignal nicht unerwünscht ausgelöst wird.According to the method described above, the already known criterion between the target profile and the actual profile is supplemented by an additional criterion between the target change profile and the actual change profile, which allows a more precise assessment for generating an interruption signal. Of course, other criteria are conceivable in addition to the derivation criterion, in particular the target curve can be compared more and more precisely with the actual curve by forming further derivatives. The limit here is the noise behavior of both signals already mentioned, as a result of which a minimum tolerance range between the actual profile and the target profile is required so that the interrupt signal is not triggered undesirably.
Neben dem beschriebenen Verfahren zur Aufnahme des Soll- und des Ist-Verlaufs in Abhängigkeit von der Überführungsstrecke ist es ferner auch möglich, Ist- und Soll-Verlauf in Abhängigkeit von der Zeit aufzunehmen. Voraussetzung hierfür ist, daß der Überführungsverlauf des Torblatts sich über die Zeit nicht ändert. Hierzu müßte sichergestellt sein, daß Reibungseinflüsse wie auch sonstige Störeinflüsse zu vernachlässigen sind. Dem kann bedingt dadurch Rechnung getragen werden, indem der Soll-Verlauf nach regelmäßigen Wartungsintervallen neu aufgenommen wird. Sind die Störeinflüsse demnach zu vernachlässigen, so kann mitunter auch auf den Stromsensor 12 verzichtet werden, indem der Geschwindigkeitsverlauf des Torblatts über der Zeit aus dem Signal des Impulsgebers 8 bestimmt wird.In addition to the described method for recording the target and the actual profile depending on the transfer route, it is also possible to record the actual and target profile depending on the time. The prerequisite for this is that the transfer path of the door leaf does not change over time. To do this, it would have to be ensured that frictional influences as well as other disturbing influences are negligible. This can be taken into account due to the fact that the target course is re-recorded after regular maintenance intervals. If the interference is negligible, sometimes it can the
Claims (21)
dadurch gekennzeichnet,
characterized by
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE19540620 | 1995-10-31 | ||
DE19540620A DE19540620A1 (en) | 1995-10-31 | 1995-10-31 | Monitoring the movement of a drivable, single or multi-part door or gate leaf |
Publications (4)
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EP0771923A2 true EP0771923A2 (en) | 1997-05-07 |
EP0771923A3 EP0771923A3 (en) | 1998-09-16 |
EP0771923B1 EP0771923B1 (en) | 2003-09-24 |
EP0771923B2 EP0771923B2 (en) | 2010-03-03 |
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Application Number | Title | Priority Date | Filing Date |
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EP96111204A Expired - Lifetime EP0771923B2 (en) | 1995-10-31 | 1996-07-11 | Movement monitor for a single or multiple panel door or gate |
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---|---|
US (1) | US5950364A (en) |
EP (1) | EP0771923B2 (en) |
JP (1) | JP3941892B2 (en) |
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DE (2) | DE19540620A1 (en) |
ES (1) | ES2208708T5 (en) |
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US6624605B1 (en) * | 2001-06-06 | 2003-09-23 | Telephonics Corporation | Method, system and apparatus for opening doors |
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DE202011107241U1 (en) * | 2011-06-21 | 2012-11-07 | GfA-Gesellschaft für Antriebstechnik Dr.-Ing. Hammann GmbH & Co. KG | Tubular motor drive and Excentergetriebe for tubular motor drive |
DE102011078827B4 (en) * | 2011-07-07 | 2015-03-05 | Brose Fahrzeugteile Gmbh & Co. Kg, Coburg | Closing device of a building opening |
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Also Published As
Publication number | Publication date |
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EP0771923A3 (en) | 1998-09-16 |
DE19540620A1 (en) | 1997-05-07 |
JPH09165984A (en) | 1997-06-24 |
ATE250711T1 (en) | 2003-10-15 |
JP3941892B2 (en) | 2007-07-04 |
ES2208708T5 (en) | 2010-07-05 |
US5950364A (en) | 1999-09-14 |
ES2208708T3 (en) | 2004-06-16 |
EP0771923B2 (en) | 2010-03-03 |
DE59610729D1 (en) | 2003-10-30 |
EP0771923B1 (en) | 2003-09-24 |
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