EP0771923B1 - Movement monitor for a single or multiple panel door or gate - Google Patents

Abstract

The monitoring method involves interrupting the door (3) movement if an obstruction is encountered. A physical operating parameter is measured during door movement depending on the movement distance or time. A movement interruption signal is generated if the measured value for the actual movement deviates from the desired value by greater than a defined amount, the desired value having been measured and stored during unobstructed operation. The derivative of the movement parameter is formed against distance or time for each measurement value. An interruption signal is generated if the current value for the movement characteristic differs to a defined extent from the corresp. value of a desired movement characteristic.

Description

The invention relates to a method for monitoring the movement a drivable, single or multi-part door or Door leaf according to the preamble of claim 1 and one Device for performing the method according to the preamble of claim 14.

Such a method and such a device are out EP-B1-0 083 947 known. The monitoring device disclosed therein is based on the basic idea that the actual course of the required force to drive the door leaf over the Transfer route continuously with a target course is compared. Exceeds the difference between Actual course and target course a predetermined amount, so an interrupt signal is generated which drives the Switches off the door leaf or reverses its direction of movement. The The target course is at least once before commissioning of the gate for an unobstructed normal operation along the Transfer line recorded and saved.

Such a monitoring system already points towards others known monitoring devices, e.g. under compliant Beaded electrical contacts, an improved one Protection against danger. Nevertheless, even with such Monitoring device still occur in cases where the criterion not sufficient to generate the interrupt signal is sensitive. If the edge of the door leaf hits e.g. against soft obstacles, this increases the power to move the door leaf towards a hard obstacle slower, so that up It takes a long time to trigger the interrupt signal. If the edge of the door leaf hits e.g. in the side Groin area of a person unintentionally during the Movement of the door leaf gets into its path of movement, so the interruption signal from the monitoring device sometimes not triggered early enough.

US 5,051,672 describes an automatic window / door system a pressure sensor and a defector ice for evaluation the pressure change.

The object of the invention is therefore the transfer movement between the open position and the closed position of gates or Doors of the type in question to a deviation from normal operation to monitor as sensitively as possible.

Based on a method of the generic type, this is Task according to the characterizing features of Claim 1 solved. The solution according to the invention exists in that in addition to the known method on each sampled Point a derivation of the actual course of a physical Operation size of the gate movement after the transfer line is formed and that an interrupt signal even then is generated if a criterion according to the determined derivative is not fulfilled. The target course of the relevant physical Company size is at least once before commissioning of the gate for an unobstructed normal operation recorded and stored along the transfer route.

The advantages achieved with the invention are in particular in that the monitoring device when the gate hits on hard objects and / or soft objects alike is sensitive. Opposite a monitoring device this improvement can be of the generic type achieved relatively little effort.

It is preferred to form the actual change course and / or of the target change history the first derivative after the Transfer line or formed over time, but it can higher derivatives are also used.

The difference value to be specified, around which the actual change history must deviate from the course of change of target to the obstacle case on the one hand, signaling is from external influences such as wind, minor icing and the like dependent, on the other hand it takes minor changes into account Sag resistance. According to a preferred embodiment a fixed difference across the entire movement previously determined, but in principle the difference value can also dimensioned differently across the transfer line be, in particular to compensate for the achieved Movement distance different wind impairment.

Basically, the target course and the actual course of different physical operating parameters of the advance movement be derived, but it is preferable to use the for both values evaluate the same physical output variables.

According to a preferred embodiment, the target course only recorded after installation of the gate at the place of use and saved and then the target change history determined and also saved. This can actually occurring operating conditions under normal conditions with the actually prevailing environmental influences in a more realistic way Consider wise. Because the operating conditions due to wear or the like can change over time the target course after certain operating intervals of the door newly recorded and saved and from it a new target change history be determined. Of course it is also possible, depending on the target course already during manufacture to be specified and saved according to the door type. The target change history can also be determined and saved once, but it is also possible that the target-target change history during of operation with every movement of the door leaf of the target course is redetermined.

The route-dependent determination of a physical company variable the door leaf movement can be done in different ways. The driving force of the door leaf is preferably used as a basis, which in turn via a direct force measurement or also can be determined via a torque measurement. A preferred one The way of measuring the torque is the twist angle between two elastically coupled together in the train of the driving force path connected coupling elements to investigate. But it can also be done in a known manner the power of an electric drive motor or at constant monitor the applied voltage.

If the above-mentioned parameters of a physical Operating size of the movement of the door leaf depending on the Transfer line included, so it is necessary to that the transfer line itself by a suitable measuring device is determined. For this purpose, a pulse generator is preferably used used, which is also driven by the drive motor becomes. In conjunction with two switching elements, the opening position and detect the closing position of the door leaf, can use the pulse generator to determine the current position on the transfer line within the resolution accuracy of the given Impulses are determined.

According to a further preferred embodiment, that the speed of movement of the door leaf as a measure of one physical operating size of the movement is taken. in this connection the movement speed is no longer dependent on the Transfer route, but added depending on the time. A also serves as a target course depending on the Time-recorded speed curve for an obstacle-free Normal operation. For measuring the speed of movement can serve a tachometer generator or a pulse generator that are driven by the gate operator. While that of that Pulse generator still emitted pulses in a to speed proportional frequency must be derived, the Tachogenerator already one for the speed of movement of the gate proportional voltage.

Another inventive solution to the above object consists in a device for performing the invention Method with the features listed in claim 14.

According to its basic structure, the device consists of a gate operator, a measuring element for measuring the transfer route, a measuring element for measuring a physical operating variable the door movement, a control unit with memory for the measurands and a differentiator.

According to a preferred embodiment, the control unit exists from a microcontroller on which the corresponding memory is already located and AD converter are integrated. The differentiator is preferably also on the microcontroller in the form of a Software logic implemented. But it is also conceivable that Differentiator consists of an analog differentiator, whose signal is also fed to an AD converter. In in any case, the differentiator must be designed so that the current derivation of the relevant input signal independently is reliably determined by short-term noise disturbances.

According to a further preferred embodiment, there is the door drive from an electric motor. The power supplied by the electric motor can be used directly as a measure of a physical company size the gate movement can be taken. With constant pressure Voltage can also be supplied to the electric motor Electricity serve as the basis for a physical company variable, whereby the current measured approximately a measure of the given torque of the electric motor.

According to a further preferred embodiment, that the interrupt signal generated by the control unit Switching off the electric motor results. But it is also possible that the drive direction of the door operator is due an interrupt signal reverses what is appropriate at a Electric motor by reversing the polarity of the supply voltage or can be done by a suitable gear.

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.

Further details and advantages of the invention are explained in more detail with reference to an embodiment shown in the drawing. In this shows:

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.

The garage door from FIG. 1 has two vertical struts 1 whose upper end is followed by two tracks 2, in which the door leaf 3 is guided. The door leaf 3 is still with a linkage, not shown, articulated to the struts 1, so that the door leaf opens with an overhead movement and lets close. In addition, compensating springs are provided the weight of the door leaf largely during movement compensate and which defines the door leaf in its end positions hold. The drive system designated 4 exists overall from a drag chain drive with a drag chain 5 which the door leaf 3 is articulated and which via the deflection roller 6 and is guided 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 is also driven by the electric motor 9 8, which is mounted on an elastic coupling and the emits a pulse after a certain angle of rotation.

The entire system is controlled by the control unit 10, which consists of a microcontroller with integrated memory and AD converters exist. The output signal of the control unit 10 leads to an amplifier 11 which the electric motor 9 via Current measuring element 12 supplies the necessary power. To the input variables the control unit includes the measured variables 8a and 12a, the switching signals 13a and 14a and unspecified Input signals 15, to which signals an operating unit such as can also count a power supply.

The signal 8a from the pulse generator is connected by the control unit evaluated with signals from the switching elements 13 and 14.

The switching elements are from the door leaf 3 in its end positions, in each case in a vertical and in a horizontal position, actuated. The signals 13a and 14a therefore each serve as Start-stop signals to reliably integrate the signal 8a to ensure.

FIG. 2 shows a possible embodiment of the pulse generator 8. In an axial cross section and in a radial section is one Coupling shown between the drive wheel of the drag chain 5 and the output of the drive motor 9 is provided. The driven coupling half 20 is a torsionally flexible coupling member with a radial intermediate layer between the teeth and hub, for example in the form of a rubber ring 21. The driven coupling half 22 has its radial Extent teeth 23, which are scanned by the inductive transmitter 24 become. When the clutch rotates, the inductive one Corresponding encoder 24 due to the periodic change in inductance Impulses.

With such an elastic coupling it is also possible the delivered torque of the electric motor 9 by the measurement of the angle of rotation between the driven coupling half 20 and the driven coupling half 22 to be determined. In In the present embodiment, however, this happens through the current measuring element 12, which is supplied to the electric motor Electricity measures. The evaluation of the measurement signals 8a and 12a is thereby described below:

Before commissioning the door operator, the target course of the Motor current for an obstacle-free normal operation depending taken from the flyover. For this, the Signals 8a and 12a via AD converters at the same sampling times read into the microcontroller and stored in such a way that an assignment of values of the same times is possible. Together with the control program of the drive control Recorded target curve stored in the EPROM so that the values each time the microcontroller is reset to the main memory can be loaded.

During an opening or closing movement of the door leaf according to the target profile, an actual profile of the motor current in Dependence on the transfer route added. For each The actual value recorded is recorded before the next one is recorded Actual value, i.e. within a sampling period, a calculation procedure go through, which checks whether impermissible deviations from the Should the course exist and whether an interrupt signal accordingly must be generated.

For this purpose, each recorded actual value is first with the corresponding one Compare the target value for the same values of the transfer route. The actual value deviates from the target value by one fixed amount, an interrupt signal from the Microcontroller generates a reversal of the drive direction of the door leaf.

If, on the other hand, the actual trend is within a permissible range, so in a next step for the currently recorded Actual value the derivation depending on the transfer route educated. Various methods are conceivable for this, the simplest is to form a difference between the currently recorded actual value and the previously recorded one Actual value. If the actual values are particularly noisy, then If necessary, smoothing the previous one before forming the difference Values necessary. To do this, a certain number previously recorded actual values with a specified function interpolated before the interpolated function Derivative is formed. The currently determined derivation is found Entry into an actual change history, with a target change history is compared. This target change history was also before commissioning based on the already recorded Target course determined according to the method just described and saved. The actual change value differs from that Target change value by a predetermined amount, see above an interrupt signal is generated, which in turn is a Reversal of the drive direction of the door leaf results.

According to the method described above, what is already known Criterion between target course and actual course by one additional criterion between target change history and Is change history supplemented what a more accurate assessment of Interrupt signal generation allowed. Are natural in addition to the derivation criterion, other criteria are conceivable, in particular, the target course can be formed by forming further Derivatives are always compared more precisely with the actual trend. The limit here is the noise behavior already mentioned both signals, creating a minimum tolerance between the Actual course and the target course is required so that the Interrupt signal is not triggered undesirably.

In addition to the described procedure for recording the target and the It is the actual course depending on the transfer route also possible, actual and target course depending on of time to record. The prerequisite for this is that the transmission history of the door leaf does not change over time. For this should be ensured that friction influences as well as other Interference can be neglected. That can be conditional thereby be taken into account by following the target course regular maintenance intervals are added. Are the Neglecting interferences can sometimes also the current sensor 12 can be dispensed with by the speed curve of the door leaf over time from the signal of the Pulse generator 8 is determined.

Claims (20)

1. Process for monitoring the movement of a drivable, single-piece or multi-piece panel (3) of a door or gate, in particular an overhead door, along the track covered between the open position and the closed position, and for interrupting this movement, in particular by switching the drive (7) off and over, in the event of an obstacle in the path of movement which the door panel (3) encounters, with the following steps:

   an actual profile of a physical operating variable of the movement of the door panel, actually occurring as a function of the track covered or time, is recorded,

   an interruption signal for the interruption of the movement of the monitored door panel (3) is generated if the currently recorded value of the actual profile deviates from the corresponding value of a desired profile to a previously fixed degree, the desired profile being recorded on the basis of a physical operating variable at least once before the door is put into operation for normal operation without any obstacle along the track covered or over time, and stored,

   characterized by the following steps:

   an actual variation profile, actually occurring as a function of the track covered or time, is determined in that the derivative with respect to the track covered or time is formed for each recorded value of the actual profile,

   an interruption signal for the interruption of the movement of the monitored door panel (3) is generated if the currently determined value of the actual variation profile deviates from the corresponding value of a desired variation profile to a previously fixed degree,
   the desired variation profile being fixed at least once before the door is put into operation, on the basis of the desired profile, and stored, and
   the permissible deviation of the actual variation profile from the desired variation profile over the track covered or time being fixed as a function of further influencing variables.
2. Process according to Claim 1, characterized in that the first derivative with respect to the track covered or time is formed as the derivative.
3. Process according to Claim 1 or 2, characterized in that the permissible deviation of the actual variation profile from the desired variation profile over the track covered or time is fixed as a function of wind influences.
4. Process according to one of Claims 1-3, characterized in that the actual profile and/or the actual variation profile is derived from the same physical operating variables through the sampling of which the desired profile and/or the desired variation profile was previously recorded.
5. Process according to one of Claims 1-4, characterized in that the desired profile for normal operation without any obstacle is recorded after the installation of the door at the place of use and stored and in that the desired variation profile is determined from the desired profile and stored.
6. Process according to one of Claims 1-5, characterized in that the desired profile is newly recorded each time after specific operating intervals of the door and stored and in that a new desired variation profile is determined from this and stored.
7. Process according to one of Claims 1-6, characterized in that the actual profile and/or the desired profile is determined by measuring the driving force as a function of the track covered or time.
8. Process according to one of Claims 1-7, characterized in that the actual profile and/or the desired profile is determined by measuring the drive torque as a function of the track covered or time.
9. Process according to one of Claims 1-8, characterized in that the actual profile and/or the desired profile is determined as a function of the track covered or time by measuring the turning angle between two rotary elements (20, 22) which are arranged one behind the other in the line of the drive force path and flexibly coupled to each other.
10. Process according to one of Claims 1-6, characterized in that the actual profile and/or the desired profile is determined by measuring the electrical drive power of an electrical drive unit (9) for the door panel as a function of its track covered or time.
11. Process according to one of Claims 1-5, characterized in that the actual profile and/or the desired profile is determined by measuring the speed of movement of the door panel (3) as a function of time.
12. Process according to one of Claims 1-11, characterized in that the track covered is determined by a pulse generator (8) in connection with one or more limit switches (13, 14).
13. Device for carrying out the process according to one of Claims 1-12, with a door drive (7), with a measuring element (8) for measuring the track covered, with a measuring element (12) for measuring a physical operating variable of the door movement, with a memory for storing the desired profile and/or actual profile determined by the measuring elements (8) and (12) as a function of the track covered or time and with a control unit (10) for evaluating the desired profile and the actual profile and for generating an interruption signal, characterized in that the control unit (10) has a differentiating element, which generates a desired variation profile from the desired variation and/or an actual variation profile from the actual variation as a function of the distance covered or time, in that the desired variation profile and/or the actual variation profile can be stored in the memory and in that the desired variation profile and the actual variation profile can be evaluated by the control unit (10).
14. Device according to Claim 13, characterized in that the control unit (10) comprises a microcontroller.
15. Device according to Claim 13 or 14, characterized in that the measuring element (8) comprises a pulse generator.
16. Device according to one of Claims 13-15, characterized in that the door drive (9) is an electric motor.
17. Device according to Claim 13 or 14, characterized in that the measuring element (12) is based on a measurement of the current fed to the electric motor (9) when there is a constantly applied voltage.
18. Device according to one of Claims 14-17, characterized in that the signals of the measuring elements (8) and (12) are converted into digital signals by corresponding AD converters.
19. Device according to one of Claims 13-18, characterized in that the interruption signal results in switching off of the door drive (9).
20. Device according to one of Claims 13-19, characterized in that the interruption signal results in reversal of the driving direction of the door drive (9).

Images