EP0771923B2 - 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 PDF

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Publication number
EP0771923B2
EP0771923B2 EP96111204A EP96111204A EP0771923B2 EP 0771923 B2 EP0771923 B2 EP 0771923B2 EP 96111204 A EP96111204 A EP 96111204A EP 96111204 A EP96111204 A EP 96111204A EP 0771923 B2 EP0771923 B2 EP 0771923B2
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EP
European Patent Office
Prior art keywords
profile
movement
door
actual
recorded
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EP96111204A
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German (de)
French (fr)
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EP0771923A3 (en
EP0771923A2 (en
EP0771923B1 (en
Inventor
Michael Hörmann
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Marantec Antriebs- und Steuerungstechnik & GmbH
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Marantec Antriebs und Steuerungstechnik GmbH and Co KG
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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
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • 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, single or multi-part door or door leaf.
  • the monitoring device disclosed therein is based on the basic idea that the actual course of the required force for driving the door leaf over the transfer path is continuously compared with a desired course. If the difference between the actual course and the desired course exceeds a predetermined amount, an interrupt signal is generated which shuts off the drive of the door leaf or reverses its direction of movement.
  • the desired course is recorded and stored at least once before the gate is put into operation for obstacle-free normal operation along the transfer route.
  • Such a monitoring system already has over other known monitoring devices, such as. under resilient beads arranged electrical contacts, an improved hazard protection. Nevertheless, even in such a monitoring device, there may still be cases in which the criterion for generating the interruption signal is not sufficiently sensitive. If the door leaf edge abuts e.g. against soft obstacles, so the movement force to move the door leaf against a hard obstacle slower increases, so that lapses until the triggering of the interruption signal, a longer period. If the edge of the door leaf hits, e.g. in the lateral groin area of a person who inadvertently gets into the path of movement of the door leaf during its movement, the interruption signal of the monitoring device is sometimes not triggered sufficiently early.
  • US 5,051,672 controls an automatic window / door system with a pressure sensor and a defector key to estimate the pressure change.
  • 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 to a deviation from the normal operation as sensitively as possible.
  • the advantages achieved by the invention are in particular that the monitoring device reacts equally sensitive to the impact of the door on hard objects and / or soft objects. Compared to a monitoring device of the generic type, this improvement can be achieved with a relatively low cost.
  • the first derivative is formed after the time to form the actual change history and / or the desired change history, but higher derivatives may also be used.
  • the difference value to be specified depends on external influences such as wind influences, slight icing and the like, on the other hand it takes into account small changes in the drain resistance.
  • a fixed difference value is predetermined over the entire movement sequence, but in principle the difference value can also be dimensioned differently over the transfer path, in particular for compensation of the different wind damage depending on the distance traveled.
  • the desired course is recorded and stored only after installation of the gate at the site and then determines the desired change history and also stored.
  • the operating conditions actually occurring under normal conditions can be taken into account in a realistic manner with the actual environmental influences.
  • the desired course can be newly recorded and stored after certain operating intervals of the door, and from this a new desired change course can be determined.
  • the desired change history may also be determined and stored once, but it is also possible that the target target change course is redetermined during operation every time the door leaf moves on the basis of the target profile.
  • control unit consists of a microcontroller, on which the corresponding memory and AD converter are already integrated.
  • the differentiator is also implemented on the microcontroller in the form of software logic.
  • the differentiator consists of an analog differentiator whose signal is also fed to an AD converter.
  • the differentiator must be designed so that the instantaneous derivative of the relevant input signal is reliably determined independently of short-term noise interference.
  • the door drive consists of an electric motor.
  • the supplied power of the electric motor can be taken directly as a measure of a physical operating size of the door movement.
  • 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 instantaneous torque of the electric motor.
  • the interrupt signal generated by the control unit has a shutdown of the electric motor result. But it is also possible that the drive direction of the door drive reverses due to an interrupt signal, which can be done with a suitable electric motor by reversing the supply voltage or by a suitable gear.
  • the garage door off Fig. 1 has two vertical struts 1, at the upper end of two rails connect 2, in which the door leaf 3 is guided.
  • the door leaf 3 is further articulated with a linkage, not shown, to the struts 1, so that leaves open the door leaf with an overhead movement and close.
  • compensating springs are provided which largely compensate for the dead weight of the door leaf during movement and which keep the door leaf defined in its end positions.
  • the designated 4 drive system consists of a total of a drag chain drive with a drag chain 5, to which the door leaf 3 is hinged and which is guided over the deflection roller 6 and a drive roller, not shown.
  • the drive roller is located in the drive unit 7 and is driven by a gear by the electric motor 9.
  • a pulse generator 8 which is mounted on an elastic coupling and which emits one 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 necessary power to the electric motor 9 via a current measuring element 12.
  • the input variables of the control unit include the measured variables 8a and 12a, the switching signals 13a and 14a, and unspecified input signals 15, to which signals of a control unit as well as a power supply can count.
  • the signal 8a of the pulse generator is evaluated by the control unit in conjunction with signals of the switching elements 13 and 14.
  • the switching elements are thereby actuated by the door leaf 3 in its end positions, ie in each case in the vertical and in the horizontal position.
  • the signals 13a and 14a thus each serve as start-stop signals in order to ensure a 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 elastic coupling member with a radial intermediate layer between the toothing and the hub, for example in the form of a rubber ring 21.
  • the aborted coupling half 22 has at its radial circumference teeth 23, which are scanned by the inductive sensor 24. Upon rotation of the clutch while the inductive sensor 24 is due to the periodic change in the inductance corresponding pulses.
  • the desired course of the motor current for an obstacle-free normal operation is recorded as a function of the transfer route.
  • the signals 8a and 12a are read in via AD converters at the same sampling instants into the microcontroller and stored in such a way that it is possible to assign values of the same points in time.
  • the thus recorded desired course is stored in the EPROM, so that the values can be loaded into the main memory with each reset of the microcontroller.
  • an actual curve of the motor current is recorded as a function of the transfer path in accordance with the desired course. For each recorded actual value, a calculation procedure is run through before the next actual value is recorded, that is to say within one sampling period, which checks whether there are any impermissible deviations from the desired profile and, accordingly, whether an interruption signal must be generated.
  • each actual value recorded is compared with the corresponding nominal value for the same values of the transfer distance. If the actual value deviates from the desired value by a predetermined amount, then an interrupt signal is generated by the microcontroller, which results in a reversal of the drive direction of the door leaf.
  • the derivative is formed as a function of the transfer distance for the currently recorded actual value.
  • various methods are conceivable, the simplest consists in a difference between the currently recorded actual value and the previously recorded actual value. If the actual values are particularly noisy, a smoothing of the preceding values may be necessary before subtraction.
  • a specific number of previously recorded actual values are interpolated with a predetermined function, before the derivative is then formed by this interpolated function.
  • the currently determined derivation is included in an actual change history, which is compared with a desired change history. This desired course of change was also determined and stored prior to startup based on the already recorded desired course according to the method just described. If the actual change value deviates from the desired 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 desired course and actual course is supplemented by an additional criterion between desired change course and actual change course, which allows a more accurate assessment for generating an interrupt signal.
  • the desired course can be compared by forming more derivatives more accurate with the actual course.
  • the limit forms the aforementioned noise behavior of both signals, whereby a minimum tolerance width between the actual course and the desired course is required, so that the interrupt signal is not triggered undesirable.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)
  • Operating, Guiding And Securing Of Roll- Type Closing Members (AREA)
  • Burglar Alarm Systems (AREA)

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

Die Erfindung betrifft ein Verfahren zur Überwachung der Bewegung eines antreibbaren, ein- oder mehrteiligen Tür- oder Torblatts.The invention relates to a method for monitoring the movement of a drivable, single or multi-part door or door leaf.

Ein derartiges Verfahren ist 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 procedure is over 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 for driving the door leaf over the transfer path is continuously compared with a desired course. If the difference between the actual course and the desired course exceeds a predetermined amount, an interrupt signal is generated which shuts off the drive of the door leaf or reverses its direction of movement. The desired course is recorded and stored at least once before the gate is put into operation for obstacle-free 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 has over other known monitoring devices, such as. under resilient beads arranged electrical contacts, an improved hazard protection. Nevertheless, even in such a monitoring device, there may still be cases in which the criterion for generating the interruption signal is not sufficiently sensitive. If the door leaf edge abuts e.g. against soft obstacles, so the movement force to move the door leaf against a hard obstacle slower increases, so that lapses until the triggering of the interruption signal, a longer period. If the edge of the door leaf hits, e.g. in the lateral groin area of a person who inadvertently gets into the path of movement of the door leaf during its movement, the interruption signal of the monitoring device is sometimes not triggered sufficiently early.

US 5,051,672 beshreibt ein automatisches Fenster-/Türsystem mit einem Drucksensor und einem Defektorkeis zur Answertung der Druckänderung. US 5,051,672 controls an automatic window / door system with a pressure sensor and a defector key to estimate the pressure change.

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 to a deviation from the normal operation as sensitively as possible.

Ausgehend von einem Verfahren der gattungsgemäßen Art wird diese Aufgabe erfindungsgemäß durch die 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 des Motorstroms der Torbewegung nach der Zeit 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 by the features of claim 1. The solution according to the invention is that in addition to the known method at each sampled point a derivative of the actual course of the motor current of the gate movement is formed by the time and that an interrupt signal is generated even if a criterion according to the particular derivative is not met , The desired course of the respective physical operating variable is recorded and stored at least once before the gate is put into operation for obstacle-free 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 by the invention are in particular that the monitoring device reacts equally sensitive to the impact of the door on hard objects and / or soft objects. Compared to a monitoring device of the generic type, this improvement can be achieved with a relatively low cost.

Vorzugsweise wird zur Bildung des Ist-Änderungsverlaufs und/oder des Soll-Änderungsverlaufs die erste Ableitung nach der Zeit gebildet, es können aber auch höhere Ableitungen Verwendung finden.Preferably, the first derivative is formed after the time to form the actual change history and / or the desired change history, but higher derivatives may 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 desired change course, in order to signal the obstacle case, on the one hand depends on external influences such as wind influences, slight icing and the like, on the other hand it takes into account small changes in the drain resistance. According to a preferred embodiment, a fixed difference value is predetermined over the entire movement sequence, but in principle the difference value can also be dimensioned differently over the transfer path, in particular for compensation of the different wind damage depending on the distance traveled.

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 SollSoll-Änderungsverlauf während des Betriebes bei jeder Bewegung des Torblatts auf der Grundlage des Soll-Verlaufs neu bestimmt wird.According to a preferred embodiment, the desired course is recorded and stored only after installation of the gate at the site and then determines the desired change history and also stored. As a result, the operating conditions actually occurring under normal conditions can be taken into account in a realistic manner with the actual environmental influences. Since the operating conditions change as a result of wear or the like over time, the desired course can be newly recorded and stored after certain operating intervals of the door, and from this a new desired change course can be determined. Of course, it is also possible to predetermine and store the desired course already during manufacture, depending on the type of gate. The desired change history may also be determined and stored once, but it is also possible that the target target change course is redetermined during operation every time the door leaf moves on the basis of the target profile.

Seinem grundsätzlichen Aufbau nach besteht eine Vorrichtung zur Durchführung des Verfahrens 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.Its basic structure according to a device for carrying out the method of a door drive, a measuring element for measuring the transfer path, a measuring element for measuring a physical operating variable of the door movement, a control unit with memories for the measured variables and a differentiating.

Dabei 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.In this case, the control unit consists of a microcontroller, on which the corresponding memory and AD converter are already integrated. Preferably, the differentiator is also implemented on the microcontroller in the form of software logic. But it is also conceivable that the differentiator consists of an analog differentiator whose signal is also fed to an AD converter. In any case, the differentiator must be designed so that the instantaneous derivative of the relevant input signal is reliably determined independently of short-term noise interference.

Dabei 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.The door drive consists of an electric motor. The supplied power of the electric motor can be taken directly as a measure of a physical operating size of the door movement. When the voltage is applied constantly, 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 instantaneous torque of the electric motor.

Dabei 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.It is provided that the interrupt signal generated by the control unit has a shutdown of the electric motor result. But it is also possible that the drive direction of the door drive reverses due to an interrupt signal, which can be done with a suitable electric motor by reversing the supply voltage or by a suitable gear.

Weitere Einzelheiten und Vorteile der Erfindung werden anhand eines in der Zeichnung dargestellten Torantriebs, der kein Ausführungsbeispiel der Erfindung darstellt, näher erläutert. In dieser zeigt:

Fig. 1
eine schematische Darstellung eines über Kopf bewegbaren Garagentors mit einem Blockschaltbild des Überwachungssystems und
Fig. 2
eine schematische Darstellung eines Impulsgebers auf einer elastischen Kupplung.
Further details and advantages of the invention will be explained in more detail with reference to a gate drive shown in the drawing, which is not an embodiment of the invention. In this shows:
Fig. 1
a schematic representation of an overhead moving garage door with a block diagram of the monitoring system and
Fig. 2
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 off Fig. 1 has two vertical struts 1, at the upper end of two rails connect 2, in which the door leaf 3 is guided. The door leaf 3 is further articulated with a linkage, not shown, to the struts 1, so that leaves open the door leaf with an overhead movement and close. In addition, compensating springs are provided which largely compensate for the dead weight of the door leaf during movement and which keep the door leaf defined in its end positions. The designated 4 drive system consists of a total of a drag chain drive with a drag chain 5, to which the door leaf 3 is hinged and which is guided over the deflection roller 6 and a drive roller, not shown. The drive roller is located in the drive unit 7 and is driven by a gear by the electric motor 9. Also driven by the electric motor 9 is a pulse generator 8, which is mounted on an elastic coupling and which emits one pulse after a certain angle of rotation.

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 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 necessary power to the electric motor 9 via a current measuring element 12. The input variables of the control unit include the measured variables 8a and 12a, the switching signals 13a and 14a, and unspecified input signals 15, to which signals of a control unit as well as a power supply can count.

Das Signal 8a des Impulsgebers wird von der Steuereinheit in Verbindung mit Signalen der Schaltelemente 13 und 14 ausgewertet.The signal 8a of the pulse generator is evaluated by the control unit in conjunction with signals of the switching elements 13 and 14.

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 thereby actuated by the door leaf 3 in its end positions, ie in each case in the vertical and in the horizontal position. The signals 13a and 14a thus each serve as start-stop signals in order to ensure a reliable integration of the signal 8a.

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. FIG. 2 shows a possible embodiment of the pulse generator 8. In an axial cross section and in a radial section, 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 elastic coupling member with a radial intermediate layer between the toothing and the hub, for example in the form of a rubber ring 21. The aborted coupling half 22 has at its radial circumference teeth 23, which are scanned by the inductive sensor 24. Upon rotation of the clutch while the inductive sensor 24 is due to the periodic change in the inductance corresponding pulses.

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 output torque of the electric motor 9 by measuring the angle of rotation between the driven coupling half 20 and the aborted coupling half 22. In the present embodiment, however, this is done by the current measuring element 12, which measures the current supplied to the electric motor. The evaluation of the measuring signals 8a and 12a is described below:

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 start-up of the door drive, the desired course of the motor current for an obstacle-free normal operation is recorded as a function of the transfer route. For this purpose, the signals 8a and 12a are read in via AD converters at the same sampling instants into the microcontroller and stored in such a way that it is possible to assign values of the same points in time. Together with the control program of the drive control, the thus recorded desired course is stored in the EPROM, so that the values can be loaded into the main memory with each reset of the microcontroller.

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 curve of the motor current is recorded as a function of the transfer path in accordance with the desired course. For each recorded actual value, a calculation procedure is run through before the next actual value is recorded, that is to say within one sampling period, which checks whether there are any impermissible deviations from the desired profile and, accordingly, whether an interruption signal must be generated.

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, first of all each actual value recorded is compared with the corresponding nominal value for the same values of the transfer distance. If the actual value deviates from the desired value by a predetermined amount, then an interrupt signal is generated by the microcontroller, which results in a reversal of the drive direction of the door leaf.

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.On the other hand, if the actual course lies within a permissible range, then in a next step the derivative is formed as a function of the transfer distance for the currently recorded actual value. For this purpose, various methods are conceivable, the simplest consists in a difference between the currently recorded actual value and the previously recorded actual value. If the actual values are particularly noisy, a smoothing of the preceding values may be necessary before subtraction. For this purpose, a specific number of previously recorded actual values are interpolated with a predetermined function, before the derivative is then formed by this interpolated function. The currently determined derivation is included in an actual change history, which is compared with a desired change history. This desired course of change was also determined and stored prior to startup based on the already recorded desired course according to the method just described. If the actual change value deviates from the desired 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, therefore, the already known criterion between desired course and actual course is supplemented by an additional criterion between desired change course and actual change course, which allows a more accurate assessment for generating an interrupt signal. Of course, in addition to the derivation criterion even more criteria are conceivable, in particular, the desired course can be compared by forming more derivatives more accurate with the actual course. The limit here forms the aforementioned noise behavior of both signals, whereby a minimum tolerance width between the actual course and the desired course is required, so that the interrupt signal is not triggered undesirable.

Anstelle des beschriebenen Verfahren zur Aufnahme des Soll- und des Ist-Verlaufs in Abhängigkeit von der Überführungsstrecke ist es erfindungsgemaß vorgesehen, 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.Instead of the described method of recording the desired and the actual course as a function of the transfer route, it is inventively provided to record actual and desired course as a function of time. The prerequisite for this is that the transfer course of the door leaf does not change over time. For this purpose, it should be ensured that the effects of friction as well as other disturbances are negligible. This can be accounted for by the fact that the desired course is taken up again after regular maintenance intervals. If the disturbing influences are therefore negligible, the current sensor 12 can sometimes be dispensed with by determining the speed profile of the door leaf over time from the signal of the pulse generator 8.

Claims (5)

  1. Process for monitoring the movement of a single-piece or multi-piece door panel (3) of an overhead door that can be driven by an electric motor, 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, namely of a motor current supplied to the door panel drive, actually occurring as a function of 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 the said motor current at least once before the door is put into operation for normal operation without any obstacle over time, and stored,
    - an actual variation profile, actually occurring as a function of time, is determined in that the derivative with respect to 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 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 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 time is fixed as a function of wind influences.
  4. Process according to one of Claims 1-3, 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.
  5. Process according to one of Claims 1-4, 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.
EP96111204A 1995-10-31 1996-07-11 Movement monitor for a single or multiple panel door or gate Expired - Lifetime EP0771923B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
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

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EP0771923A2 EP0771923A2 (en) 1997-05-07
EP0771923A3 EP0771923A3 (en) 1998-09-16
EP0771923B1 EP0771923B1 (en) 2003-09-24
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EP (1) EP0771923B2 (en)
JP (1) JP3941892B2 (en)
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ES (1) ES2208708T5 (en)

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ES2208708T5 (en) 2010-07-05
EP0771923A3 (en) 1998-09-16
EP0771923A2 (en) 1997-05-07
EP0771923B1 (en) 2003-09-24
JP3941892B2 (en) 2007-07-04
ES2208708T3 (en) 2004-06-16
US5950364A (en) 1999-09-14
DE19540620A1 (en) 1997-05-07
DE59610729D1 (en) 2003-10-30
JPH09165984A (en) 1997-06-24
ATE250711T1 (en) 2003-10-15

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