EP1485566A1

EP1485566A1 - Roll-type closure comprising a sensor device and monitoring method therefor

Info

Publication number: EP1485566A1
Application number: EP03720215A
Authority: EP
Inventors: Stephan HÖRMANN
Original assignee: Hoermann KG Dissen
Current assignee: Hoermann KG Dissen
Priority date: 2002-03-19
Filing date: 2003-03-19
Publication date: 2004-12-15
Also published as: WO2003078784A1; AU2003223884A1; DE10391035D2; PL371043A1

Abstract

The invention relates to a roll-type closure (1) comprising a sash (3), which can be moved for opening and closing and which, along its extension when viewed in the direction of movement, is provided with a row of structures (2, 14) that are interspaced at regular intervals. The roll-type closure also comprises a sensor device (12), which serves to monitor the sash movement and is provided with a stationary sensory unit (11) for detecting the sash (3). The aim of the invention is to design a roll-type closure that can be more reliably operated while having a simple structure. To this end, the stationary sensor unit (11) is designed for counting the structures (2, 14) of the sash (3) that pass in front of it.

Description

ROLLER TERMINATION WITH SENSOR DEVICE AND MONITORING METHOD THEREFOR

The invention relates to a roller closure with a wing that is movable for opening and closing, that is provided with a series of structures that follow one another at regular intervals along its extent as viewed in the direction of movement, and a sensor device for monitoring the wing movement that a stationary sensor unit provides Detect the wing. The invention also relates to a monitoring method for this.

Such a roll termination and such a monitoring method are known from EP 0 808 985 A2. The well-known roll finish has a roll armor as a wing, which is made up of individual mostly metallic rods. Due to the large number of rods articulated to one another, the structure of the roll armor surface is repeated at regular, namely the same, spacing. Roll degrees in this sense are e.g. B. Rolling gates, rolling gates or roller shutters. As part of a sensor device, the known roller shutter has a position sensor which detects the position of the wing on the basis of a rotation angle detection of a winding shaft connected to the roller shell. In addition, the sensor device of the known roll closure has at least one sensor unit which is arranged in a stationary manner in the upper region of the movement path below the opening position and which detects whether the wing is present or not at this point and, on the basis thereof, emits a “YES / NO” signal.

A so-called closing edge safety device is also used on many building closures on the market, such as roller doors or other gates. For this purpose, the closing edge of the end wing is provided with an elastically compressible strip, usually made of rubber. If the wing encounters an obstacle, the rubber strip is pressed in and a signal for switching off or reversing a drive device driving the wing is thereby generated. If, as in the prior art, the position of the closing edge of the wing is determined solely by means of the angle of rotation on the winding shaft, the following risks arise, for example:

• A 4.5 m high and about 4 m wide roller door with closing edge safety device (SKS) is configured so that it closes in a self-locking manner. A truck with a 4.3 m high box body is in the opening that usually closes the roller door. Now someone accidentally presses the "Gate closed" button.

The roller shutter travels with the closing edge onto the roof of the vehicle. In order to deform the rubber end profile so far that the SKS receives the signal “Obstacle! Stop! "Sends, a certain force is necessary. The force increases with increasing length over which the rubber end profile must be deformed. In the approximately 2.5 m wide roof of the vehicle, the rubber end profile must be deformed at least over this length The weight of the approximately 50 cm long, hanging part of the roll armor is not sufficient for this. Therefore, the drive turns the winding shaft into the "gate closed" position. After that, almost the entire armored vehicle lies on the roof of the vehicle and the armored vehicle and vehicle are damaged. If the armored vehicle slips off the vehicle, it endangers people and other things.

• In halls with higher air humidity, an ice layer can form on the inner surface of the roller shutter in winter. This creates a larger bale diameter when winding up the roll armor. This means that the drive winds up a little more roll armor length with each additional turn (or position) than if the roll armor were free of ice.

Provided that the roller door needs 4.5 revolutions on the winding shaft in the case of an ice-free roller screen in order to move the closing edge from the "gate closed" position to the "gate open" position. In the case of ice attack, however, only exactly 4 turns are necessary. In this case too, the drive will rotate the winding shaft 4.5 times when the roller door is opened. With the last half turn, the drive pulls the roll armor out of the guide rails. When it is closed, the roll armor does not find its way back into the guide rails. This can cause the roll armor to roll over and endanger people and property. In any case, the armored vehicle hangs next to the guide rails and therefore cannot close the opening as intended. The object of the invention is to provide a roller termination of the type mentioned at the outset, which can be operated more safely with an uncomplicated and simple construction. In addition, a simple, secure monitoring procedure for the roll closure is to be created.

This object is achieved on the basis of a roll closure of the type mentioned at the outset in that the stationary sensor unit is designed to count the structures of the wing that pass by it.

Furthermore, the invention proposes a method for monitoring a roller closure with a wing that can be opened and closed and which is provided with a series of structures that follow one another at regular intervals along its extent as viewed in the direction of movement, which is characterized by counting the number of these structures, that pass a certain stationary point when the wing moves.

Advantageous embodiments of the invention are the subject of the dependent claims.

In a preferred embodiment, the invention proposes, for monitoring the wing movement, a sensor unit that can be used, for example, as a limit switch and is therefore referred to here as a sensor limit switch. The sensor unit is a position transmitter for determining the opening height of a roller shutter, the roller shutter or curtain of which has a regular structure in the direction of movement, for example is composed of individual, for example metallic, rods. Roll degrees in this sense are B. roller shutters, rolling grilles or roller shutters.

The basic idea is not to detect the position of the closing edge via the angle of rotation on the winding shaft, as was customary hitherto, but rather by counting the bars or the like on the leaf-shaped structures which pass the sensor limit switch when opening or closing. The sensor limit switch is preferably at about the same height as the lintel. The advantage over the conventional way of determining the opening height of the roller closure is that there is a reliable relationship between the position of the closing edge and the number of bars counted. There is no such close relationship between the position of the closing edge and the angle of rotation on the winding shaft. Structures are preferably recorded and counted which, in the case of rolling gates or the like, are already repetitive at regular, in particular equal, intervals along the direction of movement due to the large number of bars. As a result, no change to the wing is necessary for the sensor unit. The sensor unit preferably has at least one sensor that detects the presence or absence of a wing structure in the near field of the sensor in order to generate a counting pulse. For example, the sensor could emit a signal when detecting a bar or a joint between the bars. Obviously, this function can be achieved by very different types of sensors and detection principles. It is preferred that the at least one sensor is designed to detect an elevation or depression formed on the wing. The sensor is therefore suitable for the direct detection of existing recurring structures such as the bars themselves, elevations on the same or the joints between the bars. However, it is also conceivable to provide regularly recurring structures on the wing for the purpose of monitoring by the sensor unit, for example in Form of elevations and / or depressions or in the form of markings detectable by sensors, for example colored lines or the like when using optical sensors.

The wing is preferably a roll armor or curtain, which is formed by a series of rods that can be wound on a winding shaft and that have or form the structures. Roller shutters are particularly suitable for the invention since they have recurring structures at short intervals. On the other hand, the above-mentioned risks arise especially in the case of roll deals. However, the principle according to the invention for realizing a position transmitter can also be applied to other types of contracts. The stationary sensor unit is preferably suitable for counting the bars passing by it. If the rods are made wholly or partly of a metallic material, they can be detected by a capacitive or inductive sensor for counting. The at least one sensor is then preferably suitable for reliably detecting the presence of metallic objects at a certain distance, preferably between 5 and 15 mm.

The sensor unit enables the formation of a functionally reliable position determination device which determines the position of the closing edge of the wing on the basis of the number of structures passed by the sensor device. The position determination device further preferably has a time measuring device for measuring the time between the detection of successive structures. It can be used to form an interpolarization device that interpolates the current position between the structures by measuring the time that has currently elapsed after passing the last structure. The interpolarization device can also take into account a change in the speed of the wing movement that occurs when the wing is wound or unwound onto a winding roller. On the other hand, the position determining device can, if the length of the time interval between the detection of successive structures in the course of a leaf movement depends on the position of the leaf - as is the case, for example, with evenly driven roller doors due to the effective radius of the winding shaft changing in the course of movement - and is preferably a continuously monotonous function of the position of the wing, by measuring the time interval between the detection of successive structures and assigning the corresponding value of the wing position to determine the current wing position. In this way, according to an advantageous embodiment of the invention, an absolute encoder for the wing position can also be formed.

The sensor unit is further preferably suitable for detecting the direction of movement of the wing. This can be done in a number of ways. For example, it is provided that the sensor unit has two sensors for detecting the passing structures, which are offset from one another in the direction of movement by a distance that is smaller than the distance of the structures on the wing. Based on the time interval between the counting pulses supplied by the sensors, conclusions can then be drawn about the direction of movement.

In principle, the sensor unit can also be used as a position transmitter for a manually operated closure. However, it offers the greatest advantages when used together with a drive device for driving a winding shaft connected to the wing and a control device for controlling the movement of the wing. The control device can then carry out the control depending on the number of structures passed by the sensor unit. For example, the control device can monitor and stop the drive device when the sensor unit supplies numerical values that do not match the movement of the drive device. In this way, the sensor unit supplements a closing edge safety device or can even replace it. As already mentioned above, the sensor unit can also be used as a sensor limit switch for detecting whether the wing is in at least one of its end positions. In order to be able to monitor the wing over its entire course, it is preferred that the sensor unit at the camber or at approximately the same height as the camber of the roller closure or just below the camber or in any case below the start of the guide rail section and below the maximum height for the furthest Open position is fixed stationary. In this position, the sensor limit switch can also be used to detect the upper end position of the roller shutter. It is further preferred that the sensor unit is suitable for separately detecting the closing edge of the wing. The closing edge detection can be used on the one hand to determine that the sash has opened to the maximum and the drive should not be moved any further in the opening direction, and on the other hand it can also be used to adjust and calibrate the position determination, ie to assign the counter reading to a certain sash position. If the sensor unit is also suitable for emitting a signal which indicates the absence of the wing, it can additionally fulfill the functions of the scanning device mentioned in EP 0 808 985 A2 - to which reference is made for further details. For example, the sensor could be designed like a proximity sensor, which emits a different signal depending on how far the surface of the wing is away from it. Joints between the bars or short other approaches or distances to the wing surface would result in a first signal that can be used in whole or in part (for example on a signal edge) as a counting pulse. The complete absence of the wing would produce a different signal level than the structures or the "normal" surface of the wing. The presence or absence of the wing can also be indicated by a simultaneous response of two sensors that are offset in the direction of movement.

With the principle of counting structures that repeat successively at regular intervals, the absolute position of a wing with the movement speed dependent on the wing position can also be determined purely by measuring the distance between two counting pulses or the counting frequency. This is preferably done by determining the length of the time intervals between the detection of successive structures or the frequency with which successive structures are detected as a function of the wing position and detecting the current wing position by measuring the time interval or the frequency and selecting the one measured Value corresponding wing position. The relationship between the wing position and the interval length or frequency can be determined, for example, during a learning trip or by calculation. An embodiment of the invention is explained below with reference to the accompanying drawings. It shows:

Figure 1 is a plan view of a roller shutter according to the invention in the form of a driven roller door. and

FIG. 2 shows an exemplary signal curve of a sensor limit switch used in the roll termination according to FIG. 1 in the course of the opening movement of the roll termination; and

Fig. 3 shows an exemplary signal curve of the sensor limit switch in the course of

Closing movement of the roll end.

1 shows a roller door 1 as an example of a roller shutter. As a movable wing, the roller door 1 has a roll armor 3 constructed from individual bars 2. The roll armor 3 can be wound onto a winding shaft 4. A drive device 5 with a motor 6 drives the winding shaft 4 mounted at the other end on a bearing 7. The drive device 5 is controlled by a controller 8. The roll armor 3 is laterally guided vertically in guide rails 9. A sensor unit 11 of a sensor device 12 is fastened in a stationary manner below the upper end of the guide rails 9, here just above the lower edge 10 of the lintel.

Using the example of the roller shutter 1, the sensor unit, which is referred to below as the sensor limit switch (SES) 11 and is used to monitor the end of a roll, is described in more detail below. The sensor limit switch 11 serves as a position sensor for determining the opening height of a roller shutter, the roller armor 3 or curtain of which is constructed here from individual metallic bars 2. Roll degrees in this sense are e.g. B. the roller shutter 1, rolling grille or roller shutter.

The sensor limit switch makes it possible to detect the position of a closing edge 13 not — as was previously the case — via the angle of rotation on the winding shaft 4, but rather by counting the bars 3 that pass the sensor limit switch 11 when opening or closing. The sensor limit switch 11 is approximately at the same level as the lintel.

The sensor limit switch 11 has two inductive or capacitive sensors arranged one above the other at a distance of 10 mm to 20 mm (not shown in more detail). The sensors can reliably detect the presence of metallic objects at a distance between 5 mm and 15 mm. Since there are joints 14 between the bars 3 of the roller door 1 or roller shutter, the number of joints 14 which are guided past the sensor limit switch 11 can be determined with the sensor limit switch 11. The same applies to a rolling grille (not shown).

In this case, the joints 14 can be recognized independently of the speed which is customary for roll closures. The joints 14 form structures which can be detected by the sensors and are here repeatedly formed at the same intervals A _joint e (extension of the bars 2) in the direction of movement on the roller shutter 3.

If the two sensors are mounted at different heights, they are offset from one another with respect to the direction of movement of the joints 14. If this offset is significantly smaller than the joint spacing A _joint , the sensor limit switch 11 can detect the direction of movement of the roller shutter 3 or the roller grille curtain.

Both sensors show the

• presence of metal by generating signal 0 and • absence of metal by generating signal 1

2 shows the signal curve, plotted over time, of the two sensors when the roller closure is opened. 20 denotes the signal curve of the lower sensor and 22 denotes the signal curve of the upper sensor. The pulses 24 indicate the detection of a joint 14. The time interval between two successive pulses 24 is referred to as time interval 7.

FIG. 3 shows the signal curve, plotted against time, of the two sensors when the roll closure is closed, corresponding reference numerals as in FIG. 2 being used.

By counting the joints 14, the SES 11 determines the position of the closing edge 13. Since the joints 14 are spaced approximately between 105 mm and 50 mm, it may be that the accuracy for the end positions “gate open” and “gate closed” is not always sufficient for a safe limit switch. It is therefore provided here that the SES 11 Terpolarisationseinrichtung which interpolates the position between the joints 14 by measuring the time t that has elapsed after passing the last joint 14.

With the diameter of the wound part of the roll armor 3, the time interval T between passing one joint and the next also changes when opening or closing. The effective radius R, with which the drive winds up the roll armor, is growing

(when opening the roller door) with the opening height. The following formula (1) shows this combination in a sufficiently good approximation:

Formula (1) R + d with: R = effective radius,

R _a = outer radius of the winding shaft 4, d = thickness of the roller shutter bars 2 and

L = length of the wound part of the roll armor 3.

The time interval T is inversely proportional to the speed of the closing edge 13. The speed is proportional to the wire radius with a constantly rotating winding shaft

_R. Therefore:

Formula (2)

With: k = correction factor for the special cross-section of the roller shutter bars 2 and

A _Fugs = the constant distance between two joints fourteenth

The time intervals T _s with i = \ to n between two joints 14 become shorter as the opening height increases.

The time interval 7} always corresponds to the distance A _joint between two joints 14. If the time interval depending on the opening height L _is known, the position of the closing edge 13 can be linearly interpolated. However, the SES 11 can automatically determine the length of the T _t with greater accuracy within a “learning trip” (in a dead man's circuit) by measuring the time intervals 7) between the signals 24 that the SES 11 generates when the joints 14 pass. The SES 11 stores the length of the time intervals in the controller 8 or in a memory in the SES 11 itself.

Another possibility of linear interpolation is offered by measuring the previous time interval Tu, since the length changes from interval Tu to interval T ^* only slightly.

A combination of measuring the relative change in the interval length during a learning trip and the respectively current measurement of the previous time interval is possible even more precisely.

The SES 11 can thus linearly interpolate the position of the closing edge 13 between the detection of two joints by measuring the time after passing the last joint 14 by means of a time measuring device. If the rotational speed of the winding shaft 4 changes due to the different load, this is taken into account by measuring the previous interval. That is why the SES 13 will be able to position the closing edge with an accuracy of ± 5 mm.

From the foregoing, and especially the formula (2) also results in a further possibility of the position determination by means of the limit switch sensor 11. In accordance with formula (2) is the length of the time interval T a (strictly monotonic) function of the opening width L _on. With otherwise constant conditions and an essentially uniform drive of the winding shaft, each opening width L _aUf can be _assigned a specific interval length T and vice versa. If you solve the formula (2) after the opening width U _uf , you get:

Formula (3) L on, = - _d -R „ ²

If the sensor limit switch 11 so between two pulses 24 a certain time interval T measures, he can according to this formula, the opening width L _and therefore absolutely determine the location. In practice, a learning trip can also be carried out here determine the change in T with the opening width. In this way, influences of the load on the winding shaft speed can also influence. During operation, each time run T * can also be assigned to the opening width L _aUf determined on the basis of the counter reading i _{during operation} and can be stored. During the next run, an at least rough assignment of an opening width can then be made to the measured T using these previously taught-in values.

The interpolarization device, a time measuring device and an absolute value transmitter device (all not shown in detail), which perform the functions mentioned above, can be implemented by hardware or software circuits on or in a circuit board or a chip on the sensor limit switch 11.

The SES 11 is attached in the vicinity of the lower edge 10 of the lintel in such a way that when it is opened up to the upper end position (“gate open”) the metallic part of a closing profile 15 having the closing edge 13 extends beyond the SES 11 in the case of a roller shutter 1, the signal "1" is only in the "door open" position of both inductive sensors of the SES 11. This position therefore serves as the reference position.

In the case of rolling grilles, the SES 11 can be attached in such a way that both inductive sensors only generate the signal "1" when the roller grille is fully open.

The SES 11 interacts with the controller 8 in such a way that it can take over the function of the limit switch and the safety limit switch.

The SES 11 can fulfill the safety function in the case of a high, wide and level obstacle in the opening as follows: If the controller 8 (or the SES 11) expects a further pulse 24, but the SES 11 does not send a pulse because the Rolpanzer 3 is prevented from running into the guide rails, the controller 8 (or the SES 11) "recognizes" this and switches off the drive 5 (or the SES 11 sends a stop signal to the controller 8).

The security against unintentional removal of the roller shutter 3 from the guide rails 9, if the roller shutter 3 has an ice layer, the SES 11 fulfills in a very simple manner: if, for example, 45 joints 14 between the "gate closed" and "gate open" positions two profiles or bars 2 must pass the SES 11, this is the case even in the presence of an ice layer. If there is ice, the winding shaft 4 will only rotate less often during opening.

LIST OF REFERENCE NUMBERS

1 roller door

2 stick (structure)

3 roll armor (wing)

4 winding shaft

5 drive device

6 engine

7 bearings

8 control

9 guide rails

10 lower edge of the lintel

11 sensor limit switch (sensor unit)

12 sensor device

13 closing edge

14 joint (structure)

15 completion profile

20 Signal curve of the lower sensor

22 Upper sensor signal curve

24 pulse

T time interval

"Fu e constant distance between two joints

Claims

PATENT CLAIMS

1. roller closure (1) with a movable for opening and closing wing (3), which is provided along its extension as seen in the direction of movement with a number of successive structures (2, 14), and a sensor device (12) for monitoring the wing movement, which has a stationary sensor unit (11) for detecting the wing (3), characterized in that the stationary sensor unit (11) is designed for counting the structures (2, 14) of the wing (3) passing it.

2. Roll closure (1) according to claim 1, characterized in that the sensor unit (11) has at least one sensor which detects the presence or absence of a wing structure (2, 14) in the near field of the sensor in order to generate a counting pulse (24) ,

3. Roll closure (1) according to one of the preceding claims, characterized in that the at least one sensor is designed to detect an elevation or depression (14) formed on the wing (3).

4. roll closure (1) according to any one of the preceding claims, characterized in that the wing is a roll armor (3) or curtain, the bar by a series of winding on a winding shaft (4), the structures having or forming rods (2) is formed, and the stationary sensor unit (11) is suitable for counting the rods (2) passing it.

5. roller closure (1) according to claim 4, characterized in that the rods (2) are wholly or partly formed from a metallic material.

6. Roll closure according to claim 2 and claim 5, characterized in that the at least one sensor reliably detects the presence of metallic objects at a certain distance, preferably between 5 and 15 mm.

7. Roll closure according to one of the preceding claims, characterized by a position transmitter (11) which determines the position of the closing edge (13) of the leaf (3) on the basis of the number of structures (2, 14) detected by the sensor device (12).

8. Roll closure according to claim 7, characterized in that the position transmitter (11) has a time measuring device for measuring the time between the detection of successive structures (2, 14).

9. Roll closure according to claim 8, characterized in that the position transmitter (11) has an interpolarization device which interpolates the current position between the structures (2, 14) by measuring the time which has elapsed after passing the last structure.

10. Roll closure according to claim 9, characterized in that the interpolarization device takes into account a change in the speed of the wing movement resulting from the winding or unwinding of the wing (3) onto a winding roller (4).

11. Roll closure according to one of the preceding claims, characterized in that the length of the time interval (T) between the detection (24) of successive structures (2, 14) in the course of a wing movement is dependent on the position of the wing (3), preferably one is a constantly monotonous function of the position of the wing, and that the position transmitter determines the current wing position by measuring the time interval (T) between the detection (24) of successive structures (2, 14) and assignment of the corresponding value of the wing position.

12. Roll end according to one of the preceding claims, characterized in that the sensor unit (11) for detecting the direction of movement of the wing (3) is suitable.

13. Roll closure according to claim 12, characterized in that the sensor unit (11) has two sensors for detecting the passing structures (14) which are offset from one another in the direction of movement at a distance which is smaller than the distance of the structures (14) the wing (3).

14. Roll closure according to one of the preceding claims, characterized by a drive device (5) for driving a winding shaft (4) connected to the wing (3) and a control device (8) for controlling the movement of the wing (3), the control device ( 8) performs the control as a function of the number of structures (2, 14) passed by the sensor unit (11).

15. Roll closure according to claim 14, characterized in that the control device (8) monitors and stops the drive device (5) when the sensor unit (11) supplies numerical values which do not match the movement of the drive device (5).

16. Roll closure according to one of the preceding claims, characterized in that the sensor unit serves as a sensor limit switch (11) for detecting whether the wing (3) is in at least one of its end positions.

17. Roll closure according to one of the preceding claims, characterized in that the sensor unit (11) is fixed to the lintel or approximately at the same height (10) as the lintel of the roll closure (1) or just below the lintel.

18. Roll closure according to one of the preceding claims, characterized in that the sensor unit (11) for separate detection of the closing edge (13) of the wing

(3) is suitable.

19. Roll closure according to one of the preceding claims, characterized in that the sensor unit (11) is suitable for emitting a signal which indicates the presence or absence of the wing (3).

20. Roll closure according to claim 13 and claim 19, characterized in that the presence or absence of the wing (3) can be indicated by a simultaneous response of both sensors.

21. A method for monitoring a roller closure (1) with a wing (3) that can be moved to open and close and is provided with a series of structures (2, 14) that follow one another at regular intervals (A _joint ) along its extension as viewed in the direction of movement, characterized by counting the number of these structures (2, 14) that pass a certain stationary point (11) when the wing moves.

22. The method according to claim 21 for monitoring a roller termination (1) according to one of the preceding claims 1 to 20, characterized by using the sensor unit (11) as a limit switch and / or for closing edge safety.

23. The method according to any one of the preceding claims, characterized by determining, in particular in the course of a learning trip or by calculation, the length of the time intervals (T) between the detection (24) of successive structures (14) or the frequency with which successive structures (14) can be detected as a function of the wing position and detecting the current wing position by measuring the time interval or the frequency and selecting the wing position corresponding to the measured value.

24. Position transmitter for use in the roll closure or the method according to one of the preceding claims, characterized by at least one sensor for detecting structures (2, 14) which are arranged repeatedly on the wing (3) of the roller closure (1) in the direction of movement at regular intervals (A _joint ), and a counting device for counting those in the course of a Structures recorded in motion (2, 14).

25. Position transmitter according to claim 24, characterized by a time measuring device for determining the time between the detection of two successive structures.

26. Position transmitter according to one of the preceding claims, characterized by a device for detecting the direction of movement.