FR2794540A1 - DEVICE AND METHOD FOR MONITORING AND / OR CONTROLLING AT LEAST ONE ACTUATOR - Google Patents

Abstract

The present invention relates to a device for checking and / or controlling at least one actuator, in particular a motor or a jack. The device (10) comprises at least one transmitter of waves (12) such as visible light waves, and at least one wave receiver (13) sensitive to the waves of the transmitter (12). The transmitter (12) and the receiver (13) are connected by a tubular element (14). The device also comprises means (15) for detecting variations in the intensity of the waves received by the receiver. When the tubular member (14) is not deformed, the receiver (13) receives a known intensity. When the tubular element (14) is deformed, the intensity received by the receiver (13) is different from this known intensity. This difference is interpreted so as to control an actuator such as a motor or a jack. Applications: Control for moving, stopping and / or starting doors or trolleys in particular.

Description

DEVICE AND METHOD FOR CONTROLLING AND / OR CONTROLLING WATER

LESS AN ACTUATOR

  The present invention relates to a device for monitoring and / or controlling at least one actuator, in particular a motor or a jack.

  It also relates to a method for the implementation of this device.

  The control devices concerned are in particular those making it possible to prevent the closing of a door such as a bus, metro or

  elevator when a person or object is placed in this door.

  Generally, to allow detection over the entire height of the door, the latter comprises a tube made of a flexible synthetic material such as rubber. The interior of this tube has electrically conductive contacts. These contacts are open in the absence of deformation of the rubber tube. When the tube is deformed, for example when a person or an object is trapped in the door, the contacts close and a command opens the door automatically. This device generally works satisfactorily. On the other hand, the manufacturing cost is extremely high, because of the installation of the electrical contacts

in the tube.

  In the case of actuator control devices, such as motors or jacks, the control is generally arranged in one or more

several punctual places.

  In the case where this command must be accessible over a significant, non-punctual distance, as could be the case on certain machine tools for example or for controlling the movement of carriages, the device as described above, containing a tube rubber and

  electrical contacts is generally used.

  These systems are extremely expensive, they are not widespread and they greatly increase the price of installations in which it is not possible to do without them. On the other hand, replacing one-off orders with one accessible over a long distance would improve safety, since the user can reach

quickly an order.

  The present invention proposes to provide a reliable, simple and inexpensive control and / or command device, offering great flexibility.

  of use and improving safety on existing installations.

  These aims are achieved by a device as defined in the preamble and characterized in that it comprises at least one wave transmitter, at least one wave receiver and at least one deformable tubular element connecting the transmitter to the receiver and means for detecting variations in intensity of the waves received by the receiver, and means for controlling

  the actuator according to the intensity variations.

  The means for detecting variations in intensity preferably comprise comparison means arranged to compare the intensity of the radiation received by the receiver when the deformable tubular element is not deformed, with the intensity received when the tubular element is distorted. The control means are advantageously arranged to control at least one parameter of the actuator according to the result of said

comparison of intensities.

  According to one embodiment, said parameter is the speed of movement

of the actuator.

  According to a first embodiment, the device of the invention comprises two transmitters, two receivers and two tubular elements arranged substantially parallel to one another. It advantageously includes means for determining a difference between the intensities received by the two receivers. According to a second embodiment, the device of the invention comprises a transmitter at one end of the tubular element, two receivers each arranged at one end of said tubular element, and means for individually measuring the intensities received by each of the receivers and for

  control the actuator according to the measured currents.

  The waves used are advantageously electromagnetic waves, and

  especially visible light.

  According to a preferred embodiment, said wave transmitter is a

laser light source.

  According to a particular embodiment of the invention, the device comprises a network of tubular elements, each of these elements cooperating with at

  at least one wave transmitter and at least one wave receiver.

  The aims set by the present invention are also achieved by a method as defined above, and characterized in that it comprises the steps consisting in transmitting, by means of at least one wave transmitter, waves in the at least one deformable tubular element, measuring the intensity of the radiation received by at least one receiver and transmitted from the transmitter by the tubular element, and controlling the actuator as a function of the intensity measured. According to a variant, the method further comprises a step consisting in comparing said intensity of the radiation received by the receiver, with a standard intensity corresponding to the intensity received when the tubular element

is not distorted.

  In a first embodiment of the invention, the method comprises a step consisting in transforming the result of the comparison step into a

  logic signal, and to control the actuator according to this logic signal.

  In a second embodiment of the invention, the method comprises a step consisting in transforming the result of the comparison step into an analog signal, and in controlling the actuator as a function of this analog signal. At least one parameter of the actuator is advantageously controlled as a function of the analog signal generated in said comparison step. This parameter can in particular be a speed or a distance. According to another embodiment, the method comprises the steps consisting in transmitting, by means of two wave transmitters, waves in two deformable tubular elements, in measuring the intensity of the radiation received by two receivers and transmitted from the transmitters by the tubular elements, to determine a difference between the intensities received by the two receivers, and to control the actuator according to the difference

between the intensities received.

  According to another alternative embodiment of the method of the invention, this comprises the steps consisting in transmitting, by means of a wave transmitter, waves in a deformable tubular element, in measuring the intensity of the radiation received by a receiver disposed at one end of said deformable tubular element opposite the end where the emitter is located, this radiation being transmitted from the emitter by the tubular element, to measure the intensity of the radiation received by a receiver disposed at the end of said deformable tubular element where the emitter is located, this radiation being reflected by the tubular element, determining a difference between the intensities received by the two receivers, and controlling the actuator by

  function of the difference between the intensities received.

  The present invention and its advantages will be better understood with reference to the accompanying drawings of different embodiments of the invention in which: - Figure 1 is a schematic view of a first embodiment of a device according to the present invention; - Figure 2 is a schematic view of a second embodiment of the invention, in which the device is not actuated; - Figure 3 shows the device of Figure 2, in the actuated position; - Figure 4 is a sectional view along line 1-11 of Figure 2; - Figure 5 is a sectional view along line 111-111 of Figure 3; and - Figures 6A, 6B and 6C are schematic views of a third mode

  for carrying out the invention, in three different positions.

  Figure 1 illustrates a device 10 according to the invention, as it could be mounted on an elevator door 11, bus or metro for example. This device comprises a wave emitter 12 which can in particular be electromagnetic waves such as visible light. A laser light source can advantageously be used. The device further comprises a receiver 13 sensitive to the waves of the transmitter and a deformable tubular element 14 connecting the transmitter to the receiver. This tubular element has a partially reflective and partially absorbent inner layer. Finally, the device also comprises means 15 for detecting variations in the intensity of the waves received by the receiver, and means 16

  to control an actuator 17 as a function of variations in intensity.

  The device as described with reference to this figure operates as follows. When the tubular element 14 is not deformed, the transmitter 12 emits electromagnetic waves or radiation, a certain amount of which is received by the receiver 13 and a further amount of which is absorbed by the tubular element. This quantity received, called standard intensity, essentially depends on the reflection of the inner layer of the tube and on

  the intensity of the radiation emitted by the emitter. It is therefore known.

  When the tubular element 14 is deformed, for example when a person or an object is trapped in the door, the intensity of the radiation received by the receiver 13 is different from the known standard intensity, received in the absence of deformation of the tubular element. This is due to the fact that the inner layer of the tube is partially reflective and therefore partially absorbent. A certain amount of radiation is therefore absorbed by the tubular element because of its deformation. This modification of the received intensity is detected by the means 15 to detect variations

  intensity of electromagnetic waves.

  The reduction in the intensity of the radiation received by the receiver is interpreted by the device as an abnormal operation which requires the door to be opened. An order is therefore sent to the actuator 17, in the form of a logic signal, by said means 16 for controlling

  the actuator, so as to cause the door to open.

  Another embodiment of the invention is illustrated in FIGS. 2 to 5.

  This embodiment is particularly suitable for controlling the movement of a carriage on rails, for example in the case of a machine tool, although

  that this application is not the only one possible.

  This device 20 essentially comprises two transmitters 22, 22 'and two receivers 23, 23' connected by two deformable tubular elements 24, 24 ', arranged substantially parallel to one another. As can be seen in particular in FIGS. 4 and 5, the two tubular elements can be

  held on a support profile 25 made for example of metal.

  As before, each receiver 23, 23 'receives an amount of radiation which depends on the amount of radiation emitted, on the absorption or the reflection inside the tubular element 24, 24' and on the deformation of this tubular element. In the absence of deformation, the quantity received by each receiver is known. When one of the tubular elements is deformed, the amount of radiation received by each

  receptor is less than this known amount.

  The means 15 for detecting variations in intensity are used to accurately measure the amount of radiation received by each receiver. It is then possible to control for example the speed or the distance of movement of the carriage as a function of the quantity of radiation received or as a function of the difference between the quantity received in

  the absence of deformation and the quantity received with deformation.

  In the exemplary embodiment, the upper tubular element 24 can be used to advance the carriage, while the lower tubular element 24 'can be used to reverse it. It is also possible to use the upper tubular element for movement and the lower tubular element for stopping. In this embodiment, a differential measurement between the intensity received by the receivers 23, 23 'of the two tubular elements also makes it possible to differentiate a voluntary deformation of one of the tubular elements 24, 24', from a deformation of the profile. support 25 for example. Indeed, a deformation of the profile will have the same effect on the two tubular elements. The decrease in radiation received by the receivers, due to the deformation of the support profile will be substantially identical for each receiver. The means 15 for detecting variations in intensity will not interpret these variations as an order to move the actuator. A deformation intended for the movement of the carriage will act only on one of the two tubular elements. The decrease in radiation received by the two receivers will be different and the means 15 for detecting variations in intensity

  will interpret this difference as an order to move the actuator.

  FIGS. 6A, 6B and 6C illustrate a particular embodiment of the invention in which it is possible to determine the place where a tubular element 30 is deformed. FIG. 6A illustrates this embodiment without deformation, FIG. 6B illustrates it with a deformation situated substantially in the middle of the length of the tubular element. In Figure 6C, the

  deformation is close to one end of the tubular member.

  The device of FIGS. 6A to 6C comprises a transmitter 31 placed at one end of the tubular element 30, a first receiver 32 placed at the other end of the tubular element and a second receiver 33 placed next to

the transmitter 31.

  In this embodiment, the intensity of the radiation received by the first receiver 32 is measured on the one hand, and the intensity received by the second receiver 33 on the other hand. The intensity emitted by the emitter 31 is fixed and known. This intensity is represented diagrammatically by the height 34 of a hatched area having the reference 35 in FIGS. 6A to 6C, near the emitter 31. Referring more particularly to FIG. 6A, which illustrates the tubular element 30 not deformed, part of the radiation is absorbed along this tubular element. This absorbed part is represented schematically by the decrease in height

  hatched areas 35 in the direction of movement of the wave beam.

  Part of the total intensity of the radiation emitted by the emitter 31 is transmitted to the first receiver 32. The rest of the radiation is absorbed by the tubular element. The portion of the intensity received by the receiver 32 is represented schematically by the height 36 of the hatched area 35, near the receiver 32. The intensity of the radiation received by the second

  receiver 33 is practically zero.

  As shown in FIGS. 6B and 6C, when the tubular element 30 is deformed, part of the radiation from the emitter, represented by a hatched area 37, is transmitted to the first receiver 32 and part, represented by a hatched area 38 is reflected towards the second receiver 33 by the deformation of the tubular element. In the case illustrated by FIG. 6B, the total intensity arriving at point 39 where the tubular element is deformed is separated into a transmitted part 37 and a reflected part 38. The first receiver 32 receives the transmitted part minus the absorbed part the along the path taken from the deformation point 39 of the tubular element to the receiver 32. The second receiver 33 receives the reflected part 38 minus the absorbed part along the path taken from the deformation point 39 to the receiver 33 FIG. 6C also illustrates this distribution of the radiations, in the case where the point

  deformation 39 is close to the second receiver 33.

  The quantity 40 of the reflected part 38 before arriving at the second receiver 33 depends directly on the distance traveled by the radiation in

  the tubular element before being reflected towards the second receiver.

  Thus, by knowing the intensity of the radiation emitted by the emitter 31 and the intensities received by each of the two receivers 32 and 33, it is possible to determine, by a differential measurement of the intensities, where the tubular element has been distorted. Indeed, the total amount of radiation received by the two receivers depends only on the "amount" of deformation of the tubular element 30, assuming that the amount of radiation emitted by the emitter is constant and known. By knowing this total quantity, it is possible to determine the influence of the deformation. As can easily be understood from FIGS. 6B and 6C, the closer the deformation point 39 of the tubular element to the first receiver 32, the greater the amount of radiation received by this receiver 32, for a given deformation. , and more the quantity of

  radiation received by the second receiver 33 will be weak.

  Thus, by knowing the amount of radiation received individually by each of the receivers, it is possible to deduce the location where the element

tubular is deformed.

  This is particularly interesting in the case where a movable element must be moved in different given positions. It is possible to press a tubular element at a given location to bring the movable element to a corresponding location. Thus, by having for example a plan or a model of a route, the mobile element can be brought to the desired location of the route. The device according to the present invention has many advantages over the devices of the prior art. The transmitters used can be

  formed for example of laser diodes which have a very low manufacturing cost.

  The tubular elements can be commercially available standard rubber tubes, requiring no further processing. They

  are therefore particularly inexpensive.

  By the operating principle of the device, it can be used even if the tubular element is partially damaged. In addition, since there is no electrical contact at the tube, there are no sparks. This device can therefore be used in an environment presenting a risk of explosion or another aggressive environment. The present invention is not limited to the illustrated embodiments, but extends to any modification or variant obvious to those skilled in the art. In particular, this device can in particular be used to control doors, windows, blinds, blackboards,

  machine tool carts, handling carts, etc.

  In the case of the use of a logic signal to control the actuator, this could for example have two logic states corresponding respectively to the opening or closing of a door. It could also have three logical states corresponding to moving forward, stopped and moving back. More generally, it could have a number of logical states corresponding to a number

  predetermined actions or positions of the actuator.

  The embodiments described comprise one or two tubular elements.

  It is clear that an unlimited number of tubular elements could be used if different functions were to be accessible. For example, one element could be dedicated to a slow speed advance, another to a fast speed advance, a third to a slow speed reverse, a fourth, to a

  reversing at high speed and finally a fifth, when the movement stopped.

  In the case where the device is used to control the movement in a given position of a mobile element, it is possible to use a network

tubular elements.

  Finally, the waves used in the embodiments described are electromagnetic waves. However, other types of waves, such as

  pressure waves in particular could also be used.

  The type of actuator used, in particular the choice of a motor or a cylinder,

  depends on the application of the device of the invention.

Claims (20)

  1. Device for monitoring and / or controlling at least one actuator, in particular a motor or a jack, characterized in that it comprises at least one wave emitter (12, 22, 22 ', 31), at at least one wave receiver (13, 23, 23 ', 32, 33) and at least one deformable tubular element (14, 24, 24', 30) connecting the transmitter to the receiver and means (15) for detecting variations in intensity of the waves received by the receiver, and means (16)   to control the actuator (17) according to the variations in intensity.   2. A control and / or command device according to claim 1, characterized in that the means (15) for detecting intensity variations include comparison means arranged to compare the intensity of the radiation received by the receiver (13 , 23, 23 ', 32, 33) when the deformable tubular element (14, 24, 24', 30) is not deformed, with the intensity received   when the tubular member is deformed.   3. Control and / or command device according to claim 2, characterized in that the control means (16) are arranged to control at least one parameter of the actuator (17) according to the   result of said comparison of intensities.   4. A control and / or command device according to claim 3, characterized in that said parameter is the speed of movement of The actuator (17).   5. A control and / or command device according to claim 1, characterized in that it comprises two transmitters (22, 22 '), two receivers (23, 23') and two tubular elements (24, 24 ') arranged noticeably   parallel to each other.   6. Control and / or command device according to claim 5, characterized in that it comprises means for determining a difference   between the intensities received by the two receivers (23, 23 ').   7. Control and / or command device according to claim 1, characterized in that it comprises a transmitter (31) at one end of the tubular element (30), two receivers (32, 33) each arranged at a end of said tubular element, and means for individually measuring the intensities received by each of the receivers (32, 33) and   to control the actuator according to the measured currents.   8. A control and / or command device according to claim 1,   characterized in that the waves used are electromagnetic waves.   9. A control and / or command device according to claim 8, characterized in that said electromagnetic waves comprise visible light.   10. Control and / or command device according to claim 1, characterized in that said wave emitter (12, 22, 22 ', 31) is a source of laser light.   11. Control and / or command device according to claim 1, characterized in that it comprises an array of tubular elements, each of these elements cooperating with at least one wave emitter and at least one wave receiver.   12. Method for controlling and / or controlling at least one actuator, in particular a motor or a jack, characterized in that it comprises the steps consisting in: - transmitting, by means of at least one wave emitter (12, 22, 22 ', 31), waves in at least one deformable tubular element (14, 24, 24', 30), - measure the intensity of the radiation received by at least one receiver (13, 23, 23 ', 32, 33) and transmitted from the transmitter (12, 22, 22', 31) by the tubular element (14, 24, 24 ', 30), and   - control the actuator (17) according to the measured intensity.   13. A control and / or command method according to claim 12, characterized in that it further comprises a step consisting in comparing said intensity of the radiation received by the receiver (13, 23, 23 ', 32, 33), at a standard intensity corresponding to the intensity received when the element   tubular (14, 24, 24 ', 30) is not deformed.   14. A control and / or command method according to claim 13, characterized in that it comprises a step consisting in transforming the result of the comparison step into a logic signal, and in controlling the actuator   (17) as a function of this logic signal.   15. A control and / or command method according to claim 13, characterized in that it comprises a step consisting in transforming the result of the comparison step into an analog signal, and in controlling   the actuator (17) as a function of this analog signal.   16. Control and / or command method according to claim 15, characterized in that at least one parameter of the actuator (17) is controlled as a function of the analog signal generated in said step of comparison.   17. Control and / or command method according to claim 16,   characterized in that said parameter is a speed.   18. Control and / or command method according to claim 16,   characterized in that said parameter is a distance.   19. A control and / or command method according to claim 12, characterized in that it comprises the steps consisting in: - transmitting, by means of two wave transmitters (22, 22 '), waves in two elements deformable tubulars (24, 24 '), - measure the intensity of the radiation received by two receivers (23, 23') and transmitted from the transmitters (22, 22 ') by the tubular elements (24, 24'), - determine a difference between the intensities received by the two receivers (23, 23 '), and control the actuator (17) according to the difference between the intensities received.   20. A control and / or command method according to claim 12, characterized in that it comprises the steps consisting in: - transmitting, by means of a wave emitter (31), waves in a deformable tubular element (30), - measuring the intensity of the radiation received by a receiver (32) disposed at one end of said deformable tubular element (30) opposite the end where the emitter is located (31), this radiation being transmitted from the emitter (31) by the tubular element (30), measure the intensity of the radiation received by a receiver (33) disposed at the end of said deformable tubular element (30) where the emitter (31) is located, this radiation being reflected by the tubular element (30), - determining a difference between the intensities received by the two receivers (32, 33), and - controlling the actuator (17) according to the difference between the intensities received.