JP2023158587A - Electrically-driven opening/closing body control device, electrically-driven opening/closing system, and program - Google Patents

Abstract

To provide a technology to improve an obstacle detection accuracy for a shutter.SOLUTION: A current value detection part 424 detects a current value output to a motor 86. A position detection part 416 detects a position of rotation of the motor 86. Current values for a plurality of positions of rotation of the motor 86 are detected, and a storage part 432 stores a reference value for each position based on the current value. When a shutter curtain is fed out from a winding shaft, a determination part 430 acquires a reference value corresponding to a position detected by the position detection part 416 from the storage part 432 and determines contact between the shutter curtain and an obstacle based on the reference value and the current value detected by the current value detection part 424.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to opening/closing body technology, and relates to an electric opening/closing body control device, an electric opening/closing system, and a program for electrically opening/closing an electric opening/closing body.

Electric shutters require a mechanism to detect when an obstacle such as a person is caught in the shutter. Therefore, a tape switch is provided on the electric shutter (for example, see Patent Document 1).

Japanese Patent Application Publication No. 2006-9561

It is required to improve the accuracy of detecting obstacles compared to the case where a tape switch is used.

The present disclosure has been made in view of these circumstances, and its purpose is to provide a technology that improves the accuracy of detecting obstacles in the shutter.

In order to solve the above problems, an electric opening/closing body control device according to an aspect of the present disclosure includes a motorized part that outputs rotational power to a winding shaft capable of winding up a shutter curtain, and a current value for rotating the motorized part. a current value detection section that detects the current value output to the motorized section; a position detection section that detects the rotational position of the motorized section; and a current value detection section that detects the current value output to the motorized section; A storage unit stores a reference value based on the current value for each position, and a storage unit stores a reference value corresponding to the position detected by the position detection unit when the shutter curtain is unrolled from the winding shaft. and a determination unit that determines contact between the shutter curtain and an obstacle based on the reference value and the current value detected by the current value detection unit.

Note that any combination of the above components and the expressions of the present disclosure converted between methods, devices, systems, computer programs, or recording media on which computer programs are recorded are also valid as aspects of the present disclosure. be.

According to the present disclosure, the accuracy of detecting obstacles in the shutter can be improved.

FIGS. 1A and 1B are diagrams showing the structure of a shutter system according to an embodiment. FIG. 2 is a diagram showing the internal structure of the shutter system of FIGS. 1(a)-(b). FIG. 1 is a block diagram showing the configuration of the shutter system of FIGS. 1(a)-(b). FIG. FIGS. 4(a) and 4(b) are diagrams showing an overview of the operation of the shutter system shown in FIGS. 1(a) and 1(b). FIGS. 5(a)-(d) are diagrams showing an outline of the operation of the shutter system shown in FIGS. 1(a)-(b). 4 is a diagram illustrating an overview of two-axis conversion performed in the current value detection section of FIG. 3. FIG. 4 is a diagram showing the relationship between the rotation angle and the current value in the current control section of FIG. 3. FIG. FIGS. 8(a) and 8(b) are diagrams showing an outline of the operation when a pinch occurs in the shutter system shown in FIGS. 1(a) and 1(b). FIG. 8 is a diagram showing the relationship between the rotation angle and the current value in the situations of FIGS. 8(a) and 8(b). FIG. 4 is a diagram showing a data structure of correspondence relationships stored in a storage unit in FIG. 3;

Before specifically explaining the embodiments of the present disclosure, an outline of the embodiments will be explained. The embodiment relates to a shutter system installed at an opening of a facility such as a residence. The shutter system is a motorized shutter, and the motorized shutter automates the shutter operation. Motorized shutters generally continue to close when the user presses a "close" button once while the shutter curtain is open until the slats of the shutter curtain reach the lowest position. Since the electric shutter automatically performs the closing operation over several tens of seconds, it is assumed that the user does not see the closing operation of the electric shutter. At this time, even if the electric shutter catches an obstacle, the user will not notice. Therefore, it is desirable for the electric shutter to have a function that "detects when an obstacle is caught." In motor-driven products such as electric shutters, entrapment is detected when the motor current increases. Specifically, when an obstacle is caught, the motor load increases due to the reaction force from the obstacle, and the motor current increases. If this increase in motor current exceeds a predetermined value, it is determined that entrapment has occurred.

On the other hand, in order to add a ventilation function or a lighting function to the electric shutter, a slit is provided in the electric shutter. The ventilation/lighting function is a function to bring in wind and light. For example, the slats of the electric shutter are configured to be slidable, and a slit is formed between the two adjacent slats by increasing the distance between the two adjacent slats. When an electric shutter having such a slit pinches an obstacle, the distance between two adjacent slats is narrowed, so that the reaction force from the obstacle is not transmitted to the motor. Therefore, for example, a tape switch is used to detect obstructions caught in the electric shutter having slits. When using tape switches, the accuracy of detecting obstacles is not high. Furthermore, since the tape switch is an external sensor, the number of parts increases and the cost also increases.

Even in a situation where the reaction force from an obstacle is not transmitted to the motor, it is required to suppress a decrease in obstacle detection accuracy while suppressing an increase in cost. The electric shutter according to this embodiment obtains in advance the motor current values (hereinafter also referred to as "current values") at each of a plurality of positions when the shutter opens and closes in a situation where no pinching occurs. The current value at each position is held as a "reference value." Further, the electric shutter detects the position and current value when performing a closing operation. When the difference between the reference value corresponding to the detected position and the detected current value becomes large, the electric shutter determines that an entrapment has occurred.

Below, (1) basic structure, (2) structure with slits, and (3) operation during pinching will be explained in this order.
(1) Basic Structure The basic structure corresponds to the structure of the shutter system 1000 according to the present embodiment in which the structure related to the slit is omitted. 1(a)-(b) show the structure of a shutter system 1000. FIG. 1(a) shows the configuration when the facility is viewed from outside, and FIG. 1(b) shows the configuration when the facility is viewed from inside. The shutter system 1000 includes a guide rail 20, a shutter curtain 30, a shutter case 40, a communication line 200, and a controller 300, and the shutter curtain 30 includes a slat 32 and a seat plate 33. Here, the guide rail 20, shutter curtain 30, and shutter case 40 are included in the shutter.

As shown in FIG. 1(a), a shutter, which is an opening/closing body, is installed in an opening 10 formed in an outer wall that partitions inside and outside of a facility such as a house or a building. The opening 10 is a space that communicates between the inside and outside of the facility. The two guide rails 20 have a shape that extends in the vertical direction, and are fixed to a frame member such as a sash installed in the opening 10 and an outer wall at a distance from each other on both sides of the opening 10 in the left-right direction. Each guide rail 20 is a hollow member having an internal structure with a substantially U-shaped cross section, and the two guide rails 20 are fixed such that the U-shaped openings face each other.

The shutter curtain 30 moves up and down along the longitudinal direction of the guide rail 20 to open and close the opening 10. Specifically, both ends of the shutter curtain 30 in the left and right direction are inserted into the guide rail 20, so that both ends of the shutter curtain 30 in the left and right direction are movable in the vertical direction by the guide rail 20. The shutter curtain 30 is configured by a combination of a plurality of slats 32 and a seat plate 33. Each slat 32 is a plate-shaped member extending along the left-right direction of the opening 10, and is made of, for example, steel, stainless steel, aluminum, or the like. A curled portion (not shown) is provided at the upper end and lower end of each slat 32. Of the two adjacent slats 32, the curled portion at the lower end of the upper slat 32 and the curled portion at the lower end of the lower slat 32 are provided. The curled portion at the upper end is rotatably connected. The seat plate 33 is rotatably connected to the lower side of the lowermost slat 32. Further details of the structure of the shutter curtain 30 in which the plurality of slats 32 and the seat plate 33 are combined will be described later.

The shutter case 40 is a housing body provided above the opening 10 and the guide rail 20 and having a substantially rectangular vertical section. The shutter case 40 has a storage space inside, and the storage space is connected to the outside through a through hole provided on the lower surface of the shutter case 40. A winding mechanism for winding up or letting out the shutter curtain 30 through the through hole is provided in the storage space. Here, "winding up" means that the shutter curtain 30 rises along the guide rail 20 and the opening 10 is opened, and "feeding out" means that the shutter curtain 30 moves up along the guide rail 20. and the opening 10 is closed.

As shown in FIG. 1(b), a sash 12 is attached to surround the opening 10. The communication line 200 connected to the shutter case 40 in FIG. 1(a) is buried inside the sash 12 and extends indoors. A controller 300 is installed on an indoor wall, and a communication line 200 is connected to the controller 300. In this way, the communication line 200 connects the electrification unit 100 installed outdoors and the controller 300 installed indoors.

FIG. 2 shows the internal structure of shutter system 1000. The shutter system 1000 includes a shutter curtain 30, a shutter case 40, and a winding shaft 60. The shutter curtain 30 includes a slat 32, a seat plate 33, and a screw 34, and the shutter case 40 includes a first bracket 42a, which is collectively referred to as a bracket 42, a second bracket 42b, and a first support shaft 44a, which is collectively referred to as a support shaft 44. , a second support shaft 44b. The take-up shaft 60 includes a first rotating frame 62a, a second rotating frame 62b, collectively referred to as the rotating frame 62, a driven wheel 64, a take-up spring 66, a fixed part 72, and an electric motorized unit 80. , a main body 82 , and a drive wheel 84 , and the main body 82 includes a motor 86 , a control section 88 , a speed reducer 90 , and a communication line 200 . The electrification unit 80 is also called an electric opening/closing body control device.

Here, the shutter case 40 is shown transparent in order to show the internal structure of the shutter case 40. A winding shaft 60, which is a cylindrical support extending in the left-right direction, is arranged in the shutter case 40. A plurality of fixing parts 72 are provided on the winding shaft 60, and the shutter curtain 30 is fixed to the plurality of fixing parts 72 using a plurality of screws 34. Therefore, it can be said that the winding shaft 60 is a shaft on which the shutter curtain 30 can be wound.

A first bracket 42a and a second bracket 42b, collectively referred to as brackets 42, are provided at the left end and right end of the storage space of the shutter case 40 so as to sandwich the winding shaft 60 from left and right sides. Specifically, the first bracket 42a is arranged on the left side of the winding shaft 60, and the second bracket 42b is arranged on the right side of the winding shaft 60. The first bracket 42a is a support part that rotatably supports the left end of the winding shaft 60, and the second bracket 42b is a support part that rotatably supports the right end of the winding shaft 60. When the left end of the winding shaft 60 is referred to as the "first end", the right end of the winding shaft 60 is referred to as the "second end".

A first support shaft 44a that protrudes toward the right side is provided on the right side surface of the first bracket 42a. The first support shaft 44a has a cylindrical shape, and the first rotating frame 62a is fitted on the side surface of the first support shaft 44a. The first rotating frame 62a is disposed at the left end of the winding shaft 60 and has a shape that surrounds the side surface of the first support shaft 44a. With such a structure, the first rotation frame 62a rotates around the first support shaft 44a fixed to the first bracket 42a. A second support shaft 44b that protrudes toward the left side is provided on the left side surface of the second bracket 42b. The second support shaft 44b has a cylindrical shape, and a second rotating frame 62b is fitted to a side surface of the second support shaft 44b. The second rotating frame 62b is disposed at the right end of the winding shaft 60 and has a shape that surrounds the side surface of the second support shaft 44b. With such a structure, the second rotation frame 62b rotates around the second support shaft 44b fixed to the second bracket 42b. Furthermore, the winding shaft 60 also rotates due to the rotation of the first rotating frame 62a and the second rotating frame 62b.

A holding section (not shown) is arranged in the right region inside the winding shaft 60, and the motorization unit 80 is attached to the holding section. The electrification unit 80 is an electric device that outputs rotational power to the winding shaft 60. The electrification unit 80 includes a main body 82 having a cylindrical shape and a drive wheel 84 arranged on the left side of the main body 82. It can be said that such a drive wheel 84 faces toward the center of the winding shaft 60 in the motorized unit 80. A motor 86, a control unit 88, and a reducer 90 are mounted inside the main body 82, and the rotation of the motor 86 causes the reducer 90 and drive wheels 84 to also rotate. The control unit 88 controls the rotation of the motor 86. In particular, the control unit 88 controls the value of the current for rotating the motor 86 of the electrification unit 80.

Inside the winding shaft 60 , a driven wheel 64 is provided in a region on the left side of the holding portion, that is, in a region on the center side of the winding shaft 60 with respect to the motorized unit 80 . The driven wheel 64 is arranged on the left side of the driving wheel 84, and rotates by the rotation of the driving wheel 84 when combined with the driving wheel 84. Further, the rotation of the driven wheel 64 also rotates the winding shaft 60. As a result, it can be said that the winding shaft 60 is rotated by the rotational power from the motorized unit 80. On the other hand, when the driving wheel 84 and the driven wheel 64 are not combined, the winding shaft 60 is rotated not by the rotational power from the electrification unit 80 but by manual rotational power. A description of the manual rotation of the winding shaft 60 will be omitted.

Here, the holding portion holds a portion of the side surface of the main body 82, for example, a portion of the side surface of the main body 82, including the lower side. Further, the right end portion of the holding portion is connected to the second support shaft 44b. Since the holding part is fixed to the second bracket 42b by this connection, even if the winding shaft 60 rotates, the main body 82 held by the holding part does not rotate.

More specifically, in the main body 82 of the electrification unit 80, a motor 86 rotates under the control of a control section 88. The speed reducer 90 amplifies the torque of the rotational power of the motor 86. Although a known technique may be used for the reducer 90, for example, the reducer 90 has a structure in which a plurality of planetary gears rotate and revolve around a sun gear. When the drive wheel 84 rotates due to the rotation of the speed reducer 90, the driven wheel 64 combined with the drive wheel 84 also rotates, and the winding shaft 60 rotates.

When the winding shaft 60 rotates in the winding direction from the state where the shutter curtain 30 closes the opening 10 as shown in FIG. The opening 10 is opened while being removed. As this rotation continues, the shutter curtain 30 is wound up while being stacked on the shutter curtain 30 that was wound up during the first rotation, and the entire area of the opening 10 is opened. Further, when the winding shaft 60 rotates in the unwinding direction from the state where the shutter curtain 30 opens the opening 10, the shutter curtains 30 stacked on the outer circumferential surface of the winding shaft 60 are successively unrolled. As this rotation continues, the shutter curtain 30 closes the entire area of the opening 10.

FIG. 3 is a block diagram showing the configuration of the shutter system 1000. Shutter system 1000 includes an electrification unit 80, a communication line 200, and a controller 300. The electrification unit 80 includes a motor 86 and a control section 88, and the control section 88 includes a first connection section 410, a first wire communication section 412, a position control section 414, a position detection section 416, a speed control section 418, and a differentiation section. 420, a current control section 422, a current value detection section 424, a determination section 430, and a storage section 432. The controller 300 includes an operation section 310, an operation control section 312, a second wire communication section 314, and a second connection section 316.

The operation unit 310 of the controller 300 is a user interface having a plurality of buttons, and accepts user operations. An open button, a stop button, and a close button are provided on the surface of the controller 300. The open button, stop button, and close button are configured with, for example, a flat switch. The open button is a button that receives an instruction to move the shutter curtain 30 so as to open the opening 10 (hereinafter referred to as "opening instruction"). The stop button is a button that receives an instruction to stop the moving shutter curtain 30 (hereinafter referred to as a "stop instruction"). The close button is a button that receives an instruction to move the shutter curtain 30 so as to close the opening 10 (hereinafter referred to as a "closing instruction"). When one of the open button, stop button, and close button is pressed down, an operation signal corresponding to one of the open instruction, stop instruction, and close instruction is output from the operation section 310 to the operation control section 312.

The operation control section 312 receives an operation signal from the operation section 310. The operation control unit 312 generates an instruction signal that includes one of an open instruction, a stop instruction, and a close instruction indicated in the operation signal. The second wire communication section 314 receives an instruction signal from the operation control section 312 and transmits the instruction signal to the electrification unit 80 via the second connection section 316 and the communication line 200.

The second connection unit 316 is an interface for connecting the communication line 200 to the controller 300. Further, the first connection section 410 of the electrification unit 80 is also an interface for connecting the communication line 200. The communication line 200 is connected to the second connection part 316 and the communication line 200 is connected to the first connection part 410, so that the communication line 200 connects the controller 300 and the electrification unit 80. Through such a connection, the communication line 200 transmits an instruction signal from the controller 300 to the electrification unit 80. Since controller 300 is installed indoors and electrification unit 80 is installed outdoors, the instruction signal is transmitted from indoors to outdoors.

The first wired communication unit 412 receives an instruction signal from the second wired communication unit 314 via the second connection unit 316, the communication line 200, and the first connection unit 410. The first wired communication unit 412 outputs one of an open instruction, a stop instruction, and a close instruction included in the instruction signal to the position control unit 414. The position control unit 414 receives one of an open instruction, a stop instruction, and a close instruction from the first wired communication unit 412.

The position control unit 414 updates the target value of the position (lower end position) of the shutter curtain 30 in accordance with one of the received opening instruction, stop instruction, and closing instruction. For example, when receiving an opening instruction, the position control unit 414 updates the previous target value to be higher. Further, the position control unit 414 receives a feedback value of the position of the shutter curtain 30 from the position detection unit 416. A method for detecting the position feedback value in the position detecting section 416 will be described later. Here, the position of the shutter curtain 30 may be expressed as the angle of rotation of the motor 86, but below, the position and angle will be used without distinction. The position control unit 414 outputs a target speed value for operating at a non-zero constant speed until at least one of the target value and the feedback value reaches the upper limit position or the lower limit position, or until a stop instruction is issued.

The differentiator 420 receives the feedback value of the position of the shutter curtain 30 from the position detector 416, and derives the feedback value of the velocity by differentiating the feedback value of the position. Differentiator 420 outputs the feedback value of speed to speed controller 418 . The speed control section 418 receives a speed target value from the position control section 414 and receives a speed feedback value from the differentiating section 420. The speed control unit 418 derives a speed deviation by subtracting the speed feedback value from the speed target value, and then performs speed loop processing such as proportional/integral control to derive the torque (current) target value.

The current control unit 422 receives the target value of torque (current) from the speed control unit 418. Further, the magnitude of the current output from the current control section 422 to the motor 86, that is, the value of the total current supplied to the motor 86 of the electrification unit 80, is detected by the current value detection section 424, and the current control section 422 Receives the feedback value of the detected current. The current value detection section 424 is composed of, for example, a shunt resistor. The current control unit 422 determines the magnitude of the current to be output to the motor 86 so that the feedback value of the current approaches the target value of torque (current). This corresponds to controlling the current for rotating the motor 86, and a known technique may be used for this determination. That is, the speed control section 418 and the current control section 422 determine the value of the current for rotating the motor 86 according to the change in position detected by the position detection section 416, that is, the speed.

The motor 86 rotates at a speed corresponding to the value of the current output from the current control section 422. The motor 86 outputs rotational power to the winding shaft 60. When the motor 86 is a three-phase brushless motor, three-phase direct current is output from the current control section 422.

With such a configuration, the control unit 88 rotates the motor 86 so that the winding shaft 60 rotates in the winding direction when the control signal corresponds to an opening instruction, and when the control signal corresponds to a closing instruction. , the motor 86 is rotated so that the take-up shaft 60 rotates in the unwinding direction. The rotational direction of the motor 86 in the winding direction and the rotational direction of the motor 86 in the feeding direction are opposite directions. On the other hand, the control unit 88 stops the rotation of the motor 86 when the control signal corresponds to a stop instruction. The motor 86 rotates in accordance with the control unit 88 and supplies power to the shutter curtain 30 that opens and closes the opening 10, the winding shaft 60, and the like.

When the shutter curtain 30 is opened or closed according to the rotational direction of the motor 86, the position of the shutter curtain 30 is detected by the position detection section 416. The position detected by the position detection unit 416 can also be said to be the rotational position of the motor 86. The position detection unit 416 is, for example, a counter-type limit switch that is provided on the side of the motor 86 and mechanically counts the number of revolutions of the motor 86 to detect the open/close position or the upper and lower limit positions. Further, the position detection unit 416 may be configured to detect the open/close position or the upper and lower limit positions of the shutter curtain 30 by counting pulses using an encoder provided on the motor 86. Further, the position detection unit 416 may be configured to include a current detection circuit for the motor 86 and detect the opening/closing position or the upper and lower limit positions from changes in the current value corresponding to changes in the load applied to the motor 86. Furthermore, the position detection section 416 may be a mechanical or electrical limit switch that is provided above and below the guide rail 20 and directly detects the open/close position or the upper and lower limit positions of the shutter curtain 30. The position detected by the position detection section 416 is output to the position control section 414 and the differentiation section 420. The determination unit 430 and storage unit 432 will be described later.

(2) Structure with slits The structure of the slits added to the shutter system 1000 described above will be described below. 4(a)-(b) show an overview of the operation of the shutter system 1000. FIG. 4(a) shows the structure of the winding shaft 60 and shutter curtain 30 of FIG. 2 viewed from the side. At the rotation angle of the winding shaft 60 shown in FIG. Not yet.

A first slat 32a is arranged above the seat plate 33, and a second slat 32b is arranged above the first slat 32a. A slide member 36 is arranged between the seat plate 33 and the first slat 32a. Slide members 36 are also arranged between two adjacent slats 32, respectively. The slide member 36 is a member that slides the slat 32 in the vertical direction, and the slit 38 opens and closes between the seat plate 33 and the first slat 32a. Further, the slit 38 also opens and closes between two adjacent slide members 36. In a state where the lower end portion has not reached the lower surface 14 as shown in FIG. 4(a), the seat plate 33 moves downward due to the gravity applied to the seat plate 33. Further, the lower slat 32 of the two adjacent slides also moves downward. As a result, the slit 38 between the seat plate 33 and the first slat 32a is opened. Also, slits 38 between all exposed slats 32 are opened.

At the rotation angle of the winding shaft 60 shown in FIG. 4(b), the plurality of slats 32 hang downward from the winding shaft 60, and the lower end of the seat plate 33 reaches the lower surface 14. The rotation of the motor 86 moves the first slat 32a downward. As a result, the slit 38 between the seat plate 33 and the first slat 32a is closed. On the other hand, since the second slat 32b has not moved downward, the slit 38 between the first slat 32a and the second slat 32b is opened. Furthermore, when the shutter curtain 30 is wound up on the winding shaft 60, the slide member 36 bends along with the slat 32 along the winding shaft 60.

FIGS. 5(a) to 5(d) show an overview of the operation of the shutter system 1000. Similar to FIG. 4(a), FIG. 5(a) shows the structure of the shutter system 1000 in a state where the seat plate 33 has not reached the lower surface 14. The plurality of slats 32 in the shutter curtain 30 are shown as a first slat 32a, a second slat 32b, a third slat 32c, etc. in order from the bottom. Also here, the slit 38 between the seat plate 33 and the first slat 32a is opened, and all the slits 38 between the adjacent slats 32 are also opened.

FIG. 5(b) shows the structure of the shutter system 1000 in a state where the seat plate 33 has reached the lower surface 14 by extending the shutter curtain 30 further than in FIG. 5(a). Also here, the slit 38 between the seat plate 33 and the first slat 32a is opened, and all the slits 38 between the adjacent slats 32 are also opened.

FIG. 5(c) shows the structure of the shutter system 1000 in a state in which the shutter curtain 30 is further extended from FIG. 5(b). As the shutter curtain 30 is extended, it slides downward in order from the lower slat 32. For example, when the first slat 32a moves downward, the seat plate 33 and the first slat 32a come into contact, and when the second slat 32b moves downward, the first slat 32a and the second slat 32a come into contact with each other. It makes contact with the slat 32b. Further, the third slat 32c and the fourth slat 32d similarly move downward, so that the second slat 32b and the third slat 32c come into contact with each other, and the third slat 32c and the fourth slat 32d come into contact with each other. do.

As a result, the slit 38 between the seat plate 33 and the first slat 32a is closed, and the slit 38 between the first slat 32a and the fourth slat 32d is also closed. On the other hand, since the fifth slat 32e does not move downward, the fourth slat 32d and the fifth slat 32e are spaced apart. Therefore, the slit 38 between the fourth slat 32d and the fifth slat 32e is opened.

FIG. 5(d) shows the structure of the shutter system 1000 in a state in which the shutter curtain 30 is further extended from FIG. 5(c). Since all the slats 32 move downward, all adjacent slats 32 come into contact. As a result, the slits 38 between all the slats 32 are closed. Up to now, the operation when the shutter curtain 30 is unrolled has been described, but when the shutter curtain 30 is wound up, the shutter system 1000 is operated as shown in FIGS. 5(d), 5(c), and 5(b). , may be changed in the order shown in FIG. 5(a).

Such opening/closing operations of the shutter curtain 30 are performed by rotating the motor 86 of the motorized unit 80 by operating the controller 300. At this time, the position detection section 416 detects the position of the shutter curtain 30, that is, the angle of rotation of the motor 86 (hereinafter referred to as "rotation angle"), and the current value detection section 424 detects the current for rotating the motor 86. Detect values. The rotation angle is indicated by, for example, a counter value, and the current value is, for example, a torque component of three-phase current.

To explain the process in the current value detection section 424 in more detail, the current value detection section 424 detects the torque component of the current value flowing through the motor 86. When the motor 86 is a three-phase brushless motor, three-phase DC currents output to the three-phase brushless motor are indicated as a u-phase, a v-phase, and a w-phase. Further, the three-phase brushless motor rotates because the angle of the composite vector of the current vectors of each phase changes periodically. The current value detection unit 424 receives the u-phase, v-phase, and w-phase current vectors, and performs biaxial conversion of these to the q-axis and d-axis. Since such a conversion can be performed by performing a known matrix operation, the description thereof will be omitted here.

FIG. 6 shows an overview of the two-axis conversion performed in the current value detection section 424. Mutually orthogonal u-phase, v-phase, and w-phase are shown, and mutually orthogonal d-axis and q-axis are shown. Here, the d-axis shows the excitation component and the q-axis shows the torque component. The resultant vector is converted into a combination of an excitation vector in the d-axis direction and a torque vector in the q-axis direction by biaxial conversion. This corresponds to converting three-phase currents in a three-phase brushless motor into a combination of an excitation component and a torque component. Of the excitation component and the torque component, the torque component has a characteristic that it is proportional to the load due to external force. In other words, the torque component reflects changes in the torque of the total load. Return to Figure 3. The position detection section 416 outputs the rotation angle to the current control section 422, and the current value detection section 424 outputs information on the current value to the current control section 422.

FIG. 7 shows the relationship between the rotation angle and the current value in the current control section 422. As described above, the rotation angle is received from the position detection section 416, and the current value is received from the current value detection section 424. The horizontal axis shows the rotation angle, and the vertical axis shows the current value (torque current, motor current). As the horizontal axis moves to the right, the rotation angle increases, and as the rotation angle increases, the shutter curtain 30 descends. When the rotation angle is smaller than "A1", the current value increases as the rotation angle decreases. This increase is because the reaction force due to friction increases when the shutter curtain 30 reaches the upper limit position. Therefore, the state where the rotation angle is "A1" is a state in which the shutter curtain 30 opens all the openings 10 (hereinafter referred to as "completely open state").

When the rotation angle is larger than "A2", the current value increases as the rotation angle increases, and when the rotation angle is larger than "A3", the current value further increases as the rotation angle increases. These increases are because the reaction force due to friction increases when the shutter curtain 30 reaches the lower limit position. In particular, when the rotation angle is "A2", the shutter curtain 30 closes all the openings 10, but all the slits 38 are open (hereinafter referred to as "ventilation state).

When the rotation angle is between "A1" and "A2", the weight of the slat 32 and the load of the winding spring 66 are balanced, so the current value fluctuates within a certain range. This is a state in which the shutter curtain 30 partially closes the opening 10 and all the slits 38 are open.

When the rotation angle is "A3", as shown in FIG. 5(d), the shutter curtain 30 completely closes the opening 10 and all the slits 38 are closed (hereinafter referred to as "completely closed state"). It is. When the rotation angle moves from "A2" to "A3", the slit 38 begins to close, so the weight of the slat 32 decreases. On the other hand, as the motor 86 rotates, the load on the take-up spring 66 increases. As a result, the load balance is biased towards the load of the take-up spring 66, so the current value increases in proportion to the increase in rotation angle.

When the shutter curtain 30 is lowered, the rotation angle is between "A1" and "A2", that is, the period during which the shutter curtain 30 transitions from the completely open state to the ventilation state is called a "lowering period". The lowering period is a period until the lower end of the shutter curtain 30 cannot be lowered when the shutter curtain 30 is lowered by the motor 86, and can be said to be a period during which each slit 38 is open. Further, the period when the rotation angle of the shutter curtain 30 is lowered from "A2" to "A3", that is, the period during which the shutter curtain 30 transitions from the ventilation state to the completely closed state is called a "closed period". The closing period can be said to be a period in which the lower end of the shutter curtain 30 becomes unable to descend and then closes sequentially starting from the lower slit 38. Further, the period between the rotation angle "A3" and "A1" when the shutter curtain 30 rises, that is, the period during which the shutter curtain 30 transitions from the completely closed state to the completely open state via the ventilation state is called a "rising period."

(3) Operation when caught In the following, a situation in which the shutter curtain 30 traps the obstacle 500 in a situation where the close button of the controller 300 is pressed down and the shutter curtain 30 is extended will be described. FIGS. 8(a) and 8(b) show an outline of the operation when a pinch occurs in the shutter system 1000. FIG. 8A shows an operation in which the shutter curtain 30 is lowered, that is, an operation in which the shutter curtain 30 closes. FIG. 8(a) corresponds to the state transferred from FIG. 5(a) to FIG. 5(b). Although an obstacle 500 exists in the opening 10, the obstacle 500 is not caught by the controller 300. In this case, the winding spring 66 suspends the slat 32 and the seat plate 33, so that the loads are balanced.

FIG. 8(b) shows a state in which the seat plate 33 comes into contact with an obstacle 500 as the shutter curtain 30 further descends from FIG. 8(a), that is, a state in which the controller 300 is caught in the obstacle 500. . The obstacle 500 makes it difficult for the seat plate 33 to move downward, but as the plurality of slats 32 move downward, the slits 38 on the lower side are sequentially closed. Since the slit 38 closes in this way, the reaction force from the obstacle 500 is not directly transmitted to the motor 86. Therefore, it is difficult to detect entrapment by the obstacle 500 due to the reaction force from the obstacle 500.

FIG. 9 shows the relationship between the rotation angle and the current value in the situations shown in FIGS. 8(a) and 8(b). Similar to FIG. 7, the horizontal axis in FIG. 9 indicates the rotation angle, and the vertical axis indicates the current value (torque current, motor current). As the horizontal axis moves to the right, the rotation angle increases, and as the rotation angle increases, the shutter curtain 30 descends. Further, as the vertical axis moves upward, antigravity increases, and as the vertical axis moves downward, gravity increases. Here, assume a situation where the rotation angle increases from P1 to P3, that is, a situation where the shutter curtain 30 descends.

As the rotation angle increases, the number of slats 32 that are fed out increases, so the slat weight 610 increases stepwise in the direction of gravity. The slat weight 610 is the weight to be suspended. On the other hand, the spring load 600 for suspending the slat 32 and the seat plate 33 increases in the anti-gravity direction as the slat weight 610 increases. Spring load 600 is a lifting load. When the spring load 600 and the slat weight 610 are balanced, the total load 620, which is the combination of the spring load 600 and the slat weight 610, fluctuates around zero.

Proceeding from P1 to P2, if the obstruction 500 does not get caught in P2, the slat weight 610 increases stepwise in the gravity direction and the spring load 600 increases in the anti-gravitational direction from P2 to P3. As a result, the total load 620 fluctuates around zero. On the other hand, when the obstruction 500 is caught at P2, the weight of the slat 32 and the seat plate 33 is added to the obstacle 500, and the hanging weight, that is, the weight of the slat 612 at the time of the pinching, is stepped in the direction of gravity. decreases to As a result, the balance between the spring load 600 and the weight of the slat at the time of pinching 612 is lost, and the total load at the time of pinching 622, which is a combination of the spring load 600 and the weight of the slat at the time of pinching 612, increases in the anti-gravity direction.

In this embodiment, the pinching of the obstacle 500 is detected by utilizing the difference between the total load 620 and the total load 622 at the time of pinching. When the motor 86 rotates in a state where there is no obstacle 500, the shutter curtain 30 is extended. At this time, the position detection unit 416 in FIG. 3 detects a plurality of positions (rotation angles) of the motor 86, respectively. Further, the current value detection section 424 detects the current value at the timing when the position detection section 416 detects each position. In other words, the current value is detected for each position. In this way, the position detection section 416 and the current value detection section 424 detect the current value at each of a plurality of positions during rotation of the motor 86.

The determination unit 430 receives detection results of a plurality of positions from the position detection unit 416 and also receives detection results of a plurality of current values from the current value detection unit 424. The determining unit 430 makes a one-to-one correspondence between the position and the current value, and stores the current value in the storage unit 432 as a reference value. FIG. 10 shows the data structure of the correspondence relationship stored in the storage unit 432. The positions (rotation angles) are indicated as X1, X2, . . . A reference value "Y1" corresponding to the position (rotation angle) "X1" is stored, and a reference value "Y2" corresponding to the position (rotation angle) "X2" is stored. The same applies to other reference values. Here, one reference value may be derived by detecting a current value for one position multiple times and averaging the multiple current values. Such reference values "Y1" and the like for each position are shown as "R1", . . . "R12" in FIG. Return to Figure 3.

After such a reference value is prepared, when the shutter curtain 30 is unwound from the take-up shaft 60 by rotation of the motor 86, the position detection section 416 detects the position (rotation angle) and also outputs it to the determination section 430. However, the current value detection section 424 detects the current value and outputs it to the determination section 430 as well. The determination unit 430 receives the position (rotation angle) from the position detection unit 416 and the current value from the current value detection unit 424. The determination unit 430 acquires a reference value corresponding to the received position (rotation angle) from the storage unit 432. If the received position (rotation angle) is not stored in the correspondence relationship in the storage unit 432, a reference value corresponding to the position closest to the received position (rotation angle) may be acquired.

The determination unit 430 subtracts the reference value from the received current value, and determines that there is no contact between the shutter curtain 30 and the obstacle 500 when the subtraction result is less than or equal to the threshold value. On the other hand, the determination unit 430 determines that the shutter curtain 30 and the obstacle 500 are in contact when the subtraction result is larger than the threshold value. The former corresponds to the case of current values C1 to C6 and reference values R1 to R6 in FIG. 9, and the latter corresponds to the case of current values C8 to C12 and reference values R8 to R12 in FIG. The threshold value is derived in advance by experiment or simulation calculation.

When determining that there is contact between the shutter curtain 30 and the obstacle 500, the determination unit 430 notifies the current control unit 422 of the occurrence of the contact. When the current control unit 422 is notified of the occurrence of contact from the determination unit 430, it controls the motor 86 so as to stop the rotation of the motor 86 or reverse the rotation of the motor 86. Furthermore, in response to the notification of the occurrence of contact, a notification may be given to the user using a lamp, a buzzer, or the like.

After a predetermined period of time has passed since the reference value for each position is stored in the storage unit 432, the determination unit 430 determines that the current value detected by the current value detection unit 424 and the position detection unit If the position (rotation angle) detected in step 416 is received, the determination unit 430 may update the reference value for each position stored in the storage unit 432 based on these.

The main body of the device, system, or method in the present disclosure includes a computer. When this computer executes the program, the main functions of the device, system, or method of the present disclosure are realized. A computer includes, as its main hardware configuration, a processor that operates according to a program. The type of processor does not matter as long as it can implement a function by executing a program. A processor is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integration (LSI). A plurality of electronic circuits may be integrated on one chip or may be provided on a plurality of chips. A plurality of chips may be integrated into one device, or may be provided in a plurality of devices. The program is recorded on a computer-readable non-transitory storage medium such as a ROM, optical disk, or hard disk drive. The program may be stored in the recording medium in advance, or may be supplied to the recording medium via a wide area communication network including the Internet.

According to this embodiment, when the shutter curtain 30 is extended, contact between the shutter curtain 30 and the obstacle 500 is determined based on the reference value stored for each position and the detected current value. Contact can be detected even if the change in value is small. Furthermore, since contact is detected even if the change in current value is small, the accuracy of detecting the obstacle 500 in the shutter curtain 30 can be improved. Further, since contact is detected even if the change in current value is small, the accuracy of detecting the obstacle 500 in the shutter curtain 30 can be improved even if the shutter curtain 30 includes the slit 38. In addition, the reference value for each position is a current value for each position detected in a state where there is no obstacle, and when the value obtained by subtracting the reference value from the detected current value is larger than the threshold value, the shutter curtain 30 Since contact with the obstacle 500 is determined, the detection accuracy of the obstacle 500 in the shutter curtain 30 can be improved. In addition, the reference value for each position is updated based on the detected current value and the detected position when there are no obstacles after a predetermined period of time has passed, so the reference value can be updated to the latest situation. .

An overview of one aspect of the present disclosure is as follows. An electric opening/closing body control device (80) according to an aspect of the present disclosure includes an electric part (86) that outputs rotational power to a winding shaft (60) capable of winding up a shutter curtain (30), and an electric part (86). a control section (422) that controls the current value for rotating the motor, a current value detection section (424) that detects the current value output to the motor section (86), and a current value detection section (424) that detects the current value output to the motor section (86); A position detection unit (416) that detects, and a storage unit (432) that detects current values for each of a plurality of positions in the rotation of the motorized unit (86) and stores reference values based on the current values for each position. When the shutter curtain (30) is unrolled from the take-up shaft (60), a reference value corresponding to the position detected by the position detection unit (416) is acquired from the storage unit (432), and the reference value and the current value are A determination unit (430) is provided that determines whether the shutter curtain (30) has contacted an obstacle based on the current value detected by the detection unit (424).

The reference value for each position stored in the storage unit (432) is a current value for each position detected in a state where there is no obstacle, and the determination unit (430) determines whether the shutter curtain ( 30), a reference value corresponding to the position detected by the position detection unit (416) is obtained from the storage unit (432), and the reference value is subtracted from the current value detected by the current value detection unit (424). If the value is greater than a threshold value, contact between the shutter curtain (30) and an obstacle may be determined.

The reference value for each position stored in the storage unit (432) is a threshold value for each position obtained by adding a constant value to the current value for each position detected in the absence of obstacles, and When the shutter curtain (30) is unrolled from the winding shaft (60), the reference value corresponding to the position detected by the position detection unit (416) is acquired from the storage unit (432), and the reference value corresponding to the position detected by the position detection unit (416) is acquired from the storage unit (432), ), contact between the shutter curtain (30) and an obstacle may be determined when the detected current value is larger than the reference value.

The reference value for each position stored in the storage unit (432) is the current value detected by the current value detection unit (424) and the current value detected by the position detection unit (416) in a state where there is no obstacle after a predetermined period has elapsed. It may also be updated based on the updated location.

In the shutter curtain (30), a plurality of slats are combined, and the plurality of slats in the shutter curtain (30) are slidable so that a slit formed between two adjacent slats can be opened and closed. When the shutter curtain (30) is extended from (60), each slit is open during the descending period until the lower end of the shutter curtain (30) becomes unable to descend, and the lower end of the shutter curtain (30) becomes unable to descend. During the closing period after this, the slits are closed sequentially starting from the lower slit.

It may include an electric opening/closing body control device (80) and an electric opening/closing body connected to the electric opening/closing body control device (80).

The present disclosure has been described above based on examples. It will be understood by those skilled in the art that this example is merely an example, and that various modifications can be made to the combinations of these components or processing processes, and that such modifications are also within the scope of the present disclosure. .

In this embodiment, the reference value stored in the storage unit 432 is a current value or an average value of current values. However, the reference value is not limited to this, and for example, the reference value may be a threshold value obtained by adding a constant value to the current value. Since the current value is detected for each position, the threshold value is also stored for each position. After such reference values are prepared, the determination unit 430 receives the position (rotation angle) from the position detection unit 416 and the current value from the current value detection unit 424. The determination unit 430 acquires a reference value corresponding to the received position (rotation angle) from the storage unit 432. The determination unit 430 determines that there is no contact between the shutter curtain 30 and the obstacle 500 when the received current value is less than or equal to the reference value. On the other hand, the determination unit 430 determines whether the shutter curtain 30 and the obstacle 500 are in contact when the received current value is larger than the reference value. According to this modification, the degree of freedom in configuration can be improved.

The shutter curtain 30 in this embodiment has a slit 38 due to the slide member 36. However, the present invention is not limited to this, and for example, the shutter curtain 30 may not have the slits 38. According to this modification, the scope of application of the present disclosure can be expanded.

In this embodiment, the electrification unit 80 and the controller 300 are connected by a communication line 200, and the electrification unit 80 and the controller 300 perform wired communication. Therefore, controller 300 transmits an instruction signal to electrification unit 80 via wired communication. However, the present invention is not limited to this, and for example, the electrification unit 80 and the controller 300 may perform wireless communication. At this time, the first wired communication section 412 included in the electrification unit 80 becomes a first wireless communication section, and the first connection section 410 becomes a first antenna. Further, the second wired communication section 314 included in the controller 300 becomes a first wireless communication section, and the second connection section 316 becomes a second antenna. Any known technology may be used to process the wireless communication by the first wireless communication unit and the second wireless communication unit. With such a configuration, controller 300 transmits an instruction signal to electrification unit 80 by wireless communication. Furthermore, the controller 300 may be realized by a communication device such as a smartphone. In this case, the operation unit 310 is an interface provided in the communication device, and the operation control unit 312 is an application program installed in the communication device. With such a configuration, the communication device transmits the instruction signal to the electrification unit 80 by wireless communication. According to this modification, the degree of freedom in configuration can be improved.

10 opening, 12 sash, 14 lower surface, 20 guide rail, 30 shutter curtain, 32 slat, 33 seat plate, 34 screw, 36 slide member, 38 slit, 40 shutter case, 42 bracket, 44 support shaft, 60 winding shaft , 62 rotating frame, 64 driven wheel, 66 winding spring, 72 fixed part, 80 electrification unit (electric opening/closing body control device), 82 main body, 84 driving wheel, 86 motor (electric part), 88 control part, 90 deceleration machine, 200 communication line, 300 controller, 310 operation section, 312 operation control section, 314 second wired communication section, 316 second connection section, 410 first connection section, 412 first wired communication section, 414 position control section, 416 position detection unit, 418 speed control unit, 420 differentiation unit, 422 current control unit (control unit), 424 current value detection unit, 430 determination unit, 432 storage unit, 500 obstacle, 1000 shutter system.

Claims (7)

an electric part that outputs rotational power to a winding shaft that can wind up the shutter curtain;
a control unit that controls a current value for rotating the motorized unit;
a current value detection section that detects the current value output to the motorized section;
a position detection unit that detects the rotational position of the electric unit;
a storage unit that detects the current value for each of the plurality of positions during rotation of the motorized part and stores a reference value based on the current value for each position;
When the shutter curtain is unrolled from the winding shaft, the reference value corresponding to the position detected by the position detection section is acquired from the storage section, and the reference value and the current value detected by the current value detection section are a determination unit that determines contact between the shutter curtain and an obstacle based on the current value;
An electric opening/closing body control device. The reference value for each position stored in the storage unit is the current value for each position detected in a state where there is no obstacle,
The determination unit acquires the reference value corresponding to the position detected by the position detection unit from the storage unit when the shutter curtain is unrolled from the winding shaft, and obtains the reference value corresponding to the position detected by the current value detection unit, and obtains the reference value corresponding to the position detected by the current value detection unit. The electric opening/closing body control device according to claim 1, wherein contact between the shutter curtain and an obstacle is determined when a value obtained by subtracting the reference value from a current value is larger than a threshold value. The reference value for each position stored in the storage unit is a threshold value for each position obtained by adding a constant value to the current value for each position detected in the absence of the obstacle,
The determination unit acquires the reference value corresponding to the position detected by the position detection unit from the storage unit when the shutter curtain is unrolled from the winding shaft, and obtains the reference value corresponding to the position detected by the current value detection unit, and obtains the reference value corresponding to the position detected by the current value detection unit. The electric opening/closing body control device according to claim 1, wherein contact between the shutter curtain and an obstacle is determined when the current value is larger than the reference value. The reference value for each position stored in the storage unit includes the current value detected by the current value detection unit and the current value detected by the position detection unit in a state where there is no obstacle after a predetermined period of time has elapsed. The electric opening/closing body control device according to claim 2 or 3, wherein the electric opening/closing body control device is updated based on the position. In the shutter curtain, a plurality of slats are combined,
The plurality of slats in the shutter curtain are slidable so that a slit formed between two adjacent slats can be opened and closed,
When the shutter curtain is unrolled from the winding shaft, each slit is open during the descending period until the lower end of the shutter curtain becomes unable to descend, and is closed after the lower end of the shutter curtain becomes unable to descend. The electric opening/closing body control device according to any one of claims 1 to 3, wherein the slits are closed sequentially from the lower side during the period. The electric opening/closing body control device according to any one of claims 1 to 3,
an electric opening/closing body connected to the electric opening/closing body control device;
Electric opening/closing system. A program to be executed by the electric opening/closing body control device according to any one of claims 1 to 3.

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