KR101354209B1 - Sliding door system comprising obstacle detection device using capacitance and control method thereof - Google Patents

Abstract

The present invention discloses a sliding door system having an obstacle detecting device. According to the sliding door system according to the present invention, a capacitive obstacle detecting device including a sensor strip and a sensing circuit is installed at an opposite side end of each sliding door, and the operation of the sliding door is controlled using the detection result of the obstacle detecting device. do.
According to the present invention, since the door is blocked by detecting before contact with an obstacle, safer use is possible and the user's discomfort can be greatly reduced. In addition, it is possible to obtain a high sensing effect at a much lower cost than the conventional method using an optical sensor.

Description

Sliding door system comprising obstacle detection device using capacitance and control method

The present invention relates to a sliding door system that opens and closes automatically, and more particularly, to a sliding door system for detecting an obstacle using a change in capacitance.

In general, the sliding door that is installed in the elevator, subway, the entrance of the building and automatically open and close automatically operates because obstacle detection means are installed to prevent safety accidents.

For example, FIG. 1 illustrates an elevator, which is installed in front of two sliding doors 10a and 10b and a boarding car 20 that are opened and closed based on a center, and is linked to sliding doors 10a and 10b. It includes an inner door 21 to.

At this time, the sliding door (10a, 10b) and the inner door 21 is provided with obstacle detection means for detecting the obstacle during closing. The obstacle detecting means may be classified into a non-contact type and a contact type, and the non-contact detecting means may include a light emitting sensor 12 and a light receiving sensor 14 respectively installed at side ends of the sliding doors 10a and 10b facing each other. ).

Therefore, when the light emitted by the light emitting sensor 12 is blocked by an obstacle while the sliding doors 10a and 10b are closed, a predetermined electrical signal generated by the light receiving sensor 14 is transmitted to the main controller of the elevator, and then the main The controller controls the door opening and closing device to stop the operation of the sliding doors 10a and 10b and to operate the opening direction.

However, in order to completely detect all kinds of obstacles using the optical sensor, a large number of light emitting sensors 12 and a light receiving sensor 14 have to be arranged so that the vertical space is very tight so that the manufacturing cost is excessively increased. There is. In addition, no matter how closely arranged there is a gap between the upper and lower sensors, there is a problem that there is always a risk of a safety accident by not detecting a small obstacle, such as a finger of a young child.

On the other hand, the touch sensor detects obstacles by using a pressure signal or an electrical signal detected when an obstacle comes into contact. Since the obstacle is detected only when an obstacle or a person collides, the user's discomfort is caused and the user operates at a high speed. If you do, there is a problem of danger of injury due to collision.

The present invention has been made to solve the above problems, and an object thereof is to provide a sliding door that can increase obstacle detection performance and reduce the risk of a safety accident.

The present invention, in order to solve the above-mentioned problems, the first sliding door and the second sliding door to move in the opposite direction to perform the opening and closing operation; A first capacitive obstacle detecting device installed at a side end of the first sliding door and including a first sensor strip disposed in a height direction of the first sliding door and a first sensing circuit connected to the first sensor strip; A second sensor strip disposed in a side end portion of the second sliding door facing the side end portion of the first sliding door, and arranged in a height direction of the second sliding door and connected to the second sensor strip; A second capacitive obstacle sensing device comprising a; A main controller in communication with the first and second capacitive obstacle sensing devices; According to the control of the main controller provides a sliding door system including a door opening and closing device for operating the first and second sliding doors.

A sliding door system according to the present invention includes: a first sensor bracket installed at the side end of the first sliding door and having an opening facing the second sliding door; A second sensor bracket installed at the side end of the second sliding door and having an opening facing the first sliding door, wherein the first sensor strip is installed inside the first sensor bracket and The second sensor strip may be installed inside the second sensor bracket, and the first sensor strip and the second sensor strip may be disposed to be offset from each other.

In another aspect, the present invention provides a control method of a sliding door system, comprising: (a) inputting an initial setting command to the main controller; (b) the door opening and closing device moving the first and second sliding doors toward each other; (c) a reference voltage distribution according to the position of the first and second sliding doors through the first sensing circuit and the second sensing circuit while the first and second sliding doors are moved from the open position to the closed position; or Obtaining and storing a reference frequency distribution; (d) In the normal operation mode, presence or absence of an obstacle by comparing the voltage or frequency detected by the first or second sensing circuit with the reference voltage distribution or the reference frequency distribution while the first and second sliding doors are closed. Determining; (e) if it is determined in step (d) that an obstacle exists, controlling the door opening and closing device to provide a control method of a sliding door comprising stopping the operation of the first and second sliding doors.

In addition, the present invention, the fixed frame having a side; A sliding door having a side end portion facing the side of the fixed frame; A first capacitive obstacle detecting device installed on a side of the fixed frame and including a first sensor strip disposed in a height direction of the fixed frame and a first sensing circuit connected to the first sensor strip; A second capacitive obstacle detecting device installed at a side end of the sliding door and including a second sensor strip disposed in a height direction of the sliding door and a second sensing circuit connected to the second sensor strip; A main controller connected to the first and second capacitive obstacle sensing devices; Provided is a sliding door system including a door opening and closing device for operating the sliding door according to the control of the main controller and a control method thereof.

According to the present invention, since the door is blocked by detecting before contact with an obstacle, safer use is possible and the user's discomfort can be greatly reduced. In addition, it is possible to obtain a high sensing effect at a much lower cost than the conventional method using an optical sensor.

1 illustrates a sliding door
2 is a cross-sectional view of a sliding door installed with a conventional optical sensor
3 is a front view of a sliding door according to an embodiment of the present invention.
4 is a block diagram of a sliding door system according to an embodiment of the present invention
5 is a cross-sectional view of the sliding door according to an embodiment of the present invention.
6 is a cross-sectional view showing a state in which the sliding door is closed.
7 and 8 are diagrams showing various embodiments of the obstacle sensing circuit
9 is a diagram illustrating a reference voltage distribution for obstacle detection.
10 is a cross-sectional view of a sliding door according to another embodiment of the present invention.
11 is a cross-sectional view of a sliding door according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

3 is a front view showing the capacitive obstacle detecting device (50, 60) installed in the sliding door (10a, 10b) of the elevator according to an embodiment of the present invention, Figure 4 is a sliding door system of the present invention It is a block diagram.

Accordingly, the first capacitive obstacle detecting device 50 and the second capacitive obstacle detecting device 60 are installed at opposite side ends of the first and second sliding doors 10a and 10b, respectively. The first and second capacitive obstacle detecting devices 50 and 60 are connected to the main controller 70 for controlling the overall operation of the elevator, and the main controller 70 opens the sliding doors 10a and 10b according to a set algorithm. Control the door opening and closing device 80 to open and close.

In addition, the main controller 70 controls the door opening and closing device 80 when the obstacle is detected through the first or second capacitive obstacle detecting device 50 or 60 while the sliding doors 10a and 10b are closed. Stop operations of 10a and 10b and operate in the opposite direction.

A light emitting sensor 12 and a light receiving sensor 14 may be additionally installed in the first and second sliding doors 10a and 10b to assist the functions of the first and second obstacle detecting devices 50 and 60, respectively. .

The first capacitive obstacle detecting device 50 includes a first sensor strip 51 installed at a side end of the first sliding door 10a and a first sensing circuit 52 connected to the first sensor strip 51. Include.

The second capacitive obstacle detecting device 60 includes a second sensor strip 61 and a second sensing circuit 62 connected to the second sensor strip 61, and the second sensor strip 61 has a first sliding. The side end portion of the second sliding door 10b facing the side end portion of the door 10a is provided.

Each of the sensor strips 51 and 61 includes a strip-shaped sensor body having a substantially rectangular cross-sectional shape and two strip electrodes embedded in the sensor body in the longitudinal direction to face each other. The sensor body is preferably a speech material such as rubber, but is not limited thereto.

The two strip electrodes serve as the electrodes of the capacitor. Therefore, when the mounting surfaces of the sensor strips 51 and 61 are made of metal, one of the strip electrodes containing only one strip electrode may be used.

As shown in the cross-sectional view of FIG. 5, the first sensor strip 51 and the second sensor strip 61 are respectively provided with first and second end portions of the first sliding door 10a and the second sliding door 10b. It is preferable to be installed in the second sensor brackets 21 and 22.

Each of the sensor brackets 21 and 22 has a cross-section having a substantially 'C' shape and is opened toward each other, and each of the sensor strips 51 and 61 is formed at the first and second sliding doors 10a and 10b. It is installed in the height direction. A protective cover 25 may be installed in the openings of the respective sensor brackets 21 and 22, and when the light emitting sensor 12 and the light receiving sensor 14 are used, the protective cover 25 should be made of a transparent material. However, since the sensor strips 51 and 61 may recognize the protective cover 25 as an obstacle and may malfunction, the protective cover 25 may be omitted in consideration of the characteristics and the sensitivity of the sensor strips 51 and 61. .

The first sensing circuit 52 and the second sensing circuit 62 are connected to the ends of each of the sensor strips 51 and 61, and each of the sensing circuits 52 and 62 is provided on a PCB, respectively. It is preferred to be molded integrally with 51,61).

The first and second sensor strips 51 and 61 may be centrally installed based on the width directions of the first and second sensor brackets 21 and 22, respectively. In order to prevent them from malfunctioning by recognizing each other as obstacles, it is preferable to displace each other based on the width directions of the first and second sensor brackets 21 and 22, as shown in FIG. That is, the first and second sensor strips 51 and 61 are preferably installed so as not to face each other in front.

To this end, for example, the first sensor strip 51 is installed to be biased on one inner wall of the inner wall of the first sensor bracket 21, the second sensor strip 61 is opposed to the second sensor bracket 22 Of the inner wall, the first sensor strip 51 is installed so as to be inclined to the inner wall opposite to the adjacent inner wall. 6, the first and second sensor strips 51 and 61 do not face each other even when the first and second sliding doors 10a and 10b close to each other, as shown in FIG. 6. The risk of malfunction can be reduced.

Meanwhile, the first and second sensor strips 51 and 61 may be directly attached to the inner walls of the respective sensor brackets 21 and 22. However, when the first and second sensor strips 51 and 61 are installed too close to the inner walls of the sensor brackets 21 and 22, the sensor strips 51 and 61 may be attached. 61) recognizes this as an obstacle and there is a risk of malfunction. In order to reduce the risk, it is more preferable to form the protruding ends 27 on the inner walls of the respective sensor brackets 21 and 22 and to mount the sensor strips 51 and 61 on the protruding ends 27. The protruding end 27 extends in the lengthwise direction of the sensor brackets 21 and 22 and, of course, should have a length corresponding to at least the sensor strips 51 and 61.

In this case, if the protruding end 27 is made of metal, it is also possible to use the sensor strips 51 and 61 in which only one strip electrode is incorporated, since the protruding end and the strip electrode can function as respective electrodes of the capacitor.

Meanwhile, the first and second obstacle sensing devices 50 and 60 may recognize the obstacle only when the obstacle approaches the first or second sensor strips 51 and 61 and a change in capacitance occurs. Thus, for example, even when an obstacle is present in the center while the first and second sliding doors 10a and 10b are completely open, the first and second sliding doors 10a and 10b are the centers where the obstacles are detected. When moving to the vicinity and if the obstacle is recognized again to move in reverse, there is a problem that the operating time of the first and second sliding door (10a, 10b) is long.

In order to solve this problem, it is preferable to use a conventional sensing method using an auxiliary optical sensor.

That is, as shown in FIGS. 5 and 6, when the light emitting sensor 12 and the light receiving sensor 14 are installed on inner walls of the first sensor bracket 21 and the second sensor bracket 22 facing each other, 1, even if the second sliding doors 10a and 10b do not approach the obstacle, when the light receiving sensor 14 does not receive the light from the light emitting sensor 12 due to the obstacle, it may be determined that there is an obstacle. Unnecessary operation of the 2 sliding doors 10a and 10b can be reduced.

In this case, since the light emitting sensor 12 and the light receiving sensor 14 are sufficient to use for detecting a relatively large obstacle, the light emitting sensor 12 and the light receiving sensor 14 may be installed in a minimum number.

When the light emitting sensor 12 and the light receiving sensor 14 are installed, the optical paths between the light emitting sensors 12 and the light receiving sensors 14 should be provided so that the sensor strips 51 and 61 are spaced apart from each other based on the width direction of the sensor brackets 21 and 22. Light emitted from the light emitting sensor 12 may reach the light receiving sensor 14 through the spaced interval. The light emitting sensor 12 and the light receiving sensor 14 preferably use infrared rays. However, the light emitting sensor 12 and the light receiving sensor 14 are not limited thereto, and other types of light such as a laser may be used.

Meanwhile, the first and second sensing circuits 52 and 62 connected to the first and second sensor strips 51 and 61 may be implemented in various ways.

FIG. 7 shows an embodiment of the first sensing circuit 52. The RF oscillator 53 connected to the first sensor strip 51, the phase lock loop 54 connected to the RF oscillator 53, and phase lock are shown in FIG. And a first microcontrol unit (MCU) 56 connected to the loop unit 54.

The phase locked loop 54 outputs a frequency adjustment signal to the RF oscillator 53 to keep the oscillation frequency of the RF oscillator 53 constant. Therefore, when an obstacle approaches the first sensor strip 51 and the capacitance changes, the oscillation frequency of the RF oscillator 53 changes, so that the voltage of the frequency adjustment signal output from the phase locked loop 54 also changes. The MCU 56 may determine the presence of an obstacle by comparing it with a reference voltage.

FIG. 8 illustrates another embodiment of the first sensing circuit 52. The prescaler divides the oscillation frequency of the RF oscillator 53 and the RF oscillator 53 connected to the first sensor strip 51 at a predetermined ratio. 55, the first MCU 56, etc. to which the frequency signal divided by the prescaler 55 is input.

When an obstacle approaches the first sensor strip 51 and the capacitance changes, the oscillation frequency of the RF oscillator 53 is changed so that the frequency of the signal divided by the prescaler 55 and input to the first MCU 56 is also changed. do. Therefore, the first MCU 56 may determine the presence of an obstacle by comparing the frequency of the signal input from the prescaler 55 with the reference frequency.

In FIG. 7 and FIG. 8, the presence of an obstacle may be directly determined by the first MCU 56 or may be determined by the main controller 70 using a predetermined signal transmitted from the first MCU 56. When the first MCU 56 determines whether there is an obstacle, for example, if there is no obstacle, 0V, and if there is an obstacle, a 5V signal may be output to the main controller 70. There is no limitation on the communication method of the first MCU 56 and the main controller 70, for example, it can communicate in the UART method.

On the other hand, in the capacitive obstacle detection device, a dead point at which an obstacle is not detected appears at a predetermined position according to the oscillation frequency of the RF oscillator. To prevent this, two RF oscillators having different frequencies and a phase for each RF oscillator are prevented. A fixed loop unit (or prescaler) may be connected or one RF oscillator may be oscillated at a different frequency at a predetermined cycle. For details, refer to the applicant's registered patent No. 974423 (published on July 7, 2010) and Patent Publication No. 2012-0038646 (published on April 24, 2012).

7 and 8 illustrate various types of the first sensing circuit 52, but the same applies to the second sensing circuit 62 as well.

On the other hand, as in the embodiment of the present invention, when the first sensor strip 51 and the second sensor strip 61 is installed in the double-door sliding door (10a, 10b), the first sensing circuit 52 and the second sensing circuit If the oscillation frequency of the RF oscillator of (62) is different from each other, dead points appear at different positions in each of the sensor strips 51 and 61, thereby solving the problem of insensitivity.

In addition, even if the oscillation frequency of the RF oscillator is the same, if the installation height of the first and second sensor strips (51, 61) is different, the position of the dead point is different from each other, thereby solving the problem of undetectable.

Meanwhile, in order to operate the sliding door system according to the embodiment of the present invention, a special initial setting process is required.

This is because the first and second capacitive obstacle detecting devices 50 and 60 may recognize the sliding doors 10a and 10b opposite to each other as the obstacles while the sliding doors 10a and 10b are closed. Specific initial setting method is as follows.

First, when an initial setting command is input, the main controller 70 controls the door opening and closing device 80 to move the first and second sliding doors 10a and 10b toward each other, and the first and second sliding doors ( As the 10a and 10b approaches each other, the capacitances of the first and second sensor strips 51 and 61 change. During the initial setting operation, the main controller 70 must be set in advance so as not to control the door opening and closing device 80 by using the detection results of the first and second capacitive obstacle detecting devices 50 and 60.

For example, referring to the first capacitive obstacle detecting device 50 mounted to the first sliding door 10a, as shown in FIG. 7, the phase fixing loop 54 is used in the first sensing circuit 52. In this case, as the first sliding door 10a moves, the frequency adjustment voltage output from the phase fixing loop part 54 gradually increases from a certain point.

Accordingly, the first MCU 56 may grasp the distribution of the frequency adjustment voltage output from the phase fixing loop part 54 while the first sliding door 10a moves from the open state to the closed state. The resulting voltage is stored as the reference voltage distribution. Then, in the normal operation mode, it is determined that an obstacle exists when the actual output voltage of the phase locked loop 54 is out of the allowable range in comparison with the reference voltage distribution stored in the initial setting process.

This process is similarly applied to the second capacitive obstacle detecting device 60 mounted on the second sliding door 10a. Accordingly, the entire reference voltage distribution of the first and second capacitive obstacle sensing devices 50 and 60 may be represented as illustrated in FIG. 9.

On the other hand, when the prescaler 55 is used for the sensing circuit 52 as shown in FIG. 8, the prescaler 55 is divided and input to the MCU while the sliding doors 10a and 10b move from the open state to the closed state. By grasping the distribution of the frequency, the frequency according to the identified position is stored as the reference frequency distribution. Therefore, in the normal operation mode, it is determined that an obstacle exists when the actual output frequency of the prescaler 55 is out of the allowable range in comparison with the reference frequency distribution stored in the initial setting process.

The reference voltage distribution or the reference frequency distribution obtained in the initial setting process may be stored in the MCUs of the sensing circuits 52 and 62 and used as obstacle determination data, or transmitted to the main controller 70 to be used as obstacle determination data. Can be.

After the initial setting process, the sliding doors 10a and 10b operate according to an algorithm set in the main controller 70.

If an obstacle approaches the first or second sensor strips 51, 61 during the closing operation, and the capacitance changes, the MCU or the main controller 70 of the sensing circuits 52, 62 may perform a phase locked loop 54. When the frequency adjustment voltage outputted from the reference voltage distribution is compared with the output frequency of the prescaler 55 and the reference frequency distribution is out of the allowable range, it is determined that an obstacle exists.

When it is determined that an obstacle exists, the main controller 70 controls the door opening and closing device 80 to stop the operation of the first and second sliding doors 10a and 10b and then operate in the open direction.

On the other hand, even when no obstacle is detected in the first and second capacitive obstacle detecting devices 50 and 60, when the first and second sliding doors 10a and 10b operate, the light receiving sensor 14 of the light emitting sensor 12 If it does not receive the light, the main controller 70 controls the door opening and closing device 80 to stop the operation of the first and second sliding doors (10a, 10b) and then operate in the open direction.

In the above described the preferred embodiment of the present invention, but the present invention is not limited to the above-described embodiment may be modified or modified in various forms.

For example, although the present invention has been described using the sliding door system of an elevator as an example, the sliding door system of the present invention is not limited thereto. Therefore, it can be applied to sliding door systems such as doors of buildings and doors of carriages of railway cars.

In the above-described embodiment, it is preferable to install the first and second sensor strips 51 and 61 so as not to face each other. However, if the reference voltage distribution or the reference frequency distribution is set in advance as shown in FIG. You can also install them facing each other.

In addition, although the present invention has been described with reference to the system in which the two sliding doors 10a and 10b operate, for example, as shown in FIG. 11, the present invention can be applied even when one sliding door 10 is used. have.

That is, after the first sensor bracket 21 is installed on the side of the fixed frame 90 constituting the door frame, the first sensor strip 51 is mounted therein, and the sliding door facing the fixed frame 90 ( After installing the second sensor bracket 22 at the side end of 10), the second sensor strip 61 may be installed therein. In addition, the light emitting sensor 12 and the light receiving sensor 14 may be installed on inner walls of the first sensor bracket 21 and the second sensor bracket 22 facing each other.

In this case, when an obstacle approaches one of the first and second sensor strips 51 and 61, the main controller 70 stops the operation of the sliding door 10.

As described above, the present invention may be modified or modified in various forms, and the modified or modified embodiments may be included in the scope of the present invention if the technical spirit of the present invention included in the claims to be described later.

10a and 10b: first and second sliding doors 12: light emitting sensor
14: light receiving sensor 21, 22: first and second sensor bracket
25: protective cover 27: protrusion end
50: first capacitive obstacle detection device 51: first sensor strip
52: first sensing circuit 53: RF oscillator
54: phase-locked loop portion 55: prescaler
60: second capacitive obstacle detection device 61: second sensor strip
62: second sensing circuit 70: main controller
80: door opening and closing device 90: fixed frame

Claims (8)

A first sliding door and a second sliding door that move in opposite directions to perform opening and closing operations;
A first capacitive obstacle detecting device installed at a side end of the first sliding door and including a first sensor strip disposed in a height direction of the first sliding door and a first sensing circuit connected to the first sensor strip;
A second sensor strip disposed in a side end portion of the second sliding door facing the side end portion of the first sliding door, and arranged in a height direction of the second sliding door and connected to the second sensor strip; A second capacitive obstacle sensing device comprising a;
A main controller in communication with the first and second capacitive obstacle sensing devices;
Door opening and closing device for operating the first and second sliding doors in accordance with the control of the main controller
And the first sensor strip and the second sensor strip are shifted so as not to face each other. The method of claim 1,
A first sensor bracket installed at the side end portion of the first sliding door and having an opening facing the second sliding door;
A second sensor bracket installed at the side end of the second sliding door and having an opening facing the first sliding door;
The first sensor strip is installed in the interior of the first sensor bracket and the second sensor strip is installed in the interior of the second sensor bracket sliding door system Fixed frame having a side;
A sliding door having a side end portion facing the side of the fixed frame;
A first capacitive obstacle detecting device installed on a side of the fixed frame and including a first sensor strip disposed in a height direction of the fixed frame and a first sensing circuit connected to the first sensor strip;
A second capacitive obstacle detecting device installed at a side end of the sliding door and including a second sensor strip disposed in a height direction of the sliding door and a second sensing circuit connected to the second sensor strip;
A main controller connected to the first and second capacitive obstacle sensing devices;
Door opening and closing device for operating the sliding door in accordance with the control of the main controller
And the first sensor strip and the second sensor strip are shifted so as not to face each other. The method of claim 3,
A first sensor bracket installed at a side of the fixing frame and having an opening facing the sliding door;
A second sensor bracket installed at the side end of the sliding door and having an opening facing the fixed frame;
The first sensor strip is installed in the interior of the first sensor bracket and the second sensor strip is installed in the interior of the second sensor bracket sliding door system The method according to claim 1 or 3,
The first sensing circuit and the second sensing circuit includes a sliding door system, characterized in that the RF oscillator of different oscillation frequency The method according to claim 2 or 4,
The first sensor strip and the second sensor strip have a spaced apart from each other based on the width direction of the first and second sensor brackets,
A light emitting sensor and a light receiving sensor are installed on inner walls of the first and second sensor brackets facing each other, and the interval between the first sensor strip and the second sensor strip is determined by the light emitted from the light emitting sensor. Sliding door system, characterized in that provided by the path delete delete

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