WO2001018624A1

WO2001018624A1 - Method for detecting the operational state of a border element of a building or an enclosure that is displaced by a drive system

Info

Publication number: WO2001018624A1
Application number: PCT/DE2000/002722
Authority: WO
Inventors: Axel Stab; Franz Ziesché
Original assignee: Hörmann KG Antriebstechnik
Priority date: 1999-09-08
Filing date: 2000-08-11
Publication date: 2001-03-15
Also published as: EP1212666A1; EP1212666B1

Abstract

The invention relates to a method for detecting the normal operation, the collision with obstacles, the abutment with stops or other operational states of a border element of a building or an enclosure that can be displaced between an open and a closed position by means of a drive system. The inventive method comprises the following steps: a) measuring an operational parameter of the drive system at defined measuring points of the trajectory which parameter indicates the power requirement of the drive system or which otherwise allows to draw conclusions with respect to the operational parameter of the border element or measuring said operational parameter at defined operational intervals of the border element. The aim of the invention is to provide a method that allows a more precise and faster detection. To this end, b) a defined number n of the values of the operational parameter measured directly before the respective measuring point is recorded as a history of measured values with respect to the respective actually measured value in order to establish a measured value sequence of n+1 values from the actually measured value and its history of measured values calculated from the recorded sequence of the n values measured previously with respect to every measuring point or every measuring time. The measured value sequence of n+1 values that is detected at an operational state of interest is c) analyzed and a course characteristic of the operational state of interest and consisting of a measured value sequence of n+1 subsequently measured values and/or a property characteristic of such a course and displayed by a test function is detected. The invention further relates to a drive system that carries out such a method of detection, especially drives for garage gates or industrial gates.

Description

METHOD FOR DETECTING OPERATING STATES OF A

MOVABLE BY MEANS OF A DRIVE DEVICE

CONCLUSION FOR A BUILDING OR ENCLOSURE

The invention relates to a method for recognizing normal driving, colliding with obstacles, colliding with end stops or similar operating states with a closure for a building or a fence that can be moved back and forth between an open and a closed position by means of a drive device, with the step: a ) Measuring an operating parameter of the drive device which indicates the power requirement of the drive device or otherwise allows conclusions to be drawn about the operating states of the closure at certain measuring points of the movement path or operating time of the closure. In addition, the invention relates to a drive device suitable for carrying out this method, such as in particular a door drive and more particularly a garage door or industrial door drive.

Various methods and controls for controlling drive devices for the closure of buildings or enclosures have already been described. Examples of such methods and controls can be found in DE 19628238 C2, EP 0083947 B1 or DE 4214998 A1 to which reference is expressly made for further details of such methods and controls, the drive devices used and the resulting problems.

In addition, for further details of the present invention, reference is expressly made to the applicant's unpublished German patent application 19958 308.0 of December 3, 1999.

Further examples of comparable controls and drive devices for movable termination devices can be found in GB 2010957 A, DE 2727518 A1 or GB2169105A.

In general, it is known from this prior art for monitoring the running of driven gates, doors, windows or the like driven building or enclosure closures or other movable closures in or on the Drive device to measure different physical quantities, the actual

Represent power requirements to move the closure. These sizes can be used for

Example of the motor current, the speed, the acceleration, etc. w. be the most

Drive motor are more or less available directly or by sensor and are evaluated accordingly by the control of the drive device.

This evaluation then generally serves to initiate switch-off or reversing actions to avoid unnecessarily high forces on the closing edges of doors and / or gates, windows or other closings.

For example, from DE 196 28 238 C 2 it is known that these variables or operating parameters are recorded during a so-called learning trip or measurement trip or another reference trip along the entire trip and during subsequent trips in normal operation, usually plus a surcharge , can be used as a comparison value for the actual power requirement for the respective position. The measured value is generally used as a threshold value or for calculating a threshold value in order to switch off or reverse the drive device accordingly if the threshold value is exceeded or undershot by the currently measured operating parameter.

For this purpose, he generally gives a route-dependent or route-independent calculation of this threshold value. However, the shutdown is always carried out on the basis of a comparison of the actually actually measured values with the previously defined comparison value - threshold value.

It is also described in the aforementioned documents to determine the position of the end stops - open position or closed position - without a limit switch on the basis of operating parameters measured on the drive device, which is also carried out via a threshold value determination.

The object of the invention is to create a new possibility of recognizing operating states of movable closures compared to known methods of the type mentioned at the outset, in order to have more precise information available and, if necessary, to be able to react to certain operating states faster than before. The basic idea of the invention is to use the previous history of the operating parameter or the contour of the course of the operating parameter as a recognition criterion. Through the

According to the invention, the course or time course of the measured variable or the temporal course of the measured variable or the operating parameter (hereinafter referred to as “previous history” or “measurement history”) is used as a recognition criterion for the

Operating state used and if necessary to initiate shutdown or

Reverse actions used. The invention thus creates a method that the history or the contour of the motor current of a drive motor

Drive device, the speed of the motor current, the speed, the acceleration or other conclusions on operating parameters to be determined operating conditions to be used as a means to respond accordingly to operating conditions determined, in particular to obstacles or faults, and for example to switch off or close the drive device in the event of obstacles reverse.

According to the invention, a method for recognizing normal driving, method for recognizing normal driving, colliding with obstacles, colliding with end stops or similar operating states is proposed to achieve the object described above, with a closure that can be moved back and forth between an open and a closed position by means of a drive device for a building or a fence, with the steps: a) measuring an operating parameter of the drive device which indicates the power requirement of the drive device or otherwise allows conclusions to be drawn about the operating states of the closure at specific measuring points (A, B, C, D, E) of the movement path or operating time of the Conclusion and b) recording a specific number n of the values of the operating parameter last measured before each measuring point as a history of measured values for the currently measured value in order to obtain a sequence of measured values of n + 1 values for each measuring point - measuring location or measuring time n from the currently measured value and its value formed by the recorded series of the n previously measured values

To form the measured value history, and c) analyzing the measured value sequence of n + 1 values present in an operating state of interest in order to determine a characteristic course of such operating values of existing measured value sequences of the operating parameter measured from n + 1 successively and / or a characteristic property of such a course that can be indicated by a test function.

Step b) ensures that the previous history or measured value history of the operating parameter and thus the course of the operating parameter determined shortly before is available for each measuring point.

A specific operating state can then be determined on the basis of this profile, which is done by analyzing the profile in step c). This analysis can be done in a variety of ways. With each type of termination, you will be able to expect certain signal shapes or contours of the operating parameters to be monitored or to calculate them by simulation. In particular, the signal shape in certain operating states, such as colliding with an obstacle or an end stop, can be recognized from the signal shape even before it is switched off by means of a threshold value switch-off. If one looks at the course of the operating parameters indicating the power requirement of the drive device, such as motor current, speed, acceleration, etc. at certain measuring points that are as close to one another as possible, e.g. B. during an undisturbed journey and when driving with an obstacle on a recorder or an oscoloscope, you can usually clearly see that the signal shape or the contour of this operating parameter when the obstacle is reached clearly differs from that of a journey without this obstacle.

The invention is based on the basic knowledge that, based on such characteristic signal shapes, it is possible to identify operating states earlier and / or more precisely - and also by comparing signal contours.

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

As mentioned above, the analysis of the measured value history mentioned in step c) is already possible on the basis of theoretical expectations or calculations.

Because of the large number of possible degrees and operating states and in order to be able to react to special conditions on site, this is an advantageous option

Embodiment of the method according to the invention with carrying out steps a) and b) during a reference or measurement run of the conclusion and during the Intended operation of the drive device, preferably that steps c) and d) are stored during the measurement or reference travel, and the sequence of measured values characteristic of the operating state of interest and / or a characteristic function value of the test function obtainable therewith is carried out and steps e) are carried out directly during intended operation Comparing the measured value sequence obtained for each measuring point during operation with the measured value sequence characteristic for the operating state of interest, and / or f) indirectly comparing the measured value sequence obtained for each measuring point during operation with the measured value sequence identified as characteristic for the operating state of interest by comparing the with the Functional value of the test function obtained during operation of the test function with the stored fun or a characteristic fun obtained by the stored characteristic measured value sequence tion value of the test function, and g) recognizing the operating state of interest, if the direct and / or indirect

Comparison results in matches.

To determine the operating state of interest, signal forms or signal contours achieved by the respective measured value sequences are preferably compared with a signal form or signal contour to be expected, calculated or stored in step d) as a reference. Depending on the goal, H. Depending on the operating state of interest, the physical parameters (current, voltage, speed, motor temperature, etc.) available as operating parameters can be used directly or, if better statements allow, preliminary evaluations (e.g. differentiation or integration via path or time) are possible. One or the other operating parameters or a certain pre-evaluation of certain operating parameters can be superior to other monitoring methods, whereby it should be decided in advance, before the method is carried out, with which operating parameters - measured variable - and pre-evaluation the detection of the operating state, such as an obstacle or End stops, can be optimally designed.

Thus, a contour of an operating parameter determined in this way or a previously evaluated operating parameter differs more clearly from in a specific operating state a "normal" contour than is the case with other operating parameters, this special contour can also be used in the measurement history or measurement history

Differentiation of this operating state within the evaluation in the control of the

Drive device can be used, for example, to distinguish a normal course of a driven garage door from an impact on an obstacle and to carry out the corresponding switch-off or reversing actions during the obstacle drive.

An individual end that is driven between an open and a closed position can behave in a different way than other endings when driving onto an obstacle. This is where the powertrain comes in - e.g. B. Drive via a cable system compared to toothed belt gear or chain gear -, the type of closure - sectional door, single-leaf overhead door, roller door, sliding gate, swing door, lifting window and so on - and environmental influences - temperatures, precipitation, snow and ice. In order to be able to determine the special signal shape when the individual termination hits an obstacle, the method according to the invention is characterized in an advantageous embodiment, namely as an obstacle detection method, by q) letting the termination ascend to an obstacle brought into the movement path or to a reference path during the reference run End stop, p) if necessary, preliminary values of the measurement sequence of n + 1 measurements obtained with the ascent with the measurement history with differentiation and / or integration of the measurement sequence, r) storage of a signal form obtained by the ascent - possibly after the evaluation - obtained during the ascent or signal curve contour as a reference for the presence of an obstacle, s) comparing a signal shape or signal curve contour obtained in the same manner in the intended operation in any measurement point with the one stored as a reference, and t) recognizing one s Obstacle or an end stop if the comparison results in an identical or with the same characteristic properties or signal curve or signal curve contour. In addition, normal travel can of course also be carried out, any deviation of the signal form from the signal form determined thereby being used beyond a certain extent as a switch-off or reversing criterion. The individual measuring points should be selected in such a way that the measured value histories obtained in each case can be compared. This could e.g. B. can be achieved by always measuring at the same measuring locations or measuring times of the course of the movable closure. On the other hand, there is also the possibility of comparing the measured value histories at measuring points of two journeys, although exact locations of the compared measuring points are not known in absolute terms. This possibility is opened up by determining the measuring points as measurement locations on the movement path of the closure that are consecutive at an equidistant distance with a predetermined distance or as measurement times that are consecutive at a predetermined distance. It is therefore not always necessary to measure at the same measuring locations or at the same measuring times while the drive device is running; according to this embodiment, it is only a condition that all measuring locations follow one another in an equidistant manner in terms of distance or all measuring times are equidistant in time.

As already mentioned several times, in step a) the motor current of an electric motor of the drive device, the speed of the electric motor, the speed of the drive movement, the acceleration of the drive movement, the supply voltage of a soft energy supply of the electric motor and / or the temperature of the electric motor can be measured as operating parameters ,

A particular advantage of the method according to the invention is that a complete measurement history, ie. H. all n + 1 values must be present in order to determine a specific operating state. It is sufficient in each case that the last section of the current measured value history curve with the first

Part of an expected, calculated or stored characteristic

Compare measured value history history - a reference measured value history. In an advantageous embodiment of the invention, this is made possible by the steps: v) comparing, in the intended operation, for each newly recorded measured value, the measured value obtained together with the last measured i

Operating parameter curve, where i is a natural number less than n, with which the characteristic i parameter curve that is expected, calculated or stored for the operating state of interest can be calculated and stored, and w) determining the operating state if these i + 1 measured values match, even before a complete characteristic formed by n + 1 measured values

Measurement sequence has been recorded. For the sake of understanding, an example is given here:

The 10 previous measurement values are always stored as measurement value history and a reference measurement value history accordingly one from one

Reference measured value sequence of 11 successive measured values includes, it may be sufficient, in the currently measured operating parameter curve, the signal form determined by the last four measured values with the first four measured values of the

To compare the reference measured value history, for example, when opening a

Obstacle, an end stop or a malfunction in the completion. In this example, i would be 3 and n = 10.

In order to stay with the previous example, a signal form from four measured values might not be sufficient to recognize a certain operating state, but a signal form formed from six measured values could. In order not to have to record the complete measured value history formed from all n + 1 values in order to recognize the operating state of interest, which in some circumstances would result in a great loss of time, a further development of the advantageous embodiment of the invention just explained proposes that step v) is repeated for each newly recorded measured value, starting with a minimum value for the number i of the previously measured measured values used for comparison, which is used to distinguish characteristic courses, increasing this number i, preferably by one, until the characteristic operating state has been determined or this number i has reached the number n of the previously measured values recorded as a measured value history.

Usually there will have to be at least three successive values to recognize a characteristic signal shape. In this respect, a comparison of the signal form formed by the last three or four currently measured values with one by the first three or four measured values of the reference measured value history could be carried out for each newly recorded measured value, starting with i = 2 or 3. If this does not reveal an interested operating state, the comparison of the last four or five with the first four or five measured values of the reference history is now carried out. This then continues until either a sufficiently long signal form determines a match or until all n + 1 measured values of the currently recorded measured value history are compared with the n + 1 measured values of the reference measured value history without the operating state of interest having been determined. With a sufficiently fast processor, this analysis of the waveforms is in time feasible, which lies between the measuring points. To track the

In accordance with a further advantageous embodiment of the invention, the signal comparison available reference measured value histories is preferred that each previously carried out trip of the conclusion, in which an operating state of interest - such as proper obstacle-free ride - has occurred when a reference trip is used for subsequent trips, preferably those obtained in the process

Reference curves or reference function values can be offset against previously saved ones.

Monitoring of a single operating parameter will be sufficient to determine many types of operating states. However, operating states can be recognized more precisely if not only one operating parameter, but several are used for the detection on the basis of their measured value history and signal shape. To identify operating states, the signal shape of one operating parameter can then also be compared with that of the other operating parameter.

An operating state that can be recognized much more precisely with the method according to the invention than with previous comparable methods is the detection of an end stop. In the drive devices of the type in question, physical parameters in or on the motor or its control are used as operating parameters in order to avoid the attachment of additional sensors at the end. In particular, there has recently been a move to dispense with end stop switches and to determine an end stop after assembling the drive device via a threshold value determination of quantities indicating the power requirement of the drive motor. So increases z. For example, if the motor current exceeds a relatively high threshold value, it is assumed that an end stop has been reached. Between the motor and the edge with which the end runs against the end stop, there are usually quite a lot of mechanical parts, all with play or gaps in between or over - e.g. B. elastic - stretching phenomena help that some time elapses between a first touch of the stop edge to the end stop and the detection of the threshold being exceeded, during which the end is pressed more firmly against the end stop. As a result, the detection of the end stop via the threshold value determination is relatively imprecise and it could be the case that the control system encounters a very small obstacle, such as e.g. B. a human foot because of an incorrect end stop determination than that Detection of the end stop instead of an obstacle. The exact detection of an end stop also has a serious security aspect.

The method according to the invention, in which a measured value history is available for analyzing the respective operating state, can create significant improvements here. Accordingly, in an advantageous embodiment of the invention, the steps are proposed as a method for recognizing an exact start of a journey against the end stop:

Detection of an end stop if the operating parameter is one for the detection of a

Stop exceeds the predetermined threshold,

Examine the measurement history for the measurement point indicating that the threshold value has been exceeded and

Detect a first touch of the end stop by determining the previous measuring point, in which a rising and becoming faster and faster

Approximation of the operating parameter to the threshold has started.

A drive device for carrying out the method according to the invention has, in addition to a measuring device for measuring the operating parameters in the specific measuring points, in particular those which are equidistant in terms of time or distance, a control unit for controlling the individual method steps according to the invention and a shift register in which the previously measured n measured values are recorded ,

The invention is of particular interest in the field of door drives or door drives. The invention makes it possible to achieve a method that can be used to monitor the running of driven gates or doors by tracking a “tail” or a “track” of n distances and / or temporally equidistant measured values and evaluation thereof.

Exemplary embodiments of the invention are explained in more detail below. The accompanying drawings used show in:

Figure 1 shows the course of any operating parameter of a door operator over the path (s) or time (t). Fig. 2 shows the course of a speed of a drive motor

Garage door drive in the area of an end stop against which the garage door driven by the garage door drive is moved; and

3 shows a view of a detail from FIG. 2.

In Fig. 1, the course of any signal Y (s, t) of a drive device connected to a garage or industrial door or the like between an open and a closed position back and forth closure over a section of the movement path of the closure - s - or during a certain time during which the closing moves - 1 -.

To obtain the signal curve, support points () which are equidistant in terms of distance (s) or time (t) are provided at constant intervals X, each support point A, B, C, D, E serving as a measuring point for measuring the then existing operating parameter value. The signal Y is thus sampled at intervals of X, the respectively sampled values being recorded in a memory device acting in the manner of a shift register. A new measured value is added at each new support point until there is a total number n of measured values. The next measured value is then recorded and all previously measured values are shifted further, the first measured value falling out of the memory, so that after an initial phase, a sequence of n previously measured values is available for each reference point or for each measuring point.

The signal Y is thus sampled at each interpolation point or each measurement point - measurement location or measurement time, and the measurement values of the last sampled n interpolation points are already stored, so that the respective current interpolation point always pulls a "tail" or a "trace" of n measurement values ,

1 shows an example in which each support point A, B, C, D, E is assigned the measured values of the previously measured n = 5 support values.

At measurement point A - position or time - there are therefore n + 1 measurement values with which the previous history or measurement value history can be analyzed. Such an analysis takes place in one exemplary embodiment with a direct comparison of a single characteristic set of values of n + 1 values which, for. B. could say that after three consecutive increases, a constant value must occur. It should be clear to the person skilled in the art that there can be a very large variety of possible value proposition statements that can be used as a characteristic property for an operating state of interest. In a further embodiment, the respectively determined measured value history of n + 1 measured values is entered into a test function - for example a polygonal function with n + 1 variables, an operating state of interest to be determined when the functional value of the test function then obtained is within certain limits.

It is therefore entirely possible with the method according to the invention that only one characteristic value or a characteristic value set is sufficient for the comparison for a complete journey of the conclusion, so that several position- or time-dependent values or value sets are not necessarily available or stored for this have to.

In some embodiments, this method is used to determine an obstacle. For this purpose, an obstacle is driven on during a test drive and characteristic properties of the signal form then obtained are used to identify such obstacles. For example, if you hit an obstacle, at least three successive measured values of an operating parameter proportional to the power requirement of the closure will be found, the first and the second derivative of the operating parameter also increasing according to distance or time in each of the three measuring points. Any person skilled in the art will be able to recognize other possible characteristic properties if he records the measurement history according to the operating parameters when an obstacle is encountered and compares it to the measurement value histories available when the obstacle-free journey is made.

In a further embodiment, an obstacle-free learning trip is first carried out, the history available is analyzed and used as a measure for the subsequent trips, with any deviation from this measure counting as a switch-off criterion. So there are on all journeys, e.g. B. for measurement point A, the n + 1 available measurement values are analyzed as a history. The result is then compared with measured values which have already been analyzed and found to be in order or values of an obstacle-free journey. If this comparison also reveals "OK", the trip is, depending on the situation Result continued with another reference measurement series. Otherwise, e.g. B. a shutdown or reverse action can be initiated.

If the journey continues, i. H. If the analysis of the n + 1 measured values for measuring point A has shown normal operation, the same process takes place again at measuring point B, then again at measuring point C and so on and so on. In one embodiment, the measured value series determined in each previous measuring point and found to be in order are used to update the reference measured value history or the reference measured value histories and / or are stored for subsequent comparisons.

Another embodiment relates to a method for precisely determining an end position - open or closed position - of the closure, which is referred to below as “reference point identification”.

This method is particularly suitable for a garage door drive which is intended to be suitable for the most varied types of garage doors without the provision of sensors on the actual garage door. As is generally well known, such a garage door drive for overhead doors comprises a driver movable within a guide rail, which can be moved back and forth within the guide rail by means of a traction mechanism and can be coupled to a door leaf of the overhead door. For a particularly simple adaptation to different sizes, types and so on of garage doors, the distance within which the driver is to move to move the garage door between the open and closed positions is not determined by mechanical limit switches, but rather by an interaction between mechanical ones the guide rail optionally definable end position limiters, scanning the motor current consumption of an electric motor of the garage door drive and an incremental encoder which is preferably located within the motor. This interaction is used to determine the necessary rail movement stroke for opening and closing the respective door and to monitor the door movement. Using the incremental encoder, the distance to be covered and the current position and speed can be recorded.

A reference run or learn run in the opening movement direction is carried out as the first run after the power supply to the garage door drive has been interrupted, hereinafter referred to as “reference run open”. During this "reference run up the The garage door drive is driven in the opening movement direction until the garage door or preferably the driver moves to the end position limiter that defines the open position. Reaching this end position limiter is detected based on the monitoring of the motor current and / or the speed of the drive motor when the motor current draws a current due to the increased current consumption due to the high power requirement caused by the limitation of the end position limiter, which is above a previously specified or taught limit value. Since a decrease in the speed indicates an increased force requirement of the door drive is not readjusted, the end position is also a decrease in speed below a certain limit value V _m i _n detectable. The motor is switched off when this end position is detected. If the open position is determined in this way - in the following "end position open" - an internal counter, ie a counter in the control of the door drive, which is fed from the incremental encoder and is subsequently responsible for measuring the distance covered, is set to zero.

However, the mechanical properties of the transmission path are now included in the counting of the incremental encoder pulses, which is assigned to the motor. The driver is preferably driven by a traction mechanism gear which, because of the fact that it is maintenance-free and runs particularly smoothly, contains a toothed belt. Due to the stretching of this toothed belt or other traction means and due to manufacturing tolerances and play present everywhere in the drive train, the internal meter reading obtained in this way generally does not match the actual reaching of the "end position open by the driver or the garage door coupled to it. The method described below is suitable for correcting the detection of the reference point “end position open”.

After executing the "reference run up and zeroing the internal counter, if the control does not yet know the path necessary for the closing run, a learning or reference run in the closing direction - hereinafter" learning run closed "- is carried out as long as it is moving in the closing movement direction until a stop at the mechanical limit switch defining the closed position is detected by exceeding or falling below the specified limit values for current or speed. The status of the internal counter is used as the "limit position closed" when the limit values used as motor shutdown criteria are exceeded or undershot "saved against power failure. The counter reading "end position closed" serves as a measure of the distance to be covered. Here, too, the mechanical properties of the transmission path are included in the counting of the incremental encoder pulses, ie, due to the inaccuracies in the transmission path due to expansion of a traction means, manufacturing tolerances, joints, play and so on, the stored counter "end position closed" is generally not correct coincides with the actual reaching of the mechanical end position limiter to be defined. The method “reference point identification” described below is also suitable for correcting the reference point “end position closed”.

After teaching in the distance through the "Lemfahrt-Zu", the internal counter is used as a position sensor or position transmitter for all door movements. For the reasons mentioned above, there is a fundamental uncertainty as to whether the internal counter also reflects the actual position of the gate The addition of errors is therefore carried out each time the door is reached, or is to be reached, when it is actually reached, which is signaled by threshold value acquisition - exceeding and / or falling below learned or predefined threshold or limit values, the counter reading is recalibrated by entering a zero value when the "end position is recorded" or by transferring the stored value to the internal counter when the "end position closed" is recorded. This procedure is referred to below as "referencing".

Precise knowledge of the actual door position shortly before the "end position closed" is important for safety reasons for the following reasons:

When traveling in the closing movement direction, a decision must be made shortly before reaching the "end position closed" whether a determined increased power requirement is required by an obstacle in front of the "end position closed" or to reach the "end position closed". In the event that an obstacle in front of the "End position closed" is present, the door drive must be switched off or reversed in order to release the obstacle and to avoid damage to the door, or the obstacle or injuries to a trapped person. If the "end position closed" is reached, the door drive must continue to be closed in order to close the door properly. To distinguish it, a reversing limit is usually set shortly before the stored "end position closed". If an increased power requirement is ascertained after passing this reversing limit, this is evaluated as reaching the “end position closed”; increased power requirements before that are evaluated as detection of an obstacle The reversing limit must be as close as possible to the counter reading for the "end position closed" in order to guarantee safety even with a small obstacle - just think of one foot or arm of a person. On the other hand, however, it should not be reversed unnecessarily, if by the above explained uncertainty of closing the gate required increased power requirement is interpreted as an obstacle.

With the help of the procedure described below for reference point identification, the actual end positions can be better determined and the meter readings can be corrected if necessary in order to increase the operational safety of the door drive for subsequent trips.

FIG. 2 shows the course of a speed signal v (s) obtainable by the incremental encoder with support points that are equidistant in terms of distance over the distance that can be obtained by the incremental encoder. The support points, which are always at a constant distance X, could e.g. B. by every incremental encoder pulse, every second incremental encoder pulse, every third incremental encoder pulse, etc. To be defined. The speed v (s) is recorded at each of these interpolation points, the last sampled or recorded n measured values of v (s) being recorded in a memory acting like a shift register. As a result, the current measured value always pulls a "tail" or a "trail" of n measured values behind it, similar to the contrails of an aircraft in the sky, which trace the course of the aircraft for a short time and then disappear.

In Fig. 2, the reaching of the mechanical limit switch indicating the closed position of the gate is recorded. The motor speed v (s) falls below a predefined threshold value V _min at position E, which serves as a switch-off criterion for the electric motor.

Thereupon the measured value history recorded for the measuring point E, i. H. the signal shape predetermined by the previously measured n measured values is analyzed. In the example shown, n = 5, so that at measurement point E 5 + 1 = 6 measurement values are available for analysis.

An analysis according to an exemplary embodiment is explained below with reference to FIG. 3, which shows in detail the six support points and measured values available for evaluation at measuring point E and the signal form simulated thereby. The characteristic shows that the velocity before the point E in all previously measured reference points or measuring points A, B, C, D and the

Gradients of the signal curve, represented by a, b, c, d, e (decelerations) became ever larger.

As a characteristic property of the measured value history in point E, a steady decrease in all measured values and an increase in the gradient can be determined. This characteristic property is not achieved when analyzing the measured value histories at the measuring points D, C, B and A if a shutdown would have taken place.

On the basis of simple considerations, it can be assumed that if the measuring point E is arranged near the "end position closed" during the "learning drive closed", the steady decrease in speed and the steadily increasing braking have been caused by the mechanically soft behavior of the drive train and that the actual reaching of the "end position closed" has already taken place at measuring point A.

Based on this knowledge, the actual position of the end position at measuring point A is recognized and the value of the internal counter is corrected accordingly.

In a completely analogous manner, the end position can be corrected during the “reference run up”.

Claims

Expectations

1. A method for recognizing normal driving, colliding with obstacles, colliding with end stops or similar operating states with a closure for a building or an enclosure that can be moved back and forth between an open and a closed position by means of a drive device, with the steps: a) measuring an operating parameter (Y (s, t) v (s)) of the drive device at certain measuring points (A, B, C, D, E) that indicates the power requirement of the drive device or otherwise allows conclusions to be drawn about the operating states of the closure

Trajectory or operating time of the conclusion and b) recording a specific number n of the values of the operating parameter (Y (s, t) v (s)) last measured before each measuring point (A, B, C, D, E) as a measured value history for the each currently measured value in order to form a measurement value sequence of n + 1 values for each measurement point - measurement location or measurement time - from the currently measured value and its measurement history formed by the recorded series of the n previously measured values, and c) analyzing the data of a person of interest Measured value sequence of n + 1 values available for the operating state to determine a characteristic course of interest of the operating state of interest of such measured value sequences of the operating parameter (Y (s, t) v (s)) consisting of n + 1 measured in succession and / or a characteristic curve which can be indicated by a test function Property of such a course.

2. The method according to claim 1, geken nze i ch net d u rch

Performing steps a) and b) during a reference or measurement run of the

Completion and during the intended operation of the drive device, step c) and d) being stored during the measurement or reference travel, and the sequence of measured values characteristic of the operating state of interest and / or a characteristic function value of the test function obtainable therewith is carried out, and steps e ) direct comparison of the measured value sequence obtained for each measuring point (A, B, C, D, E) during operation with the measured value sequence characteristic of the operating state of interest, and / or f) indirect comparison of the measured value sequence obtained for each measuring point (A, B, C, D, E) during operation with the measured value sequence determined as characteristic of the operating state of interest by comparing the functional value of the test function obtainable with the measured value sequence obtained during operation with the stored or a characteristic function value of the test function obtained by the stored characteristic measurement value sequence, and g) recognizing the operating state of interest if the direct and / or indirect comparison yields matches.

3. The method as claimed in claim 1 or 2, so that signal forms or signal contours achieved by the respective measured value sequences with an expected, calculated or stored in step d) as a reference or signal contour are determined for determining the operating state of interest be compared.

4. The method as claimed in claim 3, so that preliminary evaluations, in particular by integrating and / or differentiating the measured values, are carried out in order to obtain the respective signal shape or signal contour or additional signal shapes or signal contours to be compared become.

5. The method according to one of claims 3 or 4 for recognizing obstacles or end stops g eke n nze i ch n et du rch q) letting the closure ascend during the reference travel to an obstacle brought into the movement path or to an end stop, p) If necessary, preliminary values of the measured value sequence of n + 1 measured values obtained during the ascent with the measured value history with differentiation and / or integration of the measured value sequence, r) storing a signal shape or signal curve contour obtained by the measured value sequence obtained during the ascent - possibly after the preliminary evaluation - as a reference for the presence of an obstacle, 20

s) comparing a signal shape or signal curve contour obtained in the same manner in the intended operation in any measurement point with the one stored as a reference, and t) recognizing an obstacle or an end stop if the comparison yields an identical or with the same characteristic properties or signal curve contour ,

6. The method according to any one of claims 1 to 5, geken nzei ch net du rch determining the measuring points (A, B, C, D, E) as equidistant with a predetermined distance between successive measuring locations on the movement path of the conclusion or as equidistant with a predetermined Interval of successive measurement times.

7. The method according to any one of claims 1 to 6, characterized in that in step a) the operating current (Y (s, t) v (s)) is the motor current of an electric motor of the drive device, the speed of the electric motor, the speed (v (s)) of the drive movement, the acceleration of the drive movement, the supply voltage of a soft energy supply of the electric motor and / or the temperature of the electric motor are measured.

8. The method as claimed in one of claims 1 to 7, comparing, in operation as intended, with each newly recorded measured value, the operating parameter curve obtained together with the last measured i measured values, where i is a natural number less than n with the first i + 1 measured values of the calculated or stored characteristic operating parameter course to be expected, calculated or stored for the operating state of interest, and w) determining the operating state with a matching course of these i + 1 measured values, even before a complete characteristic measured value sequence formed by n + 1 measured values has been included.

9. The method according to claim 8, characterized in that step v) for each newly recorded measured value starting with a minimum value for the number i of which is predetermined to distinguish characteristic courses the previously measured values used for comparison are repeated, increasing this number i, preferably by one, until the characteristic operating state has been established or this number i has reached the number n of the previously measured values recorded as a measured value history.

10. The method according to any one of claims 1 to 9, characterized by the fact that each previously carried out trip of the conclusion in which an operating state of interest - such as e.g. proper obstacle-free journey - occurred when a reference journey is used for subsequent journeys, the reference courses or reference function values obtained in this way preferably being offset against previously stored ones.

11. The method according to any one of claims 1 to 10, ge ke n nze i ch net d u rch by simultaneously using several operating parameters (Y (s, t) v (s)).

12. The method according to any one of claims 1 to 11, for recognizing an exact start of a journey against an end stop, with recognizing an end stop, if the operating parameter is one for recognizing a

Limit value (V _min ) exceeds or falls below the stop,

Examine the measured value history for the exceeding or falling below the

Measuring point (E) and threshold indicating

Recognize a first touch of the end stop by determining the previous measuring point (A) in which a progressing and ever faster

Approximation of the operating parameter to the threshold has started.

13. Drive device, suitable for carrying out the method according to one of claims 1 to 9, in particular door drive such as garage door or industrial door drive, with a measuring device for measuring the operating parameter (Y (s, t) v (s)) in the particular, in particular temporally (t) or route (s) equidistant (distance X),

Measuring points (A, B, C, D, E), a control unit for controlling the method steps and a shift register, in which the previously measured n measured values are recorded.