Classifications

• • E—FIXED CONSTRUCTIONS
  • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
  • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
  • E05F15/00—Power-operated mechanisms for wings
  • E05F15/70—Power-operated mechanisms for wings with automatic actuation
• • E—FIXED CONSTRUCTIONS
  • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
  • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
  • E05Y2900/00—Application of doors, windows, wings or fittings thereof
  • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
  • E05Y2900/106—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for garages

Definitions

• 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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
• 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.
• 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
• 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.
• step c the analysis of the measured value history mentioned in step c) is already possible on the basis of theoretical expectations or calculations.
• 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
• 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.
• a signal form or signal contour to be expected calculated or stored in step d) as a reference.
• H the physical parameters 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.
• 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
• 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.
• 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.
• 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.
• 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
• 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
• 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.
• 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.
• 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.
• 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.
• the steps are proposed as a method for recognizing an exact start of a journey against the end stop:
• 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.
• 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
• FIG. 3 shows a view of a detail from FIG. 2.
• 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 -.
• 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 ,
• 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.
• n + 1 values which, for. B. could say that after three consecutive increases, a constant value must occur.
• 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.
• this method is used to determine an obstacle.
• 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.
• 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.
• 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.
• 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”.
• 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.
• 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”.
• 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.
• 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.
• 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”.
• 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.
• 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”.
• the internal counter 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”.
• 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.
• 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.
• 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.
• FIG. 3 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
• the end position can be corrected during the “reference run up”.

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Citations (3)

• 2000
  • 2000-08-11 WO PCT/DE2000/002722 patent/WO2001018624A1/de active IP Right Grant
  • 2000-08-11 EP EP00965748A patent/EP1212666B1/de not_active Expired - Lifetime

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