Opening / closing device and opening / closing control method

Abstract

To suppress contact damage to an obstacle and contact damage to a shutter due to load sensing when a load sensing type obstacle detection system is mounted.SOLUTION: The present device is configured such that if a shutter curtain 12 stops upon detection of a contact with an obstacle by an obstacle detection unit 21, the shutter curtain is made to memorize the stopping position and stop once at the memorized stopping position or just before it at the next closing operation. This prevents the shutter curtain 12 from coming into contact with the obstacle when the shutter curtain is operated again without moving the obstacle. When a closing signal is input again after the shutter curtain stops at or just before the stop position, if the obstacle has been moved, the closing operation continues as it is, and if the obstacle has not been moved, the obstacle is sensed again and the shutter curtain rises back up and stops at a specified position.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to an opening / closing body device and an opening / closing system control method configured to partition an opening such as an opening of a structure body including buildings such as buildings, factories, and warehouses using an opening / closing body such as a shutter, and particularly relates to an opening / closing body device and an opening / closing system control method that sense an obstacle by a load sensing method.

Background Art

[0002] An opening / closing body device such as a shutter curtain is installed in an opening of a structure body including buildings such as houses, buildings, factories, warehouses, garages, etc., a window, or an opening such as an internal passage or space, and the opening is opened or closed by moving the opening / closing body. This opening / closing body device is configured to close the entire opening by feeding out and lowering an opening / closing body such as a slat curtain composed of a large number of strip-shaped slat materials, a pipe grille curtain formed by connecting a large number of pipe materials with a linking material or the like, a panel curtain composed of a single or a large number of connected panel materials, a net curtain composed of a net material, a sheet curtain composed of a synthetic resin or a cloth fiber sheet material, or a composite curtain composed of these composite members from the upper part of the opening. Such an opening / closing body device often performs the opening / closing operation of the opening / closing body electrically. Examples of the electric opening / closing body device include an electric shutter device, an electric door device, and an electric awning device.

[0003] Among such electric opening / closing body devices, there are a shutter installed mainly for crime prevention at an outer wall opening of a building called a lightweight shutter device, and a heavyweight shutter device used for management, fire prevention, and smoke prevention purposes of buildings, factories, warehouses, etc. The lightweight shutter device has a plate thickness of the iron slat (curtain part) of 1.0 [mm] or less and can be manually opened and closed by balancing the upper and lower parts with a spring. On the other hand, the heavyweight shutter device is composed of a combination of a slat (curtain) with a plate thickness of 1.2 [mm] or more and a pipe (grille shutter), and is mainly controlled to be opened and closed electrically.

[0004] The heavy-duty shutter mechanism is equipped with an obstacle detection device consisting of a wireless signaling device and a bottom plate switch. The obstacle detection device works by detecting an obstacle when the bottom plate comes into contact with an obstacle during shutter descent. A transmitter attached to the bottom plate transmits a signal, which is received by a light receiver, thereby stopping the descending shutter. Some obstacle detection devices also use a wired system to transmit the on / off status of the bottom plate switch instead of a wireless signaling device.

[0005] Furthermore, some obstacle detection devices utilize photoelectric sensors. These sensors prevent the shutter from moving when the push-button switch is pressed if there is an obstacle in the optical path while the shutter is stopped. They also detect the entry or exit of people or vehicles while the shutter is rising or falling and stop the shutter accordingly.

[0006] Patent Document 1 describes, in the section on prior art, an obstacle detection device that senses the load applied to the shutter opener, including a method that senses the current value of the opener, and a method that uses a tachogenerator or encoder to detect the amount of rotation, and causes the shutter to move in a safe direction, i.e., to stop or reverse upward, when this amount of rotation decreases. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2004-300916 [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] The conventional load-sensing obstacle detection device described in Patent Document 1 is used in lightweight shutter devices with relatively small load sensing forces, such as lightweight shutter devices. However, it is necessary to detect a predetermined load sensing force when it comes into contact with an obstacle, and if the shutter is operated again without moving (removing) the obstacle after load detection, it will repeatedly come into contact with the obstacle at the same position and detect the load, which is undesirable as it may cause damage to the obstacle and the shutter itself.

[0009] The present invention has been made in view of the above points, and aims to provide an opening / closing device and an opening / closing device control method that can suppress contact damage to obstacles and contact damage to shutters caused by load sensing when a load-sensing type obstacle detection device is installed. [Means for solving the problem]

[0010] The first feature of the opening / closing device of the present invention is an opening / closing device comprising: an opening / closing means that operates to open and close an opening; a control means that controls each opening / closing and stopping operation of the opening / closing means while adjusting the motor voltage in response to the input of each opening / closing and stopping signal; and an obstacle sensing means that senses when an obstacle has come into contact with the opening / closing means based on a change in motor current during the closing operation of the opening / closing means, wherein the control means, when it senses that an obstacle has come into contact with the opening / closing means by the obstacle sensing means, stops the opening / closing means, stores its stopping position, reverses and raises the opening / closing means to stop at a predetermined position, and thereafter controls the opening / closing means to stop once at or just before the stopping position during the closing operation when a closing signal is input. This system works by detecting when an obstacle has come into contact with the opening / closing mechanism, stopping it at that position, and then, the next time the shutter is closed, it will stop at that stored position or just before it. This helps to prevent damage caused by the opening / closing mechanism coming into contact with the obstacle if the shutter is operated again without moving the obstacle.

[0011] A second feature of the opening / closing device of the present invention is that, in the opening / closing device described in the first feature, the control means executes a closing operation of the opening / closing means if a closing signal is input again after the control means has stopped once at or just before the stopping position, and if the obstacle sensing means does not detect that an obstacle has come into contact with it, it resets the stored stopping position, and if the obstacle sensing means detects that an obstacle has come into contact with it again, it reverses and raises the opening / closing means and stops it at a predetermined position. This design ensures that if a closing signal is received again after the opening / closing mechanism has stopped at or just before the stopping position, the closing operation will continue if the obstacle has moved, and if the obstacle has not moved, the opening / closing mechanism will reverse upwards and stop at the predetermined position upon detection of the obstacle again. Since the opening / closing mechanism stops at or just before the stopping position and starts the closing operation from there, damage in the event of contact with an obstacle can be minimized.

[0012] The first feature of the opening / closing body control method of the present invention is an opening / closing body control method for an opening / closing body device comprising: an opening / closing means that operates to open and close an opening; a control means that controls each opening / closing and stopping operation of the opening / closing means while adjusting the motor voltage in response to the input of each opening / closing and stopping signal; and an obstacle sensing means that senses when an obstacle has come into contact with the opening / closing means based on a change in motor current during the closing operation of the opening / closing means, wherein when the obstacle sensing means senses that an obstacle has come into contact, the opening / closing means is stopped, its stopping position is stored, the opening / closing means is reversed and raised and stopped at a predetermined position, and thereafter, when a closing signal is input, the opening / closing means stops once at or just before the stopping position during the closing operation. This invention relates to an opening / closing mechanism control method corresponding to the opening / closing mechanism described in the first feature above.

[0013] A second feature of the opening / closing body control method of the present invention is that, in the opening / closing body control method described in the first feature, if a closing signal is input again after the opening / closing means has stopped once at or just before the stopping position, the closing operation of the opening / closing means is executed; if the obstacle sensing means does not detect that an obstacle has come into contact with it, the stored stopping position is reset; and if the obstacle sensing means detects that an obstacle has come into contact with it again, the opening / closing means is reversed and raised and stopped at a predetermined position. This invention relates to an opening / closing mechanism control method corresponding to the opening / closing mechanism described in the second feature above. [Effects of the Invention]

[0014] According to the present invention, when a load-sensing type obstacle detection device is installed, it is possible to suppress damage to obstacles and damage to shutters caused by load sensing. [Brief explanation of the drawing]

[0015] [Figure 1] This figure shows a schematic configuration of the shutter device according to the present invention. [Figure 2] This diagram shows the schematic configuration of the control device for the opening / closing mechanism according to the embodiment. [Figure 3] This figure shows an example of an obstacle detection unit using a motor load sensing method, which detects obstacles based on changes in motor current value (torque) during shutter descent operation (vector control). [Figure 4] This figure shows a modified example of an obstacle detection unit in a motor load sensing method that detects obstacles based on the waveform of the motor current value (torque) shown in Figure 3. [Figure 5] This flowchart shows an example of the process that takes place when an obstacle is detected during descent using the obstacle detection method shown in Figure 3. [Modes for carrying out the invention]

[0016] A preferred embodiment of the opening / closing body device according to the present invention will be described with reference to the accompanying drawings. In this embodiment, a shutter device that opens and closes vertically will be described as an example of the opening / closing means. FIG. 1 is a diagram showing a schematic configuration of the shutter device according to the present invention. In FIG. 1, the opening / closing body device 10 is a shutter device that opens and closes by moving the opening of the entrance / exit in the vertical direction.

[0017] The opening / closing body device 10 is provided at the opening of a building and basically includes a shutter case 11, a shutter curtain 12, guide rails 13, 14, a winding shaft 15, a three-phase AC motor 17, a control device 18, an operation switch 19, a limit switch 20, and the like. This opening / closing body device 10 is normally configured to drive the three-phase AC motor 17, which is an opening / closing machine, according to the operation of the operation switch 19 for opening / closing control. Further, in this opening / closing body device 10, the shutter curtain 12 is held in an open state in which it is wound around the winding shaft 15 by a mechanical holding mechanism (not shown). When an emergency signal BS indicating the occurrence of a fire or the like is input from the outside to the control device 18 in this open state, the holding of the open state by the holding mechanism is released, and the shutter curtain 12 may have a function of automatically closing the opening by naturally descending due to its own weight.

[0018] The guide rails 13, 14 are provided on both end sides of the opening of the building so as to contact both ends of the shutter curtain 12, and are made of a metal member having a U-shaped guide groove extending from the eaves portion to the floor surface or a member equivalent thereto. The shutter curtain 12 moves up and down along the respective guide grooves of the guide rails 13, 14 to perform the opening / closing operation of the opening.

[0019] The winding shaft 15 is rotatably provided on both end sides of the shutter case 11 to wind up and unwind the shutter curtain 12. A brake 16 and a three-phase AC motor 17 that constitute the opening and closing mechanism are respectively provided on the winding shaft 15. The three-phase AC motor 17 is a three-phase AC motor configured to rotationally drive the winding shaft 15 in a direct drive (gearless) manner. The control device 18 controls the operations of the brake 16 and the three-phase AC motor 17, and is provided within the housing case of either the brake 16 or the three-phase AC motor 17.

[0020] A position detection device (not shown) for detecting the rotational position of the three-phase AC motor 17, that is, the opening and closing position and the opening and closing state of the shutter curtain 12, is provided. This position detection device is composed of a pulse generation type rotary encoder or the like. Since a pulse signal corresponding to the rotation of the three-phase AC motor 17 is output to the control device 18, the rotational position of the three-phase AC motor 17 and the position at the opening of the leading end on the closing side of the shutter curtain 12, etc., are obtained by the control device 18 through calculation based on the generation situation of this pulse.

[0021] The control device 18 has a microcomputer configuration, and electric power of three-phase AC voltage 200 [V] is supplied from the power line to the three-phase AC motor 17. The control device 18 controls the rotation of the three-phase AC motor 17 based on control signals corresponding to the operation states of the respective operation switches on the operation switch 19, signals from the position detection device provided on the three-phase AC motor 17, signals from the protector, and the like.

[0022] The operation switch 19 has an up (open) button 19A, a stop (stop) button 19B, and a down (close) button 19C as control switches corresponding to the respective operations of opening, closing, and stopping, and outputs control signals corresponding to the operation states of these respective buttons to the control device 18.

[0023] Figure 2 is a diagram showing the schematic configuration of the control device of the opening and closing body device according to the embodiment. The control device 18 is configured with a microcomputer. Although not shown, the control device 18 includes a motor drive circuit for driving and controlling the three-phase AC motor 17, an LED and a buzzer for notifying the operator of an abnormality, and the like.

[0024] The control device 18 controls the rotation of the three-phase AC motor 17 by outputting a motor operation command signal to the three-phase AC motor 17 and a brake operation command signal to the brake 16, based on control signals corresponding to the operation status of each operation button on the operation switch 19 and contact signals from the upper limit switch 20A and the lower limit switch 20B that constitute the switchgear. A thermal protector (not shown), which is one of the overheat protection devices, is connected to the three-phase AC motor 17. The motor operation command signal is a vector control signal that divides the motor current supplied to the three-phase AC motor 17 into a torque current and an excitation current, and controls the motor voltage while adjusting it so that the excitation current remains constant.

[0025] The operation switch 19 includes an open button 19A, a stop button 19B, and a close button 19C, which function as control switches corresponding to the opening, closing, and stopping operations. The operation switch 19 outputs control signals to the control device 18 according to the operating state of each button. In the embodiment shown in Figure 2, the open button 19A and the close button 19C are configured as normally open (a) contacts with manual operation and automatic return, and are normally in the off state. The stop button 19B is configured as a normally closed (b) contact of a manually operated residual switch, and is normally in the on state.

[0026] The upper limit switch 20A and the lower limit switch 20B maintain an on / off state according to the rotation position of the three-phase AC motor 17. When the shutter curtain 12 reaches the upper or lower limit position, the contacts of the upper limit switch 20A or the lower limit switch 20B open, notifying the control device 18 that the shutter curtain 12 has reached this upper or lower limit position. When the shutter curtain 12 reaches the upper or lower limit position, the control device 18 stops the shutter curtain 12 at the upper or lower limit position.

[0027] Figure 3 shows an example of an obstacle detection unit using a motor load sensing method that detects obstacles based on changes in the motor current value (torque) during the shutter's descent operation (vector control). The obstacle detection unit 21 detects the motor load, i.e., the motor current value (torque), during vector control, and detects when an obstacle has come into contact with the leading edge of the shutter curtain 12 based on changes in that motor current value.

[0028] In Figure 3, the vertical axis represents the motor operation command signal output by the control device 18 to the three-phase AC motor 17, i.e., the motor current value (torque) during vector control, and the horizontal axis represents the passage of time during vector control. When the shutter curtain 12 is lowered, the motor current value (torque) shows a waveform w1 that gradually increases along an upward-sloping curve while pulsating at regular intervals, as shown in Figure 3. The pulsation of the motor current value (torque) waveform w1 is due to the shape of the slats when the shutter curtain 12, which was wound on the winding shaft 15, is unwound. Furthermore, the gradual increase in the motor current value (torque) waveform w1 is due to the gradual increase in the weight of the slats on the winding shaft 15 as the shutter curtain 12 is unwound.

[0029] As shown in Figure 3, the obstacle detection unit 21 detects the change amounts Δi1 and Δi2 during the time t0 from one peak value to the next of the pulsating waveform w1, and when the change amounts Δi1 and Δi2 exceed the normal rate of change (which is called the threshold Δith), the obstacle detection unit 21 detects that an obstacle has come into contact with the shutter curtain 12. Furthermore, since the time t1 and t2 to the bottom value are approximately the same during the time t0 from one peak value to the next of the pulsating waveform w1, the obstacle detection unit 21 detects that an obstacle has come into contact with the shutter curtain 12 if the bottom value is not reached even after time t1 and t2 have elapsed. In other words, as shown in Figure 3, the obstacle detection unit 21 constantly detects the change amount Δi of the motor current value (torque) during vector control, which is the motor operation command signal output by the control device 18 to the three-phase AC motor 17. If the change amount Δi exceeds the normal rate of change Δith (threshold), or if it does not reach the bottom value even after predetermined times t1 and t2 have elapsed, the unit determines that an obstacle has come into contact with the shutter curtain 12.

[0030] In Figure 3, the motor current value (torque) decreases by a change of Δi1 from the peak value through time t1, but this is within the range of normal torque fluctuations, and in this case, it is not determined that contact has occurred with an obstacle. During the next time t2, the motor current value (torque) also decreases by a change of Δi2, but this is also within the range of normal torque fluctuations, and it is not determined that contact has occurred with an obstacle. On the other hand, at time t3a, the motor current value (torque) shows a change of Δith or more, which is the threshold, so it is determined that an obstacle has come into contact with the shutter curtain 12 at this point t3a.

[0031] On the other hand, even after the same time t3b has elapsed as time t1 and t2, the motor current value (torque) of waveform w1 continues to decrease, so it is determined that an obstacle has come into contact with the shutter curtain 12 at this point t3b. That is, when an obstacle comes into contact with the leading edge of the shutter curtain 12, the movement of the shutter curtain 12 stops. The slats of the heavy shutter device have very high rigidity, so the contact force is transmitted to the three-phase AC motor 17 side via the winding shaft 15 side at the moment of contact, so the motor current value (torque) will show a decrease of Δith or more at time t3b and will continue to decrease even after time t3b has elapsed. As a result, it is possible to sense that the leading edge of the shutter curtain 12 has come into contact with an obstacle based on the change in the motor current value (torque).

[0032] Figure 4 shows a modified example of the obstacle detection unit of a motor load sensing method that detects obstacles using the waveform of the motor current value (torque) shown in Figure 3. The motor current value (torque) during vector control changes as shown by waveform w1 in Figure 3. In the obstacle detection method of Figure 4, the opening and closing operation of the shutter curtain 12 is repeatedly performed, multiple waveforms that change as shown in Figure 3 are sampled, and the average value of the sampled waveforms is calculated to generate an average waveform w2 as shown in Figure 4. Threshold waveforms w3 and w4 are generated by multiplying this average waveform w2 by ±1.1 to ±1.3. That is, these threshold waveforms w3 and w4 are waveforms with a predetermined width of Δi0. The numerical value multiplied by the average waveform w2 may be the same value α, such as ±α, or it may be different values ​​α and β, such as +α and -β.

[0033] If waveform w1 in Figure 4 changes within the range of threshold waveforms w3 and w4, it is determined that the operation is normal. On the other hand, if waveform w1 comes into contact with an obstacle, at time T0, waveform w1 will extend beyond the predetermined width of threshold waveforms w3 and w4 and protrude below threshold waveform w3. At this time T0, it is determined that an obstacle has come into contact with the shutter curtain 12. Note that the average waveform w2 depends on the size (height, width) of the opening, the shape and weight of the shutter curtain 12, etc., and will differ for each opening and closing device. Therefore, it is important to repeatedly perform the opening and closing operation of the shutter curtain 12 and learn and acquire the waveform unique to the opening and closing device. The average waveform w2 is obtained by averaging the waveforms during multiple opening and closing operations (for example, 10 to 100 times) after the shutter is installed, and thereafter, threshold waveforms w3 and w4 are generated based on this average waveform w2. Even if the device is functioning normally, if, after many years of use, the waveform w1 extends beyond the predetermined width of the threshold waveforms w3 and w4, it may be determined that this is due to deterioration over time, and a display or announcement prompting maintenance may be provided.

[0034] Figure 5 is a flowchart illustrating an example of the process that takes place when an obstacle is detected during descent using the obstacle detection method shown in Figure 3. In step S50, it is determined whether an obstacle has been detected (load detection ON) by the load detection method shown in Figure 3 and / or Figure 4 while the shutter curtain 12 is descending. If an obstacle has been detected (yes), the process proceeds to the next step S52; otherwise, the process proceeds to step S51. In step S51, since no obstacle is detected during shutter descent, the descent of the shutter curtain 12 is permitted, and the process returns to step S50, continuing the descent operation at the normal speed.

[0035] In step S52, since an obstacle has come into contact with the shutter curtain 12 due to load detection, the descending shutter curtain 12 is immediately stopped and reversed upward. At this time, the position information of the shutter curtain 12 when it stopped due to load detection, that is, the position information based on the signal from the position detection device provided on the three-phase AC motor 17, is stored (learned). The height to which the shutter curtain 12 is reversed upward may be raised to fully open the shutter curtain 12, or it may be raised by a predetermined height (30 to 100 cm) from the height at which the obstacle was detected.

[0036] In step S53, since the shutter curtain 12 has reversed upward and stopped due to the processing in step S52, it is determined whether the close button 19C has been operated in this state, that is, whether the shutter close signal has been turned ON (yes). If it is ON (yes), proceed to the next step S54; otherwise, proceed to step S56.

[0037] In step S54, since the close button 19C was operated, the shutter curtain begins to descend at the normal speed and pauses at or just before the load sensing position memorized (learned) in step S52. Preferably, it stops slightly above the load sensing position, just before it. This prevents the shutter curtain 12 from coming into contact with an obstacle, thus minimizing damage caused by contact.

[0038] In step S55, since the system is temporarily paused at the load sensing position or the position immediately preceding it, it is determined whether the close button 19C has been operated again in this state, that is, whether the shutter close signal has been turned ON (yes). If it is ON (yes), the system proceeds to the next step S57; otherwise, it proceeds to step S56. In step S56, since the close button 19C has not been operated again, the shutter curtain 12 remains in the stopped state.

[0039] In step S57, the shutter curtain 12, which is stopped at the load sensing position, is lowered again. In step S58, it is determined whether an obstacle has been detected by the load sensing method shown in Figure 3 and / or Figure 4 while the shutter curtain 12 is descending again. If an obstacle has been detected (yes), the process returns to step S52; otherwise, the process proceeds to step S59. If an obstacle has been detected while descending again, it means that the obstacle has not moved, so the shutter curtain 12 is reversed and raised to a predetermined position and stopped. In step S59, since no obstacle was detected by the load sensing method, the load sensing position learned in step S52 is reset, the shutter continues to descend, and the process returns to step S50.

[0040] In the above-described embodiment, an obstacle detection device that detects obstacles based on abnormal changes in motor current value (torque) was explained as an example. However, a photoelectric sensor or the like may be separately provided in conjunction with a load-sensing type obstacle detection device to detect people or objects (automobiles). Alternatively, an obstacle detection device that detects obstacles based on the movement of a conventional seat plate switch may be provided.

[0041] In the above-described embodiment, a shutter curtain that extends in an up-and-down manner was used as an example, but the same method can be applied to shutter-like opening and closing members that extend in a horizontal sliding manner or horizontally. Furthermore, the method can be applied to opening and closing devices such as shutter devices, window shutter devices, blind devices, roller screen devices, curtain devices, sliding door devices, movable partition devices, awning devices, waterproof panel devices, etc. [Explanation of Symbols]

[0042] 10…Opening / closing mechanism 11… Shutter case 12... Shutter curtains 13, 14… Guide rails 15…winding shaft 16…Brakes 17…Three-phase AC motor 18...Control device 19…Operation switch 19A... Open button 19B... Stop button 19C... Close button 20... Limit switch 21... Obstacle detection unit

Claims

1. An opening / closing mechanism that operates to open and close an opening, A control means that controls the opening and closing operations of the opening and closing means while adjusting the motor voltage in response to the input signals for opening and closing and stopping, An opening / closing device comprising an obstacle sensing means that senses when an obstacle comes into contact with the opening / closing means based on a change in motor current during the closing operation of the opening / closing means, When the control means detects contact with an obstacle by the obstacle detection means, it stops the opening / closing means, stores its stopping position, reverses and raises the opening / closing means to stop at a predetermined position, and then, when a closing signal is input, controls the opening / closing means to stop once at or just before the stopping position during its closing operation. An opening / closing device characterized in that, if a closing signal is input again after the device has stopped once at or just before the aforementioned stopping position, the closing operation of the opening / closing means is executed; if the obstacle detection means does not detect that an obstacle has come into contact with the device, the stored stopping position is reset; and if the obstacle detection means detects that an obstacle has come into contact with the device again, the opening / closing means is controlled to reverse upward and stop at a predetermined position.

2. An opening / closing mechanism that operates to open and close an opening, A control means that controls the opening and closing operations of the opening and closing means while adjusting the motor voltage in response to the input signals for opening and closing and stopping, A method for controlling an opening / closing body of an opening / closing device, comprising an obstacle detection means that detects when an obstacle comes into contact with the opening / closing means based on a change in motor current during the closing operation of the opening / closing means, If the obstacle detection means detects that an obstacle has come into contact with it, the opening / closing means is stopped, its stopping position is memorized, and the opening / closing means is reversed and raised to stop at a predetermined position. Subsequently, when a closing signal is input, the opening / closing means stops once at or just before the stopping position during its closing operation. A method for controlling an opening / closing body, characterized in that, if a closing signal is input again after the body has stopped once at or just before the aforementioned stopping position, the closing operation of the opening / closing means is performed; if the obstacle detection means does not detect that an obstacle has come into contact with the body, the stored stopping position is reset; and if the obstacle detection means detects that an obstacle has come into contact with the body again, the opening / closing means is reversed and raised to stop at a predetermined position.

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