Electric opening and closing device control device, electric opening and closing system, program

Abstract

To provide a technique for detecting occurrence of an abnormality in an electric shutter.SOLUTION: A second detection unit 424 detects the load on a shutter curtain according to the rotation angle of a winding shaft during the rotation of the winding shaft by a motor 86. A storage unit 454 stores, as a reference value, the load on the shutter curtain according to the rotation angle of the winding shaft at a predetermined timing. A third detection unit 428 compares the reference values stored in the storage unit 454 and outputs the comparison result with respect to the first load detected by the second detection unit 424 when the shutter curtain is extended and the second load detected by the second detection unit 424 when the shutter curtain is wound.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to an opening / closing body technology, and relates to an electric opening / closing body control device, an electric opening / closing system, and a program for electrically opening and closing an electric opening / closing body. [Background technology]

[0002] An electric shutter device needs a mechanism to prevent people from being caught in the shutter by mistake. In other words, if the operation of the shutter curtain is hindered by an obstacle, the motor may become overloaded, so a device is required to detect an overloaded state in which the motor is overloaded. For example, the position information of the shutter curtain and current information related to the load state of the motor are stored in association with each other, and an overloaded state is detected when the current value measured during operation deviates from the current information corresponding to the position information at that time (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-307471 A Summary of the Invention [Problem to be solved by the invention]

[0004] When an overload is detected in the motor, the motor is stopped by cutting off the supply of current to the motor, and the lowering of the shutter curtain is also stopped. On the other hand, even if there is an abnormality such as distortion in the guide rail that guides the shutter curtain when it moves, an overload of the motor is detected by the increase in contact friction between the shutter curtain and the guide rail. However, while an overload occurs temporarily when a person or the like is trapped, the overload continues when an abnormality exists, and the motor is prone to deterioration when an abnormality exists.

[0005] The present disclosure has been made in consideration of these circumstances, and has a purpose to provide a technique for detecting the occurrence of an abnormality in an electric shutter. [Means for solving the problem]

[0007] In order to solve the above problems, an electric opening / closing body control device according to an embodiment of the present disclosure includes: The device includes an electric unit that outputs rotational power to a winding shaft capable of winding up the shutter curtain, a detection unit that detects a load on the shutter curtain according to the rotation angle of the winding shaft during the rotation of the winding shaft by the electric unit, a memory unit that stores the load on the shutter curtain according to the rotation angle of the winding shaft as a reference value at a predetermined timing, and an output unit that outputs a comparison result between the load detected by the detection unit and the reference value stored in the memory unit. The output unit outputs information to notify the occurrence of entrapment when the difference between the load and the reference value exceeds a first range, and outputs information to notify the installation state of the shutter curtain is abnormal or the installation state has changed when the difference between the load and the reference value is within the first range and exceeds a second range, the second range being narrower than the first range.

[0008] Any combination of the above components, or conversion of the present disclosure into a method, device, system, computer program, or recording medium having a computer program recorded thereon, is also valid as an aspect of the present disclosure. Effect of the Invention

[0009] According to the present disclosure, the occurrence of an abnormality in an electric shutter can be detected. [Brief description of the drawings]

[0010] [Figure 1] 1(a)-(b) are diagrams showing the structure of a shutter system according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing the internal structure of the shutter system in FIGS. [Diagram 3] FIG. 2 is a block diagram showing the configuration of the shutter system of FIGS. [Figure 4] 4(a)-(h) are diagrams showing frame distortion in the shutter system of FIGS. 1(a)-(b). [Diagram 5] FIG. 4 is a diagram showing an outline of the operation of the motorized unit in FIG. 3 when pinching occurs in the shutter system in FIGS. [Figure 6] 4 is a diagram showing an overview of two-axis conversion performed in the second detection unit in FIG. 3. [Figure 7] 7(a) and (b) are diagrams illustrating an outline of the operation of the motorization unit of FIG. [Figure 8] 4 is a diagram showing a detection process in a third detection unit in FIG. 3. [Figure 9] 9(a)-(c) are diagrams showing screens displayed on the mobile terminal device of FIG. [Figure 10] 4 is a flowchart showing a detection procedure performed by the motorized unit of FIG. 3. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Before specifically describing the embodiment of the present disclosure, an overview of the embodiment will be described. The embodiment relates to a shutter system installed at an opening of a facility such as a house. The shutter system is an electric shutter, and the electric shutter automates the shutter operation. In general, when a user presses the "close" button once while the shutter curtain is open, the electric shutter continues to close until the slats of the shutter curtain reach the bottom. Since the opening and closing operation of the electric shutter is affected by the installation state of the shutter, it is confirmed whether the standard value is met at the time of installation. If an abnormality occurs that exceeds the standard value, the gap between the guide rail and the slat disappears and the contact friction increases. This can cause the operating speed to become unstable or the load on the motor to increase excessively, shortening the product life of the electric shutter. Until now, dimensions have been measured using a tape measure or the like to confirm whether the installation state of the electric shutter meets the standard value.

[0012] However, an electric shutter has a height of 3m and a width of 2m, for example, so it is difficult to measure the dimensions of the installation state. Furthermore, abnormalities in the installation state do not only occur during construction, but also due to deformation over time of the structure on which the shutter is installed. Therefore, there is a demand for simplifying the measurement of the installation state of an electric shutter. There is also a demand for the installation state to be detected at times other than during construction.

[0013] The electric shutter according to this embodiment utilizes the fact that the load current of the motor increases as the frictional force increases when the electric shutter is actually operated, and checks the installation state of the electric shutter by measuring the load current acting on the motor. The load current of the motor is measured by extracting the torque-correlated current.

[0014] Figures 1(a)-(b) show the structure of a shutter system 1000. Figure 1(a) shows the configuration when the facility is viewed from outdoors, and Figure 1(b) shows the configuration when the facility is viewed from indoors. The shutter system 1000 includes a guide rail 20, a shutter curtain 30, a shutter case 40, a communication line 200, and a controller 300, and the shutter curtain 30 includes slats 32. Here, the guide rail 20, the shutter curtain 30, and the shutter case 40 are included in the shutter.

[0015] As shown in FIG. 1(a), a shutter, which is an opening / closing body, is installed in an opening 10 formed in an exterior wall that separates the inside and outside of a facility such as a house or a building. The opening 10 is a space that communicates the inside and outside of the facility. The two guide rails 20 have a shape that extends in the vertical direction, and are fixed to a frame material such as a sash installed in the opening 10 and the exterior wall, spaced apart from each other on both left and right sides of the opening 10. Each guide rail 20 is a hollow member having an internal structure with a substantially U-shaped cross section, and the two guide rails 20 are fixed so that their U-shaped openings face each other.

[0016] The shutter curtain 30 moves up and down along the longitudinal direction of the guide rail 20 to open and close the opening 10. Specifically, both left and right ends of the shutter curtain 30 are inserted into the guide rail 20, so that both left and right ends of the shutter curtain 30 can be moved up and down by the guide rail 20. The shutter curtain 30 is composed of a combination of a plurality of slats 32. Each slat 32 is a plate-shaped member extending along the left and right direction of the opening 10, and is made of, for example, steel, stainless steel, aluminum, or the like. Each slat 32 has a curled portion (not shown) at the upper end and the lower end, and of two adjacent slats 32, the curled portion at the lower end of the upper slat 32 and the curled portion at the upper end of the lower slat 32 are rotatably connected.

[0017] The shutter case 40 is a container with a generally rectangular vertical cross section that is provided above the opening 10 and the guide rail 20. The shutter case 40 has a storage space inside, and the storage space is connected to the outside via a through hole provided on the underside of the shutter case 40. A winding mechanism is provided in the storage space for winding up or unwinding the shutter curtain 30 via the through hole. Here, "winding up" means that the shutter curtain 30 rises along the guide rail 20 to open the opening 10, and "unwinding" means that the shutter curtain 30 falls along the guide rail 20 to close the opening 10.

[0018] As shown in Fig. 1(b), a sash 12 is attached so as to surround the opening 10. A communication line 200 connected to the shutter case 40 in Fig. 1(a) is buried inside the sash 12 and extends to the interior of the building. A controller 300 is installed on a wall surface of the building, and the communication line 200 is connected to the controller 300. In this way, the communication line 200 connects the motorized unit 100 installed outdoors and the controller 300 installed indoors.

[0019] 2 shows the internal structure of the shutter system 1000. The shutter system 1000 includes a shutter curtain 30, a shutter case 40, and a winding shaft 60. The shutter curtain 30 includes a slat 32 and a screw 34, and the shutter case 40 includes a first bracket 42a and a second bracket 42b, which are collectively referred to as brackets 42, and a first support shaft 44a and a second support shaft 44b, which are collectively referred to as support shafts 44. The winding shaft 60 includes a first rotating frame 62a and a second rotating frame 62b, which are collectively referred to as rotating frames 62, a driven wheel 64, a winding spring 66, a fixing part 72, and an electric motor unit 80, and the electric motor unit 80 includes a main body 82 and a driving wheel 84, and the main body 82 includes a motor 86, a control unit 88, a reducer 90, and a communication line 200. The electric motor unit 80 is also called an electric opening / closing body control device.

[0020] Here, the shutter case 40 is shown transparently to show the internal structure of the shutter case 40. A winding shaft 60, which is a cylindrical support extending in the left-right direction of the guide rail 20 in Fig. 1(a), is disposed in the shutter case 40. A plurality of fixing parts 72 are provided on the winding shaft 60, and the shutter curtain 30 is fixed to the plurality of fixing parts 72 using a plurality of screws 34. Therefore, it can be said that the winding shaft 60 is a shaft capable of winding up the shutter curtain 30.

[0021] At the left and right ends of the storage space of the shutter case 40, a first bracket 42a and a second bracket 42b, collectively referred to as bracket 42, are provided to sandwich the winding shaft 60 from the left and right. Specifically, the first bracket 42a is disposed on the left side of the winding shaft 60, and the second bracket 42b is disposed on the right side of the winding shaft 60. The first bracket 42a is a support part that rotatably supports the left end of the winding shaft 60, and the second bracket 42b is a support part that rotatably supports the right end of the winding shaft 60. When the left end of the winding shaft 60 is referred to as the "first end", the right end of the winding shaft 60 is referred to as the "second end".

[0022] A first support shaft 44a protruding toward the right side is provided on the right side surface of the first bracket 42a. The first support shaft 44a has a cylindrical shape, and a first rotating frame 62a is fitted to the side surface of the first support shaft 44a. The first rotating frame 62a is disposed at the left end portion of the winding shaft 60 and has a shape surrounding the side surface of the first support shaft 44a. With this structure, the first rotating frame 62a rotates around the first support shaft 44a fixed to the first bracket 42a. A second support shaft 44b protruding toward the left side is provided on the left side surface of the second bracket 42b. The second support shaft 44b has a cylindrical shape, and a second rotating frame 62b is fitted to the side surface of the second support shaft 44b. The second rotating frame 62b is disposed at the right end portion of the winding shaft 60 and has a shape surrounding the side surface of the second support shaft 44b. With this structure, the second rotary frame 62b rotates around the second support shaft 44b fixed to the second bracket 42b. Furthermore, the take-up shaft 60 also rotates due to the rotation of the first rotary frame 62a and the second rotary frame 62b.

[0023] A holder (not shown) is disposed in the right region inside the winding shaft 60, and the motorizing unit 80 is attached to the holder. The motorizing unit 80 is an electric device that outputs rotational power to the winding shaft 60. The motorizing unit 80 includes a cylindrical main body 82 and a drive wheel 84 disposed on the left side of the main body 82. It can be said that the drive wheel 84 faces the center side of the winding shaft 60 in the motorizing unit 80. A motor 86, a control unit 88, and a speed reducer 90 are mounted inside the main body 82, and the speed reducer 90 and the drive wheel 84 also rotate due to the rotation of the motor 86. The control unit 88 controls the rotation of the motor 86. In particular, the control unit 88 controls the value of the current for rotating the motor 86 of the motorizing unit 80.

[0024] Inside the winding shaft 60, a driven wheel 64 is provided in an area to the left of the holding portion, that is, an area on the central side of the winding shaft 60 with respect to the motorized unit 80. The driven wheel 64 is disposed to the left of the driving wheel 84, and rotates with the rotation of the driving wheel 84 when combined with the driving wheel 84. The rotation of the driven wheel 64 also rotates the winding shaft 60. As a result, it can be said that the winding shaft 60 rotates with the rotational power from the motorized unit 80. On the other hand, when the driving wheel 84 and the driven wheel 64 are not combined with each other, the winding shaft 60 rotates with manual rotational power, not with the rotational power from the motorized unit 80. A description of the manual rotation of the winding shaft 60 will be omitted.

[0025] Here, the holding part holds a portion of the side surface of the main body 82, for example, a portion including the lower side of the side surface of the main body 82. In addition, the right end part of the holding part is connected to the second support shaft 44b. Because the holding part is fixed to the second bracket 42b by this connection, the main body 82 held by the holding part does not rotate even when the winding shaft 60 rotates.

[0026] More specifically, in the main body 82 of the motorized unit 80, the motor 86 rotates under the control of the control unit 88. The speed reducer 90 amplifies the torque of the rotational power of the motor 86. The speed reducer 90 may use any known technology, and may have a structure in which a plurality of planetary gears revolve around a sun gear while rotating on their own axes. When the drive wheel 84 rotates due to the rotation of the speed reducer 90, the driven wheel 64 combined with the drive wheel 84 also rotates, and the winding shaft 60 rotates.

[0027] 1(a), when the winding shaft 60 rotates in the winding direction from a fully closed state in which the shutter curtain 30 closes the opening 10, the shutter curtain 30 opens the opening 10 while being wound along the outer circumferential surface of the winding shaft 60. As this rotation continues, the shutter curtain 30 is wound up while being stacked on the shutter curtain 30 that was wound up in the first rotation, opening the entire opening 10. Also, when the winding shaft 60 rotates in the unwinding direction from a fully open state in which the shutter curtain 30 opens the opening 10, the shutter curtains 30 stacked on the outer circumferential surface of the winding shaft 60 are unwound one by one. As this rotation continues, the shutter curtain 30 closes the entire opening 10.

[0028] 3 is a block diagram showing the configuration of the shutter system 1000. The shutter system 1000 includes a motorized unit 80, a communication line 200, and a controller 300. The motorized unit 80 is connected to a server 500 and a mobile terminal device 510 via a network 502. The motorized unit 80 includes a motor 86 and a control unit 88, and the control unit 88 includes a first connection unit 410, a first wired communication unit 412, a position control unit 414, a first detection unit 416, a speed control unit 418, a differentiation unit 420, a current control unit 422, a second detection unit 424, a third detection unit 428, a communication unit 450, a derivation unit 452, and a memory unit 454. The controller 300 includes an operation unit 310, an operation control unit 312, a second wired communication unit 314, and a second connection unit 316.

[0029] The operation unit 310 of the controller 300 is a user interface having a plurality of buttons, and accepts user operations. An open button, a stop button, and a close button are provided on the surface of the controller 300. The open button, the stop button, and the close button are configured, for example, as flat switches. The open button is a button that accepts an instruction to move the shutter curtain 30 so as to open the opening 10 (hereinafter referred to as an "open instruction"). The stop button is a button that accepts an instruction to stop the moving shutter curtain 30 (hereinafter referred to as a "stop instruction"). The close button is a button that accepts an instruction to move the shutter curtain 30 so as to close the opening 10 (hereinafter referred to as a "close instruction"). When one of the open button, the stop button, and the close button is pressed down, an operation signal corresponding to one of the open instruction, the stop instruction, and the close instruction is output from the operation unit 310 to the operation control unit 312.

[0030] The operation control unit 312 receives an operation signal from the operation unit 310. The operation control unit 312 generates an instruction signal including one of an open instruction, a stop instruction, and a close instruction indicated in the operation signal. The second wired communication unit 314 receives the instruction signal from the operation control unit 312, and transmits the instruction signal to the motorization unit 80 via the second connection unit 316 and the communication line 200.

[0031] The second connection unit 316 is an interface for connecting the communication line 200 to the controller 300. The first connection unit 410 of the motorization unit 80 is also an interface for connecting the communication line 200. The communication line 200 connects the controller 300 and the motorization unit 80 by connecting the communication line 200 to the second connection unit 316 and the first connection unit 410. With this connection, the communication line 200 transmits an instruction signal from the controller 300 to the motorization unit 80. Since the controller 300 is installed indoors and the motorization unit 80 is installed outdoors, an instruction signal is transmitted from indoors to outdoors.

[0032] First wired communication unit 412 receives an instruction signal from second wired communication unit 314 via second connection unit 316, communication line 200, and first connection unit 410. First wired communication unit 412 outputs one of an open instruction, a stop instruction, and a close instruction included in the instruction signal to position control unit 414. Position control unit 414 accepts one of an open instruction, a stop instruction, and a close instruction from first wired communication unit 412.

[0033] The position control unit 414 updates the target value of the position (position of the lower end) of the shutter curtain 30 in response to one of the received open, stop, and close instructions. For example, when the position control unit 414 receives an open instruction, it updates the target value so as to increase the target value. The position control unit 414 also receives a feedback value of the position of the shutter curtain 30 from the first detection unit 416. A method of detecting the feedback value of the position in the first detection unit 416 will be described later. Here, the position of the shutter curtain 30 may be indicated as an angle of rotation of the motor 86, but in the following, the angle is also included in the position for clarity of explanation. The position control unit 414 outputs a target value of the speed for operating at a non-zero constant speed until at least one of the target value and the feedback value reaches the upper limit position or the lower limit position, or until a stop instruction is received.

[0034] The differentiating unit 420 receives a feedback value of the position of the shutter curtain 30 from the first detecting unit 416, and derives a feedback value of the speed by differentiating the position feedback value. The differentiating unit 420 outputs the feedback value of the speed to the speed control unit 418. The speed control unit 418 receives a target value of the speed from the position control unit 414, and receives the feedback value of the speed from the differentiating unit 420. The speed control unit 418 derives a speed deviation by subtracting the feedback value of the speed from the target value of the speed, and then performs speed loop processing such as proportional-integral control to derive a target value of the torque (current).

[0035] The current control unit 422 receives a target value of torque (current) from the speed control unit 418. The magnitude of the current output from the current control unit 422 to the motor 86, that is, the value of the total current supplied to the motor 86 of the motorization unit 80, is detected by the second detection unit 424, and the current control unit 422 receives a feedback value of the detected current. The second detection unit 424 is configured by, for example, a shunt resistor. The current control unit 422 determines the magnitude of the current to be output to the motor 86 so that the feedback value of the current approaches the target value of torque (current). This corresponds to controlling the current for rotating the motor 86, and a known technique may be used for this determination. In other words, the speed control unit 418 and the current control unit 422 determine the value of the current for rotating the motor 86 according to the change in position detected by the first detection unit 416, that is, the speed.

[0036] Motor 86 rotates at a speed according to the value of the current output from current control unit 422. Motor 86 outputs rotational power to winding shaft 60. If motor 86 is a three-phase brushless motor, current control unit 422 outputs a three-phase direct current.

[0037] With this configuration, when the control signal corresponds to an open command, the control unit 88 rotates the motor 86 so that the winding shaft 60 rotates in the winding direction, and when the control signal corresponds to a close command, the control unit 88 rotates the motor 86 so that the winding shaft 60 rotates in the unwinding direction. The rotation direction of the motor 86 in the winding direction is opposite to the rotation direction of the motor 86 in the unwinding direction. On the other hand, when the control signal corresponds to a stop command, the control unit 88 stops the rotation of the motor 86. The motor 86 rotates in response to the control unit 88 and supplies power to the shutter curtain 30, the winding shaft 60, and the like that open and close the opening 10.

[0038] When the shutter curtain 30 is opened or closed according to the rotation direction of the motor 86, the position of the shutter curtain 30 is detected by the first detection unit 416. The first detection unit 416 is, for example, configured as a counter-type limit switch provided on the side of the motor 86, which mechanically counts the number of rotations of the motor 86 to detect the open / closed position or the upper and lower limit positions. The first detection unit 416 may also be configured to detect the open / closed position or the upper and lower limit positions of the shutter curtain 30 by counting pulses using an encoder provided on the motor 86. The first detection unit 416 may also be configured as a current detection circuit for the motor 86, which detects the open / closed position or the upper and lower limit positions from a change in current value corresponding to a load fluctuation applied to the motor 86. Furthermore, the first detection unit 416 may be a mechanical or electrical limit switch provided above and below the guide rail 20 to directly detect the open / closed position or the upper and lower limit positions of the shutter curtain 30. The position detected by the first detection unit 416 is output to the position control unit 414 and the differentiation unit 420.

[0039] In such a shutter system 1000, an abnormality in the installation state may occur, or a person or the like may be caught. Here, Figs. 4(a)-(h) are used to explain the occurrence of an abnormality in the installation state in the shutter system 1000. Figs. 4(a)-(h) show frame distortion in the shutter system 1000, which includes an upper frame 600, a first side frame 610a, a second side frame 610b, and a lower frame 602, which are collectively referred to as a side frame 610. The first side frame 610a and the second side frame 610b correspond to the two guide rails 20 in Fig. 1(a) and extend in the up-down direction. The upper end of the first side frame 610a and the upper end of the second side frame 610b are connected by the upper frame 600 extending in the left-right direction, and the lower end of the first side frame 610a and the lower end of the second side frame 610b are connected by the lower frame 602 extending in the left-right direction.

[0040] In Fig. 4(a)-(b), the first side frame 610a and the second side frame 610b are deformed in the vertical center, so that the distance between the first side frame 610a and the second side frame 610b is different in the vertical direction. In Fig. 4(c), the first side frame 610a and the second side frame 610b are deformed so as to tilt in the same direction, so that the first side frame 610a and the second side frame 610b do not face the vertical direction. In Fig. 4(d)-(e), the upper frame 600 and the side frame 610 are deformed in the horizontal center, so that the distance between the first side frame 610a and the second side frame 610b is narrowed. In Fig. 4(f)-(g), the upper frame 600, the side frame 610, and the lower frame 602 are distorted in the front-rear direction, so that the first side frame 610a and the second side frame 610b do not face the vertical direction. Such deformations cause an increase in contact friction due to the loss of the gap between the guide rail 20, which is the side frame 610, and the slat 32. Such abnormalities in the installation state of the shutter system 1000 may occur during construction or due to deformation over time.

[0041] FIG. 5 is used to explain the occurrence of pinching of a person or the like in the shutter system 1000. FIG. 5 shows an outline of the operation of the motorized unit 80 when pinching occurs in the shutter system 1000. This corresponds to a situation in which an obstacle is pinched by the shutter curtain 30 when the close button of the controller 300 is pressed down and the shutter curtain 30 is being unrolled. The magnitude of the current output to the motor 86, that is, the change over time in the magnitude of the current detected by the second detection unit 424, is shown. From time 0 to T1, no obstacle is pinched by the shutter curtain 30. Therefore, the load on the motor 86 is almost constant, and the magnitude of the current is also almost constant. In this state, the shutter curtain 30 is unrolled.

[0042] When an obstacle is caught by the shutter curtain 30 at time T1, the load on the motor 86 increases. For example, the load on the motor 86 increases from time T1 to time T2. This can be said to be a situation in which the shutter curtain 30 is not extended due to the occurrence of an obstacle being caught. When an obstacle is caught by the shutter curtain 30 at time T1, the current increases. This is because, in a situation in which the load on the motor 86 is increasing, control is performed to extend the shutter curtain 30, and the current output to the motor 86 increases.

[0043] In order to detect the occurrence of an abnormality in the installation state or the occurrence of a person being pinched, the motorized unit 80 according to this embodiment utilizes a change in the value of the current in the motor 86. The second detection unit 424 described above detects a torque component of the current value. When the motor 86 is a three-phase brushless motor, the three-phase DC currents output to the three-phase brushless motor are indicated as u-phase, v-phase, and w-phase. The three-phase brushless motor rotates as the composite vector of the current vectors of each phase periodically changes its angle. The second detection unit 424 receives the current vectors of the u-phase, v-phase, and w-phase, and performs two-axis transformation on these to the q-axis and d-axis. Since a known matrix operation may be performed for such transformation, a description thereof will be omitted here.

[0044] FIG. 6 shows an overview of the two-axis conversion performed by the second detection unit 424. The mutually orthogonal u-phase, v-phase, and w-phase are shown, as well as the mutually orthogonal d-axis and q-axis. Here, the d-axis indicates the excitation component, and the q-axis indicates the torque component. The resultant vector is converted by the two-axis conversion into a combination of an excitation vector in the d-axis direction and a torque vector in the q-axis direction. This is equivalent to converting the three-phase current in a three-phase brushless motor into a combination of an excitation component and a torque component. Of the excitation component and the torque component, the torque component has a characteristic that it is proportional to the load due to an external force. In other words, the torque component reflects the change in the torque of the total load. Return to FIG. 3.

[0045] By operating the controller 300, the motor 86 of the motorized unit 80 rotates, thereby opening and closing the shutter curtain 30. At that time, the first detection unit 416 detects the position of the shutter curtain 30, and the second detection unit 424 detects the current value for rotating the motor 86, for example, the torque component of a three-phase current. This corresponds to detecting the load on the shutter curtain 30 according to the rotation angle of the winding shaft 60 during the process of rotation of the winding shaft 60 by the motor 86. It can also be said that the second detection unit 424 detects the load based on the change in the current value for rotating the motor 86. The first detection unit 416 outputs position information to the derivation unit 452 and the third detection unit 428, and the second detection unit 424 outputs current value information to the derivation unit 452 and the third detection unit 428.

[0046] 7(a)-(b) show an overview of the operation of the motorized unit 80. In Fig. 7(a), the vertical axis indicates the position of the shutter curtain 30, and the horizontal axis indicates the current value. For example, in a normal state where there is no abnormality in the installation state and no pinching of a person or the like, a normal state 700 is obtained by plotting the position received from the first detection unit 416 and the current value received from the second detection unit 424.

[0047] In the normal state 700, the current value increases as the position of the shutter curtain 30 increases above the position "H". Also, the current value increases as the position of the shutter curtain 30 decreases below the position "L". These increases are due to an increase in the reaction force due to friction when the shutter curtain 30 reaches the upper limit position and the lower limit position. The positions "H" and "L" are registered in the lead-out unit 452 automatically or manually. Since a known technique may be used to register the positions "H" and "L", a description thereof will be omitted here. Also, between the positions "H" and "L" of the shutter curtain 30, the current value fluctuates so as to repeatedly increase and decrease due to the fluctuation of the reaction force due to friction when the slat 32 is unwound from the winding shaft 60. The normal state 700 is shown in the same way when the shutter curtain 30 is being wound up and when the shutter curtain 30 is being unwound.

[0048] If a person or the like is present at position "P1" of the shutter curtain 30, when the shutter curtain 30 is unrolled from the fully open state, a current value similar to that of the normal state 700 is detected from position "H" to position "P1". When the shutter curtain 30 is further unrolled from position "P1", the load applied to the motor 86 by the person or the like increases, and the current value also increases as in the pinch state 702. The pinch state 702 is shown when the shutter curtain 30 is unrolled, and is not shown when the shutter curtain 30 is rolled up.

[0049] If there is no gap between the slats 32 and the guide rail 20 due to an abnormality in the installation state between position "P2" and position "L" of the shutter curtain 30, when the shutter curtain 30 is unrolled from the fully open state, a current value similar to that of the normal state 700 is detected from position "H" to position "P2". When the shutter curtain 30 is further unrolled from position "P2", the load applied to the motor 86 increases, so the current value also increases as in abnormal state 704. At position "L" of the shutter curtain 30, a current value similar to that of the normal state 700 is detected. The abnormal state 704 is indicated in the same manner when the shutter curtain 30 is being wound up and when the shutter curtain 30 is being unrolled.

[0050] For example, when the shutter system 1000 is installed, the derivation unit 452 in FIG. 3 receives position information from the first detection unit 416 and current value information from the second detection unit 424. When there is no abnormality in the shutter system 1000, the relationship between the position and the current value is shown as a normal state 700 in FIG. 7(a). The derivation unit 452 derives a reference value based on the current value in the normal state 700. For example, the derivation unit 452 derives an average value of the current value between the position "H" and the position "L" as a reference value. FIG. 7(b) shows a correspondence relationship between the position and the current value similar to that in FIG. 7(a). The reference value is shown in FIG. 7(b). Return to FIG. 3. After the shutter system 1000 is installed, the derivation unit 452 may periodically receive position information and current value information, and update the reference value by deriving the reference value based on the position and the current value. The derivation unit 452 outputs the reference value to the storage unit 454.

[0051] The memory unit 454 stores the reference value received from the derivation unit 452. That is, the memory unit 454 stores the load on the shutter curtain 30 according to the rotation angle of the winding shaft 60 at a predetermined timing as a reference value. The reference value stored in the memory unit 454 is updatable. The memory unit 454 may store a relationship between the position and the current value such as the normal state 700. The memory unit 454 also stores the abnormality detection range and the pinch detection range shown in FIG. 7(b). The abnormality detection range and the pinch detection range are defined as ranges relative to the reference value, and the abnormality detection range is made wider than the pinch detection range.

[0052] The third detection unit 428 receives position information from the first detection unit 416 and current value information from the second detection unit 424. Based on the change over time of the position information, the third detection unit 428 judges whether the position is changing in a downward direction, whether the position is changing in an upward direction, or whether the position is unchanged. When the position is changing in a downward direction, this corresponds to the case where the motor 86 is outputting rotational power for rotating the winding shaft 60 in a direction for unwinding the shutter curtain 30 (hereinafter referred to as "unwinding"). When the position is changing in an upward direction, this corresponds to the case where the motor 86 is outputting rotational power for rotating the winding shaft 60 in a direction for winding the shutter curtain 30 (hereinafter referred to as "winding"). When the position is unchanged, this corresponds to the case where the winding shaft 60 is not rotated.

[0053] FIG. 8 shows the detection process in the third detection unit 428. The third detection unit 428 detects the occurrence of pinching when the current value exceeds the pinching detection range at the time of unwinding. Here, the third detection unit 428 does not determine whether the current value exceeds the pinching detection range at the time of winding. Also, the third detection unit 428 detects the occurrence of an abnormality when the current value is within the pinching detection range and exceeds the abnormality detection range at the time of unwinding and winding. The third detection unit 428 may detect the occurrence of an abnormality when the current value is within the pinching detection range and exceeds the abnormality detection range only at the time of unwinding or winding. When the pinching detection range is called the "first range," the abnormality detection range is called the "second range." Therefore, it can be said that the occurrence of pinching is detected when the difference between the load corresponding to the current value at the time of unwinding and the reference value exceeds the first range, and that an abnormality is detected when the difference between the load corresponding to the current value at the time of unwinding and the reference value is within the first range and exceeds the second range.

[0054] In the above description, when the abnormality detection range during unwinding is the "first abnormality detection range", the abnormality detection range during winding is the "second abnormality detection range". The third detection unit 428 detects the occurrence of an abnormality when the current value during unwinding is within the pinch detection range and exceeds the first abnormality detection range, and when the current value during winding is within the pinch detection range and exceeds the second abnormality detection range. Therefore, it can be said that an abnormality is detected when the difference between the first load corresponding to the current value during unwinding and the reference value exceeds the first abnormality detection range, and the difference between the second load corresponding to the current value during winding and the reference value exceeds the second abnormality detection range. The first abnormality detection range and the second abnormality detection range may be the same value or different values. In addition, when the "first abnormality detection range" is called the "first range", the "second abnormality detection range" may be called the "second range".

[0055] Furthermore, when the current value is within the abnormality detection range, the third detection unit 428 detects that the installation state of the shutter curtain 30 is normal. This can also be said to be that when the difference between the first load and the reference value is within the first abnormality detection range and the difference between the second load and the reference value is within the second abnormality detection range, the installation state of the shutter curtain 30 is detected to be normal. Return to FIG. 3.

[0056] When the third detection unit 428 detects the occurrence of pinching, it outputs an instruction to the current control unit 422 to stop the rotation of the motor 86. When the current control unit 422 receives the instruction to stop the rotation of the motor 86 from the third detection unit 428, it controls the magnitude of the current to be output to the motor 86 so as to stop the rotation of the motor 86. Furthermore, when the third detection unit 428 detects the occurrence of pinching, it may output an instruction to the current control unit 422 to rotate the motor 86 in the winding direction. At that time, the current control unit 422 controls the current to rotate the motor 86 in the winding direction. Furthermore, the third detection unit 428 outputs information (hereinafter referred to as "first information") for notifying the occurrence of pinching to the communication unit 450.

[0057] When the third detection unit 428 detects the occurrence of an abnormality, it outputs information (hereinafter referred to as "second information") to the communication unit 450 to notify that the installation state of the shutter curtain 30 is abnormal or that the installation state has changed. When the third detection unit 428 detects that the installation state is normal, it outputs information (hereinafter referred to as "third information") to notify that the installation state of the shutter curtain 30 is normal to the communication unit 450. The first information to the third information can also be said to be the results of comparison between the current value in the third detection unit 428 and a reference value.

[0058] When the communication unit 450 receives any one of the first information to the third information from the third detection unit 428, it transmits any one of the received first information to the third information to the server 500 via the network 502. Any one of the first information to the third information transmitted from the communication unit 450 includes identification information for identifying the motorization unit 80 (hereinafter referred to as "motorization unit ID").

[0059] The server 500 receives any one of the first information to the third information from the motorizing unit 80 via the network 502. The server 500 extracts the electric unit ID included in any one of the received first information to the third information. The server 500 stores a correspondence relationship between the electric unit ID and identification information for identifying the mobile terminal device 510 (hereinafter referred to as a "mobile terminal device ID"). The server 500 refers to the correspondence relationship and acquires the mobile terminal device ID corresponding to the extracted electric unit ID. The server 500 transmits any one of the received first information to the third information via the network 502, with the acquired mobile terminal device ID as the destination.

[0060] Mobile terminal device 510 is a communication device such as a smartphone or a tablet terminal device, and is capable of communicating with server 500 via network 502. Mobile terminal device 510 receives any of the first information to the third information from server 500. Therefore, it can be said that the destination of any of the first information to the third information output from third detection unit 428 is mobile terminal device 510.

[0061] The mobile terminal device 510 displays any one of the received first information to third information on the screen. FIG. 9(a)-(c) show screens displayed on the mobile terminal device 510. FIG. 9(a) is a screen displayed when the first information is received. A message of "Pinch has occurred in the electric shutter" is displayed. FIG. 9(b) is a screen displayed when the second information is received. A message of "An abnormality has occurred in the electric shutter" is displayed. FIG. 9(c) is a screen displayed when the third information is received. A message of "The electric shutter is normal" is displayed. For example, the mobile terminal device 510 requests the server 500 to provide information, and the server 500 transmits any one of the first information to third information in response to the request, and then the mobile terminal device 510 displays a screen as shown in FIG. 9(a)-(c). Return to FIG. 3. The mobile terminal device 510 may directly communicate with the communication unit 450 without going through the network 502 and the server 500, or may communicate with the controller 300.

[0062] The subject of the device, system, or method in the present disclosure includes a computer. The computer executes a program to realize the function of the subject of the device, system, or method in the present disclosure. The computer includes a processor that operates according to a program as a main hardware configuration. The type of the processor does not matter as long as it can realize the function by executing the program. The processor is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or an LSI (Large Scale Integration). The multiple electronic circuits may be integrated into one chip or may be provided on multiple chips. The multiple chips may be integrated into one device or may be provided on multiple devices. The program is recorded on a non-transitory recording medium such as a computer-readable ROM, an optical disk, or a hard disk drive. The program may be stored in the recording medium in advance, or may be supplied to the recording medium via a wide area communication network including the Internet.

[0063] The operation of the shutter system 1000 configured as above will be described. Fig. 10 is a flow chart showing the detection procedure by the motorized unit 80. If the current value during unwinding exceeds the pinch detection range (Y of S10), the third detection unit 428 detects the occurrence of pinch (S12). If the current value during unwinding does not exceed the pinch detection range (N of S10) and the current values ​​during unwinding and winding exceed the abnormality detection range (Y of S14), the third detection unit 428 detects the occurrence of an abnormality (S16). If the current values ​​during unwinding and winding do not exceed the abnormality detection range (N of S14), the third detection unit 428 detects normality (S18).

[0064] According to this embodiment, the load when the shutter curtain 30 rotates in the unwinding direction and the load when the shutter curtain 30 rotates in the winding direction are compared with a reference value, so that the occurrence of an abnormality in the electric shutter can be detected based on the deviation from the reference value. Also, when the load when the shutter curtain 30 rotates in the unwinding direction and the load when the shutter curtain 30 rotates in the winding direction are within the abnormality detection range, it is detected that the installation state of the shutter curtain 30 is normal, so that the detection accuracy can be improved. Also, when the load when the shutter curtain 30 rotates in the unwinding direction and the load when the shutter curtain 30 rotates in the winding direction exceed the abnormality detection range, it is detected that the installation state is abnormal, so that the detection accuracy can be improved.

[0065] In addition, when the load on the shutter curtain 30 is within the pinch detection range, the occurrence of pinch is detected, and when the load on the shutter curtain 30 is within the pinch detection range and exceeds the abnormality detection range, the installation state is detected to be abnormal, so that the occurrence of pinch in the electric shutter can be detected. In addition, when the load on the shutter curtain 30 is within the pinch detection range, the occurrence of pinch is detected, and when the load on the shutter curtain 30 is within the pinch detection range and exceeds the abnormality detection range, the installation state is detected to be abnormal, so that the occurrence of an abnormality in the electric shutter can be detected. In addition, since the load is detected based on the change in the value of the current for rotating the motor 86, the detection accuracy of the load can be improved. In addition, since the reference value can be updated, the reference value can be maintained in the latest state. In addition, since the reference value is maintained in the latest state, the detection accuracy can be improved.

[0066] Moreover, since the information on the detected result is displayed on the mobile terminal device 510, the detected result can be notified. Furthermore, since the information on the detected result is displayed on the mobile terminal device 510, the load acting when the electric shutter is opened and closed can be visualized. Furthermore, since the load acting when the electric shutter is opened and closed is visualized, the quality of the installation state at the time of construction can be judged. Furthermore, since the load acting when the electric shutter is opened and closed is visualized, changes in the installation state over time can be detected. Furthermore, since the installation state of the shutter system 1000 is measured based on changes in the value of the current for rotating the motor 86, the measurement of the installation state of the electric shutter can be simplified. Furthermore, since the installation state of the shutter system 1000 is measured based on changes in the value of the current for rotating the motor 86, the installation state can be detected even at times other than during construction.

[0067] An outline of one aspect of the present disclosure is as follows. An electric opening / closing body control device (80) according to one aspect of the present disclosure includes an electric unit (86) that outputs rotational power to a winding shaft (60) capable of winding up a shutter curtain (30), a detection unit (424) that detects a load on the shutter curtain (30) corresponding to the rotation angle of the winding shaft (60) during the process of rotation of the winding shaft (60) by the electric unit (86), and a memory unit (425) that stores the load on the shutter curtain (30) corresponding to the rotation angle of the winding shaft (60) as a reference value at a predetermined timing. and an output unit (428) which compares a first load detected by the detection unit (424) when the motor unit (86) is outputting rotational power for rotating the winding shaft (60) in the direction to unwind the shutter curtain (30) and a second load detected by the detection unit (424) when the motor unit (86) is outputting rotational power for rotating the winding shaft (60) in the direction to wind the shutter curtain (30) with reference values ​​stored in the memory unit (454) and outputs the comparison results.

[0068] The output unit (428) outputs information to notify that the installation state of the shutter curtain (30) is normal when the difference between the first load and the reference value is within a first range and the difference between the second load and the reference value is within a second range.

[0069] When the difference between the first load and the reference value exceeds a first range and the difference between the second load and the reference value exceeds a second range, the output unit (428) outputs information to notify that the installation state of the shutter curtain (30) is abnormal or that the installation state has changed.

[0070] Another aspect of the present disclosure is an electric opening / closing body control device (80). This device includes an electric unit (86) that outputs rotational power to a winding shaft (60) capable of winding up a shutter curtain (30), a detection unit (424) that detects a load on the shutter curtain (30) corresponding to the rotation angle of the winding shaft (60) during the process of rotation of the winding shaft (60) by the electric unit (86), a memory unit (454) that stores the load on the shutter curtain (30) corresponding to the rotation angle of the winding shaft (60) as a reference value at a predetermined timing, and an output unit (428) that outputs a comparison result between the load detected by the detection unit (424) and the reference value stored in the memory unit (454). The output unit (428) outputs information to notify the occurrence of pinching when the difference between the load and the reference value exceeds a first range, and outputs information to notify the occurrence of an abnormal installation state of the shutter curtain (30) or a change in the installation state when the difference between the load and the reference value is within the first range and exceeds a second range, the second range being narrower than the first range.

[0071] When the difference between the load and the reference value is within the second range, the output unit (428) outputs information for notifying that the installation state of the shutter curtain (30) is normal.

[0072] The detection unit (424) may detect the load based on a change in the value of the current for rotating the motorized unit (86).

[0073] The reference value stored in the storage unit (454) may be updatable.

[0074] The destination of the information output from the output unit (428) may be the mobile terminal device (510).

[0075] The system may include an electric opening / closing body control device (80) and an electric opening / closing body connected to the electric opening / closing body control device (80).

[0076] The present disclosure has been described above based on the embodiments. These embodiments are merely illustrative, and it will be understood by those skilled in the art that various modifications are possible in the combination of each component or each treatment process, and that such modifications are also within the scope of the present disclosure.

[0077] The third detection unit 428 in this embodiment is capable of detecting the occurrence of pinching and the occurrence of an abnormality. However, the present invention is not limited to this, and for example, the third detection unit 428 may be capable of detecting the occurrence of an abnormality and may not be capable of detecting the occurrence of pinching. According to this modification, the configuration can be simplified. [Explanation of symbols]

[0078] 10 opening, 12 sash, 20 guide rail, 30 shutter curtain, 32 slat, 34 screw, 40 shutter case, 42 bracket, 44 support shaft, 60 winding shaft, 62 rotating frame, 64 driven wheel, 66 winding spring, 72 fixed part, 80 motorized unit (electric opening / closing body control device), 82 main body, 84 driving wheel, 86 motor, 88 control part, 90 reducer, 200 communication line, 300 controller, 310 operation part, 312 operation control part, 314 second wired communication part, 316 second connection part, 410 first connection part, 412 first wired communication part, 414 position control part, 416 first detection part, 418 speed control part, 420 Differentiation unit, 422 current control unit, 424 second detection unit (detection unit), 428 third detection unit (output unit), 450 communication unit, 452 derivation unit, 454 memory unit, 500 server, 502 network, 510 mobile terminal device, 600 upper frame, 602 lower frame, 610 side frame, 700 normal state, 702 pinch state, 704 abnormal state, 1000 shutter system.

Claims

1. an electric motor that outputs rotational power to a winding shaft capable of winding up the shutter curtain; a detection unit that detects a load on the shutter curtain according to a rotation angle of the winding shaft during the rotation of the winding shaft by the motor unit; a storage unit that stores a load on the shutter curtain according to a rotation angle of the winding shaft as a reference value at a predetermined timing; an output unit that outputs a comparison result between the load detected by the detection unit and the reference value stored in the storage unit, the output unit outputs information to notify the occurrence of pinching when a difference between the load and the reference value exceeds a first range, and outputs information to notify the occurrence of an abnormality in an installation state of the shutter curtain or a change in the installation state when a difference between the load and the reference value is within the first range and exceeds a second range; The second range is narrower than the first range. Electric opening and closing device control device.

2. The output unit outputs information for notifying that the installation state of the shutter curtain is normal when the difference between the load and the reference value is within a second range. The electric opening / closing member control device according to claim 1.

3. The control device for an electric opening / closing member according to claim 1 or 2, wherein the detection unit detects the load based on a change in a value of a current for rotating the motor unit.

4. The electric opening / closing member control device according to claim 1 , wherein the reference value stored in the memory unit is updatable.

5. The control device for an electric opening / closing member according to claim 1 , wherein the destination of the information output from the output unit is a mobile terminal device.

6. The electric opening / closing member control device according to any one of claims 1 to 5, An electric opening / closing body connected to the electric opening / closing body control device; An electric opening and closing system.

7. A program executed by the electric opening / closing member control device according to any one of claims 1 to 5.

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