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

Abstract

To provide a technology to improve an obstacle detection accuracy for a shutter.SOLUTION: A current value detection part 424 detects a current value output to a motor 86. A position detection part 416 detects a position of rotation of the motor 86. Current values for a plurality of positions of rotation of the motor 86 are detected, and a storage part 432 stores a reference value for each position based on the current value. When a shutter curtain is fed out from a winding shaft, a determination part 430 acquires a reference value corresponding to a position detected by the position detection part 416 from the storage part 432 and determines contact between the shutter curtain and an obstacle based on the reference value and the current value detected by the current value detection part 424.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] Electric shutters require a mechanism for detecting when an obstacle, such as a person, is caught in the shutter. For this reason, electric shutters are provided with a tape switch (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-9561 A Summary of the Invention [Problem to be solved by the invention]

[0004] It is required to improve the accuracy of detecting obstacles compared to when a tape switch is used.

[0005] The present disclosure has been made in consideration of these circumstances, and has an object to provide a technique for improving the accuracy of detecting an obstacle in a shutter. [Means for solving the problem]

[0006] In order to solve the above problems, an electric opening / closing body control device of one embodiment of the present disclosure comprises an electric unit that outputs rotational power to a winding shaft capable of winding up the shutter curtain, a control unit that controls the current value for rotating the electric unit, a current value detection unit that detects the current value output to the electric unit, a position detection unit that detects the position in the rotation of the electric unit, a memory unit that detects the current value for each of a plurality of positions in the rotation of the electric unit and stores a reference value based on the current value for each position, and a judgment unit that, when the shutter curtain is unwound from the winding shaft, obtains from the memory a reference value corresponding to the position detected by the position detection unit, and judges contact between the shutter curtain and an obstacle based on the reference value and the current value detected by the current value detection unit. The reference value for each position stored in the memory unit is a current value for each position detected in a state where there is no obstacle, and when the shutter curtain is unwound from the winding shaft, the determination unit obtains from the memory unit a reference value corresponding to the position detected by the position detection unit, and determines that the shutter curtain has come into contact with an obstacle if a value obtained by subtracting the reference value from the current value detected by the current value detection unit is greater than a threshold value. .

[0007] 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

[0008] According to the present disclosure, it is possible to improve the accuracy of detecting an obstacle in the shutter. [Brief description of the drawings]

[0009] [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)-(b) are diagrams showing an outline of the operation of the shutter system of FIGS. 1(a)-(b). [Diagram 5] 5(a)-(d) are diagrams showing an outline of the operation of the shutter system of FIGS. 1(a)-(b). [Figure 6]4 is a diagram showing an overview of two-axis conversion performed in a current value detection unit in FIG. 3. [Figure 7] 4 is a diagram showing the relationship between the rotation angle and the current value in the current control unit of FIG. 3. [Figure 8] 8(a)-(b) are diagrams showing an outline of the operation when pinching occurs in the shutter system of FIG. 1(a)-(b). [Figure 9] FIG. 9 is a diagram showing the relationship between the rotation angle and the current value in the situation of FIGS. 8(a) and 8(b). [Figure 10] 4 is a diagram showing a data structure of correspondence relationships stored in a storage unit in FIG. 3. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] 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 a "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 electric shutter automatically performs the closing operation over several tens of seconds, it is assumed that the user does not see the closing operation of the electric shutter. In that case, the user does not notice even if the electric shutter pinches an obstacle. Therefore, a function of "detecting when an obstacle is pinched" is desired for the electric shutter. In a motor-driven product such as an electric shutter, pinching of an obstacle is detected when the motor current increases. To be more specific, when an obstacle is pinched, the motor load increases due to the reaction force from the obstacle, and the motor current increases. When this increase in the motor current exceeds a predetermined value, it is determined that pinching has occurred.

[0011] On the other hand, in order to add a ventilation function or a lighting function to an electric shutter, a slit is provided in the electric shutter. The ventilation and lighting functions are functions for taking in wind and light. For example, the slats of the electric shutter are configured to be slidable, and a slit is formed between two adjacent slats by widening the gap between the two adjacent slats. If an obstacle is caught in an electric shutter having such a slit, the gap between the two adjacent slats is narrowed, so that the reaction force from the obstacle is not transmitted to the motor. Therefore, for example, a tape switch is used to detect the obstruction in an electric shutter having a slit. When a tape switch is used, the accuracy of detecting the obstacle is not high. In addition, since the tape switch is an external sensor, the number of parts increases, and the cost also increases.

[0012] Even in a situation where the reaction force from an obstacle is not transmitted to the motor, it is required to suppress a decrease in the detection accuracy of the obstacle while suppressing an increase in cost. The electric shutter according to this embodiment acquires in advance the motor current value (hereinafter also referred to as "current value") at each of a plurality of positions when the shutter opens and closes in a situation where no pinching has occurred, and stores the current value at each position as a "reference value." In addition, the electric shutter detects the position and the current value when performing a closing operation. When the difference between the reference value corresponding to the detected position and the detected current value becomes large, the electric shutter determines that pinching has occurred.

[0013] The following describes (1) the basic structure, (2) the structure with slits, and (3) the operation when clamped. (1) Basic structure The basic structure corresponds to the structure of the shutter system 1000 according to this embodiment, omitting the structure related to the slit. Figures 1(a)-(b) show the structure of the 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 a slat 32 and a seat plate 33. Here, the guide rail 20, the shutter curtain 30, and the shutter case 40 are included in the shutter.

[0014] 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.

[0015] 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 configured by a combination of a plurality of slats 32 and a seat plate 33. Each slat 32 is a plate-shaped member extending along the left and right direction of the opening 10, and is formed of, for example, steel, stainless steel, aluminum, or the like. A curled portion (not shown) is provided at the upper end and the lower end of each slat 32, 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. The seat plate 33 is rotatably connected to the lower side of the lowest slat 32. Further details of the structure of the shutter curtain 30, which is a combination of a plurality of slats 32 and a seat plate 33, will be described later.

[0016] 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.

[0017] 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.

[0018] 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, a seat plate 33, 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.

[0019] Here, the shutter case 40 is shown transparent 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, 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.

[0020] 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".

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] When the winding shaft 60 rotates in the winding direction from a state in which the shutter curtain 30 closes the opening 10 as shown in FIG. 1(a), 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 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.

[0027] 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 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 position detection unit 416, a speed control unit 418, a differentiation unit 420, a current control unit 422, a current value detection unit 424, a determination unit 430, and a memory unit 432. 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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 position detection unit 416. A method of detecting the feedback value of the position in the position detection unit 416 will be described later. Here, the position of the shutter curtain 30 may be indicated as the angle of rotation of the motor 86, but hereinafter the position and the angle will be used without distinction. 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.

[0033] The differentiation unit 420 receives a feedback value of the position of the shutter curtain 30 from the position detection unit 416, and derives a feedback value of the speed by differentiating the position feedback value. The differentiation 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 differentiation 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).

[0034] 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 current value detection unit 424, and the current control unit 422 receives a feedback value of the detected current. The current value 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 position detection unit 416, that is, the speed.

[0035] 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.

[0036] 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.

[0037] 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 position detection unit 416. The position detected by the position detection unit 416 can also be said to be the position in the rotation of the motor 86. The position 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 position 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 position detection unit 416 may also be configured as a current detection circuit of 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 position 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 position detection unit 416 is output to the position control unit 414 and the differentiation unit 420. The determination unit 430 and the storage unit 432 will be described later.

[0038] (2) Slit structure The structure of the slit added to the shutter system 1000 explained thus far will be described below. Figures 4(a)-(b) show an outline of the operation of the shutter system 1000. Figure 4(a) shows the structure of the winding shaft 60 and the shutter curtain 30 in Figure 2 when viewed from the side. At the rotation angle of the winding shaft 60 shown in Figure 4(a), the multiple slats 32 and the seat plate 33 hang down from the winding shaft 60, and the lower end of the seat plate 33 does not reach the lower surface 14.

[0039] A first slat 32a is disposed above the seat plate 33, and a second slat 32b is disposed above the first slat 32a. A slide member 36 is disposed between the seat plate 33 and the first slat 32a. A slide member 36 is also disposed between two adjacent slats 32. The slide member 36 is a member that slides the slat 32 in the up-down direction, and a slit 38 opens and closes between the seat plate 33 and the first slat 32a. In addition, a slit 38 opens and closes between two adjacent slide members 36. In a state in which the lower end has not reached the lower surface 14 as shown in FIG. 4(a), the seat plate 33 moves downward due to gravity applied to the seat plate 33. In addition, the lower slat 32 of the two adjacent slides also moves downward. As a result, the slit 38 between the seat plate 33 and the first slat 32a is opened. In addition, the slits 38 between all exposed slats 32 are opened.

[0040] At the rotation angle of the winding shaft 60 shown in FIG. 4(b), the plurality of slats 32 hang downward from the winding shaft 60, and the lower end of the seat plate 33 reaches the lower surface 14. The first slat 32a moves downward due to the rotation of the motor 86. As a result, the slit 38 between the seat plate 33 and the first slat 32a is closed. On the other hand, the second slat 32b does not move downward, so the slit 38 between the first slat 32a and the second slat 32b is opened. In addition, when the shutter curtain 30 is wound on the winding shaft 60, the slide member 36 bends along the winding shaft 60 together with the slats 32.

[0041] Figures 5(a)-(d) show an outline of the operation of the shutter system 1000. Figure 5(a) shows the structure of the shutter system 1000 in a state in which the seat plate 33 has not yet reached the lower surface 14, similar to Figure 4(a). The multiple slats 32 in the shutter curtain 30 are shown in order from the bottom as the first slat 32a, the second slat 32b, the third slat 32c, ... Here too, the slit 38 between the seat plate 33 and the first slat 32a is opened, and all the slits 38 between adjacent slats 32 are also opened.

[0042] Fig. 5(b) shows the structure of the shutter system 1000 in a state where the seat plate 33 has reached the lower surface 14 by unrolling the shutter curtain 30 further than in Fig. 5(a). Here again, the slit 38 between the seat plate 33 and the first slat 32a is opened, and all the slits 38 between the adjacent slats 32 are also opened.

[0043] Fig. 5(c) shows the structure of the shutter system 1000 in a state in which the shutter curtain 30 is further unrolled from Fig. 5(b). As the shutter curtain 30 is unrolled, the slats 32 slide downward in order starting from the lower slat. For example, the first slat 32a moves downward, causing the seat plate 33 to come into contact with the first slat 32a, and the second slat 32b moves downward, causing the first slat 32a to come into contact with the second slat 32b. Furthermore, the third slat 32c and the fourth slat 32d also move downward, causing the second slat 32b to come into contact with the third slat 32c, and the third slat 32c to come into contact with the fourth slat 32d.

[0044] As a result, the slit 38 between the seat panel 33 and the first slat 32a is closed, and the slit 38 between the first slat 32a and the fourth slat 32d is also closed. On the other hand, the fifth slat 32e does not move downward, so the fourth slat 32d and the fifth slat 32e are separated from each other. Therefore, the slit 38 between the fourth slat 32d and the fifth slat 32e is opened.

[0045] Fig. 5(d) shows the structure of the shutter system 1000 in a state in which the shutter curtain 30 is further unrolled from Fig. 5(c). As all of the slats 32 move downward, adjacent slats 32 all come into contact with each other. As a result, the slits 38 between all of the slats 32 are closed. Up to this point, the operation when the shutter curtain 30 is unrolled has been described, but when the shutter curtain 30 is wound up, the shutter system 1000 may transition in the order of Fig. 5(d), Fig. 5(c), Fig. 5(b), and Fig. 5(a).

[0046] The opening and closing operation of the shutter curtain 30 is performed by rotating the motor 86 of the motorized unit 80 through an operation on the controller 300. At that time, the position detection unit 416 detects the position of the shutter curtain 30, that is, the angle of rotation of the motor 86 (hereinafter referred to as the "rotation angle"), and the current value detection unit 424 detects the current value for rotating the motor 86. The rotation angle is indicated by, for example, a counter value, and the current value is, for example, the torque component of a three-phase current.

[0047] To explain the process in the current value detection unit 424 more specifically, the current value detection unit 424 detects a torque component of the current value flowing through the motor 86. 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 angle. The current value 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.

[0048] FIG. 6 shows an overview of the two-axis conversion performed in the current value 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 into a combination of the excitation vector in the d-axis direction and the torque vector in the q-axis direction by the two-axis conversion. This corresponds to converting the three-phase current in a three-phase brushless motor into a combination of the excitation component and the torque component. Of the excitation component and the torque component, the torque component has a characteristic that 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. The position detection unit 416 outputs the rotation angle to the current control unit 422, and the current value detection unit 424 outputs information on the current value to the current control unit 422.

[0049] FIG. 7 shows the relationship between the rotation angle and the current value in the current control unit 422. As described above, the rotation angle is received from the position detection unit 416, and the current value is received from the current value detection unit 424. The horizontal axis indicates the rotation angle, and the vertical axis indicates the current value (torque current, motor current). The rotation angle increases toward the right on the horizontal axis, and the shutter curtain 30 descends as the rotation angle increases. When the rotation angle is smaller than "A1", the current value increases as the rotation angle decreases. This increase occurs because the reaction force due to friction increases when the shutter curtain 30 reaches the upper limit position. Therefore, the state where the rotation angle is "A1" is the state where the shutter curtain 30 completely opens the opening 10 (hereinafter referred to as the "completely open state").

[0050] When the rotation angle is greater than "A2", the current value increases as the rotation angle increases, and when the rotation angle is greater than "A3", the current value further increases as the rotation angle increases. These increases occur because the frictional reaction force increases when the shutter curtain 30 reaches the lower limit position. In particular, the state where the rotation angle is "A2" is a state where the shutter curtain 30 closes all of the openings 10, but all of the slits 38 are open (hereinafter referred to as the "ventilation state"), as shown in FIG. 5(b).

[0051] Between the rotation angles "A1" and "A2", the weight of the slat 32 and the load of the winding spring 66 are balanced, so the current value fluctuates within a certain range. This is the state in which the shutter curtain 30 partially closes the opening 10 and all the slits 38 are open.

[0052] As shown in FIG. 5(d), the rotation angle of "A3" is a state in which the shutter curtain 30 completely closes the opening 10 and all slits 38 are closed (hereinafter referred to as the "completely closed state"). As the rotation angle changes from "A2" to "A3", the slits 38 begin to close, and the weight of the slats 32 decreases. Meanwhile, as the motor 86 rotates, the load on the winding spring 66 increases. As a result, the load balance is biased towards the load of the winding spring 66, and the current value increases in proportion to the increase in the rotation angle.

[0053] The period when the rotation angle of the shutter curtain 30 when it descends is between "A1" and "A2", that is, the period when it transitions from the fully open state to the air intake state, is called the "descent period". The descending period can be said to be the period until the lower end of the shutter curtain 30 cannot descend when the shutter curtain 30 is descended by the motor 86, and the period when each slit 38 is open. In addition, the period when the rotation angle of the shutter curtain 30 when it descends is between "A2" and "A3", that is, the period when it transitions from the air intake state to the fully closed state, is called the "closed period". The closed period can be said to be the period when the lower end of the shutter curtain 30 cannot descend and the slits 38 close in order starting from the lower side. In addition, the period when the rotation angle of the shutter curtain 30 when it ascends is between "A3" and "A1", that is, the period when it transitions from the fully closed state to the fully open state via the air intake state, is called the "rising period".

[0054] (3) Behavior when something is pinched In the following, a situation where the closing button of the controller 300 is pressed down and the shutter curtain 30 is unrolled will be described, in which the obstruction 500 is pinched by the shutter curtain 30. Figures 8(a)-(b) show an outline of the operation when the obstruction occurs in the shutter system 1000. Figure 8(a) shows the operation of the shutter curtain 30 being lowered, that is, the closing operation of the shutter curtain 30. Figure 8(a) corresponds to the state transitioning from Figure 5(a) to Figure 5(b). Although the obstruction 500 exists in the opening 10, the obstruction 500 is not pinched by the controller 300. In this case, the winding spring 66 suspends the slat 32 and the seat plate 33, and the load is balanced.

[0055] 8(b) shows a state in which the shutter curtain 30 further descends from FIG. 8(a) and the seat plate 33 comes into contact with the obstacle 500, that is, the controller 300 detects that the obstacle 500 has been pinched. The obstacle 500 makes it difficult for the seat plate 33 to move downward, but the slats 32 move downward, causing the slits 38 to close in sequence, starting from the lower slit. As the slits 38 close in this manner, the reaction force from the obstacle 500 is not directly transmitted to the motor 86. Therefore, it is difficult to detect the pinching of the obstacle 500 due to the reaction force from the obstacle 500.

[0056] FIG. 9 shows the relationship between the rotation angle and the current value in the situation of FIG. 8(a)-(b). As in FIG. 7, the horizontal axis of FIG. 9 indicates the rotation angle, and the vertical axis indicates the current value (torque current, motor current). The rotation angle increases as the horizontal axis moves to the right, and the shutter curtain 30 descends as the rotation angle increases. Additionally, antigravity increases as the vertical axis moves upward, and gravity increases as the vertical axis moves downward. Here, we consider a situation in which the rotation angle increases in the direction from P1 to P3, i.e., a situation in which the shutter curtain 30 descends.

[0057] As the rotation angle increases, the number of slats 32 that are extended increases, so the slat weight 610 increases stepwise in the direction of gravity. The slat weight 610 is the hanging weight. Meanwhile, the spring load 600 for suspending the slats 32 and the seat panel 33 increases in the anti-gravity direction as the slat weight 610 increases. The spring load 600 is the lifting load. When the spring load 600 and the slat weight 610 are balanced, the total load 620, which is the combination of the spring load 600 and the slat weight 610, fluctuates near zero.

[0058] Proceeding from P1 to P2, if the obstacle 500 is not pinched at P2, the slat weight 610 also increases stepwise in the direction of gravity from P2 to P3, and the spring load 600 increases in the antigravity direction. As a result, the total load 620 fluctuates near zero. On the other hand, if the obstacle 500 is pinched at P2, the weight of the slat 32 and the seat plate 33 is added to the obstacle 500, and the hanging weight, that is, the pinched slat weight 612, decreases stepwise in the direction of gravity. This causes the balance between the spring load 600 and the pinched slat weight 612, and the pinched total load 622, which is a combination of the spring load 600 and the pinched slat weight 612, increases in the antigravity direction.

[0059] In this embodiment, the entrapment of the obstacle 500 is detected by utilizing the difference between the total load 620 and the total load 622 at the time of entrapment occurrence. When the obstacle 500 is not present, the motor 86 rotates to unfold the shutter curtain 30. At that time, the position detection unit 416 in FIG. 3 detects each of a plurality of positions (rotation angles) of the motor 86. Furthermore, the current value detection unit 424 detects the current value at the timing when the position detection unit 416 detects each position. In other words, the current value is detected for each position. In this manner, the position detection unit 416 and the current value detection unit 424 detect the current value for each of a plurality of positions in the rotation of the motor 86.

[0060] The determination unit 430 receives detection results of a plurality of positions from the position detection unit 416, and receives detection results of a plurality of current values ​​from the current value detection unit 424. The determination unit 430 stores the current values ​​as reference values ​​in the storage unit 432 by one-to-one correspondence between the positions and the current values. FIG. 10 shows a data structure of the correspondence stored in the storage unit 432. The positions (rotation angles) are indicated as X1, X2, . . . The reference value "Y1" corresponding to the position (rotation angle) "X1" is stored, and the reference value "Y2" corresponding to the position (rotation angle) "X2" is stored. The same applies to other reference values. Here, one reference value may be derived by detecting the current value for one position multiple times and averaging the multiple current values. Such reference values ​​"Y1" for each position are indicated as "R1", . . . "R12" in FIG. 9. Return to FIG. 3.

[0061] After such reference values ​​are prepared, when the shutter curtain 30 is unwound from the winding shaft 60 by the rotation of the motor 86, the position detection unit 416 detects the position (rotation angle) and outputs it to the determination unit 430, and the current value detection unit 424 detects the current value and outputs it to the determination unit 430. The determination unit 430 receives the position (rotation angle) from the position detection unit 416 and receives the current value from the current value detection unit 424. The determination unit 430 obtains a reference value corresponding to the received position (rotation angle) from the storage unit 432. If the received position (rotation angle) is not stored in the correspondence relationship in the storage unit 432, a reference value corresponding to the position closest to the received position (rotation angle) may be obtained.

[0062] The determination unit 430 subtracts a reference value from the received current value, and when the subtraction result is equal to or less than the threshold value, determines that there is no contact between the shutter curtain 30 and the obstacle 500. On the other hand, when the subtraction result is greater than the threshold value, the determination unit 430 determines that there is contact between the shutter curtain 30 and the obstacle 500. The former corresponds to the case of the current values ​​C1 to C6 and the reference values ​​R1 to R6 in Fig. 9, and the latter corresponds to the case of the current values ​​C8 to C12 and the reference values ​​R8 to R12 in Fig. 9. The threshold value is derived in advance by experiment or simulation calculation.

[0063] When the determination unit 430 determines that the shutter curtain 30 has come into contact with the obstacle 500, it notifies the current control unit 422 of the occurrence of the contact. When the current control unit 422 is notified of the occurrence of the contact by the determination unit 430, it controls the motor 86 to stop the rotation of the motor 86 or reverse the rotation of the motor 86. In addition, in response to the notification of the occurrence of the contact, a notification may be given to the user by a lamp, a buzzer, or the like.

[0064] After a predetermined period of time has elapsed since the reference value for each position was stored in the memory unit 432, when the judgment unit 430 receives the current value detected by the current value detection unit 424 and the position (rotation angle) detected by the position detection unit 416 in a state in which there is no obstacle 500, the judgment unit 430 may update the reference value for each position stored in the memory unit 432 based on these.

[0065] 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.

[0066] According to this embodiment, when the shutter curtain 30 is unrolled, contact between the shutter curtain 30 and the obstacle 500 is determined based on the reference value stored for each position and the detected current value, so that contact can be detected even if the change in the current value is small. In addition, since contact is detected even if the change in the current value is small, the detection accuracy of the obstacle 500 in the shutter curtain 30 can be improved. In addition, since contact is detected even if the change in the current value is small, even if the shutter curtain 30 includes a slit 38, the detection accuracy of the obstacle 500 in the shutter curtain 30 can be improved. In addition, the reference value for each position is the current value for each position detected in a state where there is no obstacle, and if the value obtained by subtracting the reference value from the detected current value is greater than a threshold value, contact between the shutter curtain 30 and the obstacle 500 is determined, so that the detection accuracy of the obstacle 500 in the shutter curtain 30 can be improved. In addition, the reference value for each position is updated based on the detected current value and the detected position in a state where there is no obstacle after a predetermined period has elapsed, so that the reference value can be updated to the latest situation.

[0067] An overview 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 motor unit (86) that outputs rotational power to a winding shaft (60) capable of winding up a shutter curtain (30), a control unit (422) that controls a current value for rotating the electric motor unit (86), a current value detection unit (424) that detects a current value output to the electric motor unit (86), a position detection unit (416) that detects a position in the rotation of the electric motor unit (86), a memory unit (432) that detects current values ​​for each of a plurality of positions in the rotation of the electric motor unit (86) and stores a reference value based on the current value for each position, and a determination unit (430) that, when unwinding the shutter curtain (30) from the winding shaft (60), obtains a reference value corresponding to the position detected by the position detection unit (416) from the memory unit (432) and determines contact between the shutter curtain (30) and an obstacle based on the reference value and the current value detected by the current value detection unit (424).

[0068] The reference value for each position stored in the memory unit (432) is a current value for each position detected in the absence of an obstacle. When the shutter curtain (30) is unwound from the winding shaft (60), the determination unit (430) may obtain a reference value corresponding to the position detected by the position detection unit (416) from the memory unit (432) and determine that the shutter curtain (30) has come into contact with an obstacle if the value obtained by subtracting the reference value from the current value detected by the current value detection unit (424) is greater than a threshold value.

[0069] The reference value for each position stored in the memory unit (432) is a threshold value for each position obtained by adding a constant value to the current value for each position detected in the absence of an obstacle. When the shutter curtain (30) is unwound from the winding shaft (60), the determination unit (430) may obtain a reference value corresponding to the position detected by the position detection unit (416) from the memory unit (432) and determine that the shutter curtain (30) has come into contact with an obstacle if the current value detected by the current value detection unit (424) is greater than the reference value.

[0070] The reference value for each position stored in the memory unit (432) may be updated based on the current value detected by the current value detection unit (424) and the position detected by the position detection unit (416) in a state in which there is no obstacle after a predetermined period of time has elapsed.

[0071] The shutter curtain (30) is made up of a combination of multiple slats, and the multiple slats in the shutter curtain (30) are slidable so that slits formed between two adjacent slats can be opened and closed. When the shutter curtain (30) is unwound from the winding shaft (60), each slit is open during the downward movement period until the lower end of the shutter curtain (30) can no longer descend, and during the closing period after the lower end of the shutter curtain (30) can no longer descend, the slits close in order, starting from the lower slats.

[0072] 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).

[0073] 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.

[0074] In this embodiment, the reference value stored in the memory unit 432 is a current value or an average value of the current value. However, the reference value is not limited to this, and may be a threshold value obtained by adding a constant value to the current value. Since the current value is detected for each position, the threshold value is also stored for each position. After such a reference value is prepared, the determination unit 430 receives the position (rotation angle) from the position detection unit 416 and receives the current value from the current value detection unit 424. The determination unit 430 acquires a reference value corresponding to the received position (rotation angle) from the memory unit 432. When the received current value is equal to or less than the reference value, the determination unit 430 determines that there is no contact between the shutter curtain 30 and the obstacle 500. On the other hand, when the received current value is greater than the reference value, the determination unit 430 determines that there is contact between the shutter curtain 30 and the obstacle 500. According to this modified example, the degree of freedom of configuration can be improved.

[0075] The shutter curtain 30 in this embodiment includes the slide member 36 and thus has the slits 38. However, the present invention is not limited to this, and for example, the shutter curtain 30 does not need to have the slits 38. According to this modification, the range of application of the present disclosure can be expanded.

[0076] In this embodiment, the motorized unit 80 and the controller 300 are connected by a communication line 200, and the motorized unit 80 and the controller 300 perform wired communication. Therefore, the controller 300 transmits an instruction signal to the motorized unit 80 by wired communication. However, this is not limited to this, and for example, the motorized unit 80 and the controller 300 may perform wireless communication. In this case, the first wired communication unit 412 included in the motorized unit 80 becomes the first wireless communication unit, and the first connection unit 410 becomes the first antenna. In addition, the second wired communication unit 314 included in the controller 300 becomes the first wireless communication unit, and the second connection unit 316 becomes the second antenna. A known technology may be used for processing the wireless communication by the first wireless communication unit and the second wireless communication unit. With this configuration, the controller 300 transmits an instruction signal to the motorized unit 80 by wireless communication. Furthermore, the controller 300 may be realized by a communication device such as a smartphone. In this case, the operation unit 310 is an interface provided in the communication device, and the operation control unit 312 is an application program installed in the communication device. With this configuration, the communication device transmits a command signal by wireless communication to the motorizing unit 80. According to this modification, the degree of freedom in configuration can be improved. [Explanation of symbols]

[0077] 10 opening, 12 sash, 14 underside, 20 guide rail, 30 shutter curtain, 32 slat, 33 seat plate, 34 screw, 36 slide member, 38 slit, 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 (electric part), 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 unit, 416 position detection unit, 418 speed control unit, 420 differentiation unit, 422 current control unit (control unit), 424 current value detection unit, 430 judgment unit, 432 memory unit, 500 obstacle, 1000 shutter system.

Claims

1. an electric motor that outputs rotational power to a winding shaft capable of winding up the shutter curtain; A control unit that controls a current value for rotating the motor unit; a current value detection unit that detects the current value output to the motor unit; a position detection unit that detects a rotational position of the electric motor unit; a storage unit configured to detect the current value for each of a plurality of positions in the rotation of the electric motor unit and to store a reference value based on the current value for each of the positions; a determination unit that, when the shutter curtain is unwound from the winding shaft, obtains from the storage unit the reference value corresponding to the position detected by the position detection unit, and determines whether the shutter curtain has come into contact with an obstacle based on the reference value and the current value detected by the current value detection unit, the reference value for each of the positions stored in the memory unit is the current value for each of the positions detected in a state in which there is no obstacle, The determination unit, when the shutter curtain is unwound from the winding shaft, obtains from the memory unit the reference value corresponding to the position detected by the position detection unit, and determines contact between the shutter curtain and an obstacle if the value obtained by subtracting the reference value from the current value detected by the current value detection unit is greater than a threshold value.

2. An electric opening / closing body control device as described in claim 1, wherein the reference value for each position stored in the memory unit is updated based on the current value detected by the current value detection unit and the position detected by the position detection unit when a predetermined period of time has elapsed and there is no obstacle present.

3. In the shutter curtain, a plurality of slats are combined, The plurality of slats in the shutter curtain are slidable so that a slit formed between two adjacent slats can be opened and closed, An electric opening / closing body control device as described in claim 1 or 2. When the shutter curtain is unwound from the winding shaft, each slit is open during the descending period until the lower end of the shutter curtain can no longer descend, and the slits close in order starting from the lower slit during the closing period after the lower end of the shutter curtain can no longer descend.

4. The electric opening / closing member control device according to claim 1 , An electric opening / closing body connected to the electric opening / closing body control device; An electric opening and closing system.

5. A program executed by the electric opening / closing member control device according to claim 1.

Images