KR20110024915A - Door control device and method - Google Patents

Abstract

The present invention relates to a door control device and a method, and in particular, a door control device for reversing the door lowering operation by recognizing whether an obstacle is detected during the lowering operation of the door through an encoder pulse generated by a motor operation. And to a method. Such a present invention is installed in the opening that is a passage between the indoor and outdoor, lifting or lowering the folding door for opening and closing the opening; A driving unit for driving the folding door; An encoder which is mechanically connected to the driving unit and generates a pulse by a rotation operation of the driving unit; And driving the drive unit to compare the pulse value of the encoder and the preset reference pulse value when the folding door descends, and if a pulse value less than or equal to the reference pulse value occurs a predetermined number of times, the obstacle is detected and recognized. And a control unit configured to control to perform an inverting operation with respect to the lowering of the door, wherein the control unit is configured to update the reference pulse value by calculating a pulse average value when the folding door is completed without the obstacle being detected. Provides a control method used.

Door, Overhead, Encoder, Pulse, Encoder Pulse, Motor, Folding Door, Obstacle

Description

Door control device and method {APPARATUS AND METHOD FOR CONTROLLING DOOR}

The present invention relates to a door control device and a method, and in particular, a door control device for reversing the door lowering operation by recognizing whether an obstacle is detected during the lowering operation of the door through an encoder pulse generated by a motor operation. And to a method.

In general, an overhead door is a kind of door that acts as a door of a garage for a house or as a large door for transporting parts and materials of a factory, and is economical, durable, and excellent in crime prevention, and insulation, soundproofing and quiet operation. It is produced in various shapes and shapes in consideration of sex and the like.

This conventional overhead door is installed in the opening that is a passage between the indoor and outdoor to open and close the opening by the lifting or lowering of the folding door.

At this time, when a certain pressure is sensed by providing a sensor (eg, a pressure sensor) at the bottom of the foldable door to detect an obstacle (eg, a person, a vehicle, an article, etc.) that prevents the foldable door from closing, the door is closed. By reversing the protection of the obstacles, the door can be used safely.

However, in the conventional overhead door having a sensor at the bottom of the folding door, even if a certain pressure is applied by the obstacle, the pressure applied by the obstacle decreases due to the folding property due to the characteristics of the folding door, thereby detecting the obstacle after a predetermined time. There was a problem to be detected.

Accordingly, there has been a problem in that the safety of the door apparatus cannot be given to the user.

In addition, the conventional door control device has to adopt a pressure sensor, which increases the manufacturing cost and at the same time the construction cost, as well as the cumbersome problem of periodic maintenance due to the malfunction of the pressure sensor due to the pressure sensor is employed. There was this.

The present invention has been made in view of the above problems, the door control to recognize the detection of the obstacle during the lowering operation of the door through the encoder pulse generated by the motor operation to perform the reverse operation of the door lowering operation. It is an object of the present invention to provide an apparatus and method.

It is another object of the present invention to provide a door control device and a method for accurately recognizing an obstacle that prevents a door's descending operation through an encoder pulse so as to perform an accurate and safe operation when the door is lowered.

Technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

Door control device according to an aspect of the present invention for achieving the above object, the door is installed in the opening that is a passage between the indoor and outdoor, the door to open or close the opening and closing the opening; A driving unit for driving the door; An encoder which is mechanically connected to the driving unit and generates a pulse by a rotation operation of the driving unit; And when the door is lowered by driving the driving unit, when the pulse value of the encoder is compared with the magnitude of the preset reference pulse value, and a pulse value less than the reference pulse value occurs continuously for a predetermined number of times, the door is recognized as being detected. And a control unit for controlling to perform an inversion operation for the falling of the control unit, wherein the control unit is configured to update the reference pulse value by calculating a pulse average value when the door is completed without the obstacle being detected.

Preferably, the control unit counts the pulses input from the encoder and accumulates the pulse values, divides the accumulated pulse values by the counted count, obtains a pulse average value, and uses the obtained pulse average value as a reference pulse value. It is characterized in that the preset.

Preferably, the pulse average value is calculated using a pulse input to the controller in the constant velocity section of the operating speed of the drive unit.

Preferably, the control unit compares the magnitude of the current pulse value input from the encoder with the reference pulse value, and if the comparison result is less than the reference pulse value, the encoder pulse is input at the next time after temporarily storing the current pulse value. When the current pulse value is smaller than the temporarily stored pulse value by more than the reference number of times, by comparing the magnitude with the value, the controller recognizes that the obstacle is detected and controls the door to be inverted.

According to another aspect of the present invention, a door control method includes: a door control method of a door control apparatus having an encoder, the method comprising: setting a reference pulse value by calculating a pulse average value by lowering the door when the door is lowered; After setting the reference pulse value in advance, the door is lowered, and when the pulse value of the encoder is compared with the magnitude of the preset reference pulse value continuously and a pulse value less than the reference pulse value occurs a predetermined number of times, it is recognized that an obstacle is detected. Performing an inversion operation with respect to the lowering of the door; And updating the reference pulse value by calculating a pulse average value when the door is finally lowered without performing the inversion operation.

Preferably, the setting of the reference pulse value may include calculating a pulse average value from pulses generated by an encoder while the door is lowered; And presetting the calculated average pulse value as a reference pulse value.

Preferably, the performing of the inversion operation may include: comparing a magnitude of a pulse value input from the encoder and a reference pulse value by the lowering of the door; Temporarily storing a current pulse value when the comparison result is less than a reference pulse value; And comparing the temporary stored pulse value with the magnitude of a pulse value input at a next time point, and reversing the door by recognizing that an obstacle is detected when the current pulse value is smaller than the temporary stored pulse value continuously. Characterized in that it comprises the step of controlling to.

The controlling of the inversion operation may include: determining whether a pulse value input at a next time point is greater than or equal to the temporarily stored pulse value; If the pulse value input at the next time point is greater than the temporarily stored pulse value as a result of the determination, resetting the pulse count, and then repeatedly comparing the magnitude of the input pulse value with the preset reference pulse value. ; And if it is determined that the pulse value input at the next time point is less than or equal to the temporarily stored pulse value, it is determined whether the pulse count is greater than or equal to the reference number of times after increasing the pulse count. And controlling the inversion operation with respect to the lowering operation.

Preferably, the pulse average value is calculated using a pulse input to the controller in the constant velocity section of the operation speed of the door.

According to the above-mentioned problem solving means, the present invention can determine whether there is an obstacle during the lowering operation of the door by using an encoder pulse, thereby replacing the existing pressure sensor, thereby reducing the manufacturing cost. .

In addition, during the lowering operation of the door, by accurately detecting the obstacle to perform the reverse operation for the lowering operation, there is an effect of increasing the user's reliability in safety.

The door control device and method according to the present invention compares the pulse value of the encoder that generates a pulse by the operation of the motor during the lowering operation of the door with the magnitude of the preset reference pulse value (pulse average value) to be equal to or less than the reference pulse value. If the value continues to occur, the present invention proposes a technical configuration that recognizes that an obstacle is detected and performs an inversion operation corresponding to the lowering operation of the door.

In the following description, specific details of the door control device and method of the present invention are shown to provide a more general understanding of the present invention. It is to be understood that the present invention may be readily practiced without these specific details and also by modification thereof. It will be apparent to those of ordinary skill in the art.

In the following description, the acceleration, constant speed, and deceleration sections will be immediately used to mean that the division of the folding door at the time of descending of the folding door or the operation speed of the driving unit in consideration of the speed that changes with time. In addition, the folding door in the following description is an object to be controlled by the door control device according to the present invention, it is only the door described as an example to help the understanding of the present invention, it is not limited to the folding door. This is of course applicable to various types of doors that can be manufactured as an overhead door.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings, with reference to the parts necessary for understanding the operation and operation according to the present invention.

1 is a block diagram showing a door control device of the present invention.

Referring to FIG. 1, the door control device 100 according to the present invention includes a folding door 11, a driving unit 12, an encoder 13, a storage unit 14, an operation unit 15, and a control unit. (16) and the like. Here, the drive part 13 and the encoder 14 are mechanically connected.

First, the folding door 11 is driven by the drive unit 13 to open and close the indoor and outdoor. By the folding door 31, the door can be opened and closed in an overhead manner.

The driver 12 drives the folding door 31. That is, the driving unit 12 opens and lowers the folding door 11 to close the indoor and outdoor. Here, the driving unit 12 may be a motor.

The encoder 13 detects the position of the folding door 11 and outputs position information. At this time, the encoder 13 generates a pulse value corresponding to the rotation operation of the driver 12. That is, the encoder 13 is mechanically connected to the driver 12, and generates a square wave pulse when the motor corresponding to the driver 12 rotates.

The storage unit 14 determines whether the obstacle is detected according to the pulse value generated by the encoder 13 during the lowering operation of the folding door 11 according to the present invention, and if the obstacle is detected, the folding door 11. Perform the reverse operation of the descent operation. In this case, the inversion operation may be an operation of maintaining an open state or an operation of fully opening by stopping after performing the lowering operation by a predetermined height.

The operation unit 15 is provided with a button for operation of the folding door (11). Accordingly, the operation unit 15 generates a corresponding key input signal according to a button operation corresponding to opening and closing of the folding door 11 provided.

The control unit 16 controls the overall operation of the folding door 11 in accordance with the present invention. In addition, the controller 16 compares the pulse value input from the encoder 13 with the magnitude of the preset reference pulse value (pulse average value), and if a pulse value less than or equal to the reference pulse value is continuously generated, the controller 16 recognizes that an obstacle is detected and reverses it. The folding door 11 is controlled to perform an operation. In this case, to determine whether the pulse value below the reference pulse value is continuously generated, it is determined whether the pulse value below the reference pulse value is continuously inputted more than the reference number of times, and the reference number can be preset by the user. It is desirable to have a predetermined number of times (for example, five times). Here, the reference number refers to sensitivity, and is a parameter for limiting the number of times in the concept of time. In addition, the control unit 16 increases the count in the state of maintaining the speed of the driving unit 12 in the constant velocity section following the acceleration section of the folding door 11, accumulates the generated pulse value to pulse in the deceleration section of the driving unit 12. The average pulse value obtained by calculating the average value is set as the reference pulse value.

That is, when the lowering request of the folding door 11 is input by the operation unit 15, the control unit 16 lowers the folding door 11 before performing the lowering operation of the folding door 11 according to the request. Acquire a pulse average value generated at time. This is to accurately detect an obstacle in consideration of the load condition of the door control device 100, and is performed when power is first applied to the door control device.

Subsequently, when the control unit 16 attempts to lower the folding door 11 while the reference pulse value is set in advance, the control unit 16 generates the magnitude of the current encoder pulse value and the reference pulse value generated in the constant velocity section of the driving unit 12. If the comparison result is equal to or less than the reference pulse value, the current encoder pulse value is temporarily stored and compared with the encoder pulse value at the next time point. Therefore, the controller 16 compares the magnitude of the current encoder pulse value with the temporarily stored encoder pulse value and recognizes that an obstacle is detected when the current encoder pulse value is smaller than the reference number of times, which is continuously smaller than the temporarily stored encoder pulse value. Control to reverse the folding door (11). At this time, the controller 16 does not perform the inversion operation of the folding door 11 and finally when the folding door 11 completes the descending, the average value of the pulse through the encoder pulse generated during the falling operation of the folding door 11 Calculate to update the reference set value. The calculation formula of the average pulse value will be described later in detail.

Looking at the operation of the door control device according to the present invention in detail with reference to Figure 1, first, the control unit 16, when the request for the lowering of the folding door 11 of the door control command requested by the operation unit 15, A pulse value obtained by calculating a pulse average value from encoder pulses generated by driving (12) is set as a reference pulse value. The control unit 16 lowers the folding door 11 to calculate a pulse average value, and uses the pulse input from the encoder 13 mechanically connected to the driving unit 12 when the folding door 11 is lowered.

Accordingly, the average pulse value increases the count by one during a predetermined driving period of the driving unit 12 as shown in Equation 1 below, accumulates the encoder pulse value input to the control unit 16, and divides the accumulated encoder pulse value by the count. Can be obtained by calculation. In this case, the constant driving section is preferably a constant speed section.

Pulse average value (pulse_avg) = pluse_acc (pulse accumulation value) / count (count)

Thereafter, the controller 16 presets a pulse average value obtained through Equation 1 as a reference pulse value.

Accordingly, the control unit 16 may lower the folding door 11 in advance to obtain a pulse average value in consideration of the load state during the lowering operation of the folding door 11, and based on the obtained pulse average value, the operation will be described later. It is determined that the obstacle is detected by.

The control unit 16 lowers the folding door 11 by driving the driving unit 12 for the lowering operation of the folding door 11 at the user's request. At this time, the control unit 16 compares the magnitude of the encoder pulse value and the reference pulse value input to the control unit 16 in the situation where the folding door 11 is lowered. If the encoder pulse value is equal to or less than the reference pulse value, the controller 16 temporarily stores the encoder pulse value equal to or less than the reference pulse value in the storage unit 14.

Thereafter, the controller 16 compares the magnitude of the encoder pulse value currently input with the temporarily stored encoder pulse value, and resets the pulse count if the encoder pulse value currently input is equal to or greater than the temporarily stored encoder pulse value. After resetting, repeat the process of comparing the current encoder pulse value and the reference pulse value.

However, as a result of comparing the magnitude of the currently input encoder pulse with the temporarily stored encoder pulse value, if the currently input encoder pulse value is less than the temporarily stored encoder pulse value, the magnitude of the encoder pulse at the next time point and the temporarily stored encoder pulse value are compared. do.

As a result of the comparison, when the current encoder pulse value is input with a pulse value smaller than the encoder pulse value stored temporarily for a reference number of times, the controller 16 recognizes that an obstacle is sensed and reverses the downward movement of the folding door 11. Control to perform the action.

2A and 2B are flowcharts illustrating a door control method according to an exemplary embodiment of the present invention.

Referring to FIGS. 2A and 2B, first, when the controller 16 requests the lowering of the folding door 11, the controller 16 drives the driving unit 12 to lower the folding door 11 (S201). This is a process performed when power is first applied to the door control device.

The control unit 16 calculates the pulse average value from the pulses generated by the encoder 13 mechanically attached to the motor by operating the motor corresponding to the driving unit 12 (S203), and based on the calculated pulse average value. The pulse value is preset (S205).

In the present invention, for example, to calculate the pulse average value by operating the motor of the drive unit 12 to lower the folding door 11, and counting the pulse input from the encoder 13 during the lowering operation of the folding door (11). After accumulating the pulse value, it is preferable to divide the accumulated pulse value by the counted count to obtain a pulse average value, and to pre-set the obtained pulse average value as a reference pulse value. In order to calculate the accurate pulse average value, the pulse input to the controller 16 is preferably used during the constant velocity section of the motor.

Thereafter, the controller 16 drives the motor in a state in which the reference pulse value is set in advance to lower the folding door 11 (S207), and receives the encoder pulse value from the encoder 13 (S209).

The controller 16 determines whether the input encoder pulse value is equal to or less than the preset reference pulse value (S211).

As a result of the determination, if it is equal to or more than the preset reference pulse value, the controller 16 determines whether the vehicle enters the deceleration section of the door (S213), and when the determination result enters the deceleration section, the motor of the driving unit 12 is decelerated and the folding door 11 ) Is finally lowered (S215).

Then, the controller 16 updates the reference set value by calculating the average pulse value by using the encoder pulse generated when the door descends (S217). This is to allow the reverse operation by detecting an obstacle in an optimal state in consideration of the load condition of the folding door.

However, if the determination result does not enter the deceleration section, the control unit 16 returns to the above-described step 209 (S209) and repeats the above process.

As a result of the determination in step 211 (S211), if it is less than or equal to the preset reference pulse value, the controller 16 temporarily stores the input current encoder pulse value as a temporary pulse value (S219).

Thereafter, the controller 16 determines whether the encoder pulse value input from the encoder 13 is equal to or less than the temporarily stored temporary pulse value (S221).

As a result of the determination, if it is equal to or more than the temporarily stored temporary pulse value, the control unit 16 resets the counted pulse count when an encoder pulse value occurs when it is equal to or less than the temporary pulse value (S223), and returns to the aforementioned step 209 (S209).

However, if the determination result is less than the temporarily stored temporary pulse value, the controller 16 counts the pulse count (S225), and determines whether the pulse count is greater than or equal to the reference number of times (S227). This is a step performed to accurately recognize whether there is an obstacle.

If the determination result is less than or equal to the reference number, the control unit 16 returns to step 219 (S219) described above in order to confirm whether the obstacle again and again accurately, and the magnitude of the encoder pulse value and the temporary pulse value of the next time point based on the current time point. Repeat the process of comparing.

However, if the pulse count is greater than or equal to the reference number of times, the controller 16 recognizes that an obstacle is detected while the folding door 11 is being lowered, and reverses the downward movement of the folding door 11 (S229).

Meanwhile, in the detailed description of the present invention, specific embodiments have been described, but various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the scope of the following claims, but also by the equivalents of the claims.

1 is a block diagram showing a door control device of the present invention.

2a and 2b is a flow chart showing a door control method according to an embodiment of the present invention.

Claims (9)

A door installed at an opening that serves as a passage between indoors and outdoors, and lifting or lowering to open or close the opening; A driving unit for driving the door; An encoder which is mechanically connected to the driving unit and generates a pulse by a rotation operation of the driving unit; And When the driver lowers the door by comparing the pulse value of the encoder with a preset reference pulse value and continuously generates a pulse value below the reference pulse value a predetermined number of times, the driver recognizes that an obstacle is detected and descends the door. A control unit for controlling to perform the inversion operation for, And the controller is configured to update the reference pulse value by calculating a pulse average value when the door is lowered without detecting an obstacle. The method of claim 1, wherein the control unit, After counting the pulse input from the encoder and accumulating the pulse value, the pulse value is calculated by dividing the accumulated pulse value by the counted count to obtain a pulse average value, and the predetermined pulse average value is set as a reference pulse value Door control device. The method of claim 2, wherein the pulse average value, The door control device, characterized in that the operation is calculated using the pulse input to the control unit in the constant speed section of the operating speed of the drive unit. The method of claim 1, wherein the control unit, Compare the current pulse value input from the encoder with the reference pulse value, and if the comparison result is less than the reference pulse value, temporarily store the current pulse value and compare the size with the encoder pulse value input at the next time point. And if the current pulse value is smaller than the temporarily stored pulse value continuously or more than the reference number of times, the door control device recognizing that the obstacle is detected and controlling the door to reverse operation. In the door control method of the door control device provided with an encoder, When the door is requested to be lowered, lowering the door to calculate a pulse average value to preset a reference pulse value; After setting the reference pulse value in advance, the door is lowered, and when the pulse value of the encoder is compared with the magnitude of the preset reference pulse value and a pulse value below the reference pulse value is continuously generated a predetermined number of times, it is recognized that an obstacle is detected. Performing an inversion operation with respect to the lowering of the door; And And if the door is finally lowered without performing the inversion operation, calculating a pulse average value and updating the reference pulse value. The method of claim 5, wherein the presetting of the reference pulse value comprises: Calculating a pulse average value from pulses generated at the encoder while the door is lowered; And And setting the calculated average pulse value as a reference pulse value. The method of claim 5, wherein performing the inversion operation, Comparing the magnitude of a pulse value input from the encoder with a reference pulse value by the lowering of the door; Temporarily storing a current pulse value when the comparison result is less than a reference pulse value; And Compare the temporary stored pulse value with the magnitude of the pulse value input at the next time point, and if the current pulse value is smaller than the temporary stored pulse value continuously more than the reference number of times, it is recognized that an obstacle is detected and the door is inverted. Door control method comprising the step of controlling. The method of claim 7, wherein the controlling of the inversion operation comprises: Determining whether a pulse value input at a next time point is greater than or equal to the temporarily stored pulse value; If the pulse value input at the next time point is greater than the temporarily stored pulse value as a result of the determination, resetting the pulse count, and then repeatedly comparing the magnitude of the input pulse value with the preset reference pulse value. ; And As a result of the determination, if the pulse value input at the next time point is equal to or less than the temporarily stored pulse value, the pulse count is increased, and it is determined whether the pulse count is greater than or equal to the reference number of times. And controlling to reverse operation with respect to the door. The method of claim 5, wherein the pulse average value, The door control method, characterized in that calculated using the pulse input to the control unit in the constant velocity section of the operation speed of the door.

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