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EP3643865A1 - Procédé de commande d'un système de porte ainsi que système de porte - Google Patents

Procédé de commande d'un système de porte ainsi que système de porte Download PDF

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Publication number
EP3643865A1
EP3643865A1 EP19204126.7A EP19204126A EP3643865A1 EP 3643865 A1 EP3643865 A1 EP 3643865A1 EP 19204126 A EP19204126 A EP 19204126A EP 3643865 A1 EP3643865 A1 EP 3643865A1
Authority
EP
European Patent Office
Prior art keywords
door leaf
door
movement
acceleration
acceleration sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19204126.7A
Other languages
German (de)
English (en)
Inventor
Guido Bachmann
Gerd Gläsel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gebrueder Bode GmbH and Co KG
Original Assignee
Gebrueder Bode GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gebrueder Bode GmbH and Co KG filed Critical Gebrueder Bode GmbH and Co KG
Publication of EP3643865A1 publication Critical patent/EP3643865A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/33—Position control, detection or monitoring by using load sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/36—Speed control, detection or monitoring
    • E05Y2400/37—Speed control, detection or monitoring by using acceleration sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E05Y2400/458—Control modes for generating service signals
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/55—Obstruction or resistance detection by using load sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/506—Application of doors, windows, wings or fittings thereof for vehicles for buses
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/51—Application of doors, windows, wings or fittings thereof for vehicles for railway cars or mass transit vehicles

Definitions

  • the present invention relates to a method for controlling a door system, preferably a sliding door system for a rail or motor vehicle, the door system comprising: a door leaf which can be moved by movement along at least one movement axis in the direction of an opening and closing position, a drive unit for Drive of the door leaf when it is moving, an acceleration sensor for detecting the acceleration of the door leaf, and a control unit for controlling the drive unit, which is signal-technically connected to the drive unit and the acceleration sensor, the acceleration sensor recording the acceleration of the door leaf during its movement along the at least one movement axis , and wherein the detected acceleration is compared with reference values using a data processing unit connected to the control unit or integrated therein.
  • the invention relates to a door system, preferably a sliding door system for a rail or motor vehicle, which is suitable for carrying out the method mentioned at the beginning.
  • Door systems in particular door systems with an automatically operated opening and closing mechanism, are generally known. Such door systems can be designed as sliding door systems, swing door systems or as swing sliding door systems.
  • the door systems mentioned are usually composed of one or two movable door leaves.
  • the door leaf can also be referred to as a door leaf.
  • the present subject matter of the invention that is to say the method for controlling a door system and also the door system which is also claimed, is not limited to door systems with only one door leaf.
  • Multi-leaf door systems in particular those door systems consisting of two door leaves, are also covered by the invention.
  • the door leaves move in opposite directions when the door is opened and closed.
  • the door wing or doors are guided or suspended in a corresponding guide rail fixed to the vehicle via a running rail or running rollers.
  • the running rail or the running rollers can be provided at the upper and lower ends of the door leaf.
  • the door leaves are generally fastened to a door frame, also called a door frame, the frame or the door wing being at least partially pivotably mounted via swivel bearings, rotating columns, hinge systems or swivel arms.
  • the door leaves are subject to a superimposed swing and slide movement when opening and closing, so the movement process is subject to a (partial) rotation and linear movement.
  • the force required to move the door leaves when opening or closing is usually provided by a drive unit and transmitted to the door leaves.
  • a drive unit can be assigned to each of the door leaves.
  • the drive unit can comprise a drive motor and a transmission. Both electrical and pneumatic drive systems are used to drive door systems.
  • a number of different forces can act on the door systems or door leaves integrated into the respective vehicle - interior doors and exterior doors alike, for example induced by vehicle acceleration. These forces can change the driving force required to open and close the door leaves. At the same time, a change in the required driving force can result from an inclination of the vehicle, for example on a slope, at an incline or when cornering. In such situations, it may be necessary to open and close the door leaves to provide an increased or decreased driving force in line with the situation. A braking force can also be introduced into the door leaf in response to the driving situation. For this purpose, it is known from the prior art to provide door systems with acceleration sensors and / or inclination sensors.
  • a sliding door system which is equipped with such a sensor system comprising an acceleration sensor and an inclination sensor.
  • movements of the vehicle or movements of the sliding door leaves caused by vehicle movements can be detected.
  • the inclination of the sliding door system can also be determined.
  • the sliding door leaves are driven by a drive device, which in turn is controlled by a control device.
  • the control device calculates the force required to operate the drive device or, alternatively, a braking force.
  • the sensor system there can be arranged on the sliding door system, but an arrangement on sliding door leaves is not provided.
  • Door leaf movements can also be monitored without acceleration and tilt sensors.
  • Systems are generally known in which the door leaf movement or the door movement is controlled and regulated by a control unit.
  • the control unit receives position or movement information of the door leaves via incremental encoders, potentiometers or other sensors integrated in a drive unit.
  • the drive unit is connected to the control unit for signaling purposes. Movement and position information can also be determined purely mechanically from the number of revolutions or the motor currents of the drive motor. Obstacles can be detected using differential pressure switches, sensing edges, light barriers or foot contacts. Obstacles can also be detected with such sensors. Basically, it is advantageous in system development to integrate as many functions as possible in one and the same system to reduce the number of components - also for cost reasons. This is difficult to achieve with the known systems.
  • the object of the present invention is to provide a method for controlling a door system and a door system, by means of which a simplified, situation-appropriate control of a door system with simultaneous continuous operation or status control of the door system is made possible.
  • a method for controlling a door system preferably a sliding door system for a rail or motor vehicle, is proposed.
  • the method or the door system also proposed with the invention is particularly suitable for use in rail vehicles and motor vehicles, but is not limited to these modes of transport.
  • Use in aircraft such as B. aircraft is conceivable.
  • motor vehicles are meant all types of (electro) motor-operated passenger cars (cars), buses, trucks (trucks) and even agricultural vehicles.
  • Rail vehicles are understood to mean, for example, high-speed trains, regional trains, railways, trams, S-Bru, U-Bahn or other vehicles guided on rails.
  • Use in building door systems or elevator door systems is also conceivable.
  • a sliding door means a door which is suitable for separating or connecting two separate areas - for example the interior and exterior of a vehicle, or alternatively two separate interior areas (for example compartments) of a vehicle.
  • a sliding door preferably comprises at least one movable door leaf which is held in a guide at the top or bottom by a running rail.
  • special door shapes for example vertically can be moved up or folded away, or folding doors are included in the invention.
  • the door system likewise proposed with the invention comprises a door leaf which can be moved in the direction of an opening and closing position by moving along at least one movement axis.
  • Open position means that a passenger can pass through the door portal in this door leaf position
  • the closed position means each door leaf position in which it is not possible to pass through.
  • the door system can be a sliding door system, swing door system or swing sliding door system.
  • the door system can have one door leaf (single-leaf door system) or two door leaves (double-leaf door system).
  • double-leaf door systems the opening and closing movement takes place in opposite directions, i.e. the door leaves move uniformly in different directions.
  • sliding doors When opening or closing, sliding doors are moved in the direction of their open or closed position along a first, second and / or third movement axis.
  • the axes of movement are aligned orthogonally to one another.
  • the door leaves When opening, the door leaves can be pushed in the direction of a door pocket.
  • the leaves In the case of a double-leaf sliding door, the leaves are moved away from one another as they move into the open position along the first movement axis, although they move on one and the same movement axis, they are moved in the opposite direction. Conversely, the door leaves move towards each other when they move in the direction of the closed position, but also in the opposite direction.
  • Swing door systems or swing doors can be moved by rotating a door leaf around a swivel axis in the direction of its open or closed position.
  • the pivot axis can be designed as a rotating column.
  • the pivot axis preferably runs along a vertical longitudinal axis of the door leaf or a door leaf frame.
  • the pivoting movement of the door leaf - be it in the direction of the open or closed position - is a movement with movement components in the direction of the first movement axis and a second movement axis, the second movement axis being oriented perpendicular to the first movement axis.
  • a speed vector or acceleration vector assigned to the pivoted door leaf has components both along the first and the second axis of movement.
  • the movement into the open or closed position is a superimposed linear movement along the first movement axis and a rotational movement with movement, speed and acceleration components in the direction of the first and second movement axes.
  • the door system on which the invention is based is a door arrangement parallel to the longitudinal axis of the vehicle
  • the first axis of movement runs parallel to the longitudinal axis of the vehicle.
  • the second movement axis runs parallel to the transverse axis of the vehicle
  • the third movement axis runs perpendicular to the first and second movement axes.
  • the door arrangement is arranged transversely to the vehicle longitudinal axis, then the first movement axis runs parallel to the vehicle transverse axis and the second Movement axis parallel to the vehicle's longitudinal axis. The above applies to the third axis of movement.
  • the door system further comprises a drive unit for driving the door leaf when it is moving.
  • the drive unit preferably comprises a drive motor and optionally also a drive gear.
  • the drive motor can be operated electrically, pneumatically, hydraulically or magnetically.
  • the drive motor can be a brushless motor. Any common and suitable transmission for motion transmission can be considered as a transmission.
  • the gear selection is made taking into account the existing door system. A different gearbox may be required for a pure sliding door system than for a swing door system or a swing sliding door system.
  • the drive can be connected to the respective door leaf via a drive belt or toothed belt.
  • the door system also includes an acceleration sensor for detecting the acceleration of the door leaf. If it is a two-leaf door system, an acceleration sensor can be arranged in each of the door leaves. Several acceleration sensors can also be provided for a door leaf. In particular, two- or three-axis acceleration sensors come into consideration as acceleration sensors. So-called MEMS sensors are particularly suitable for this. The acronym MEMS stands for a micro-electro-mechanical system. However, the method or door system according to the invention is not limited to the use of MEMS sensors. At the same time, for example, piezoelectric acceleration sensors can be used.
  • the acceleration components of the door leaf can be determined along the first, second and third movement axes. Since the acceleration of gravity acts on the sensor at all times - even when it is stationary, the inclination of the sensor or the door leaf and thus the door system can also be calculated with the help of the acceleration sensor. Knowing the inclination of the door leaf is advantageous for an economical and reliable execution of the door leaf movement. Because in an inclined state, an additional one can be used to open or close the door leaf Depending on the position of the door leaf, drive energy is also required, a reduced drive energy or even a braking force.
  • the door system on which the invention is based comprises a control unit connected to the drive unit and the acceleration sensor in terms of signal technology.
  • the control unit can be a microcontroller that is combined with the acceleration sensor in a system unit, for example on a circuit board.
  • the control unit can also be designed separately from the acceleration sensor.
  • the control unit is then connected to the acceleration sensor in a wireless or cable-switched data signal connection.
  • a separate control unit can be assigned to each door leaf.
  • a data processing unit can be connected to the control unit, as it were integrated into the control unit.
  • the data processing unit can have a data memory.
  • the data processing unit preferably stores the detected acceleration and / or the reference values in the data memory.
  • the acceleration sensor detects the acceleration of the door leaf during its movement along at least one of the movement axes.
  • the method on which the invention is based enables permanent monitoring of the functionality and the operating state of the door leaf.
  • changes in acceleration induced by changes in mechanical components can be recorded directly.
  • Such an acceleration change can be an indication of an impending failure or an impairment of the door leaf or the door system.
  • a "jerk" during the door movement should be mentioned, which can indicate, for example, a stiff door bearing.
  • the method according to the invention thus ensures predictive maintenance of the door leaf or door system. This is of particular importance when the door leaf is used in public transport vehicles - for example in buses or trains - in which the door leaves are exposed to high loads due to permanent opening and closing processes.
  • the detected acceleration is compared with reference values using the data processing unit.
  • the reference values can represent an obstacle-free movement of the door leaf - an ideal value, so to speak. Tolerance ranges can be taken into account when determining the reference values, upper and lower limits can be specified.
  • the reference values u can be determined experimentally or mathematically.
  • a system evaluation is carried out in accordance with the method on which this is based, as to whether there is an obstacle which interferes with the movement of the door leaf or any other system impairment.
  • the system evaluation can be carried out by the control unit or the data processing unit. If no impairing obstacle and no other system impairment can be determined in the way of system evaluation, the process or the recording of the acceleration is continued continuously.
  • an undisturbed movement of a door leaf has an acceleration phase until a target speed is reached.
  • the target speed is maintained until shortly before reaching the end position (this can be the open or closed position).
  • the acceleration takes on negative values. If there is an obstacle that interferes with the movement of the door leaf, the acceleration of the door leaf changes. This can be detected directly via the acceleration sensor.
  • a large obstacle creates a stronger reversal of acceleration than a small obstacle. This can be detected directly by the acceleration sensor and determined by the control unit or data processing unit connected to it. The type of obstacle can thus be identified on a case-by-case basis and an appropriate system sequence can be initiated.
  • a system sequence in the presence of a large obstacle can be the complete braking of the door leaves or the ordering of a backward movement into the starting position.
  • the inclination of the door leaf with respect to at least one of the axes of movement in the idle state can be detected with the acceleration sensor.
  • the position or position of the door leaf can also be located and ascertained, in particular when using three-axis acceleration sensors.
  • the door system or the door leaf can be controlled and regulated in adaptation to the present inclination. This guarantees a clean, situation-adapted and optimized movement of the door leaf or door system.
  • knowledge of the inclination acting on the respective door leaf is known or slope downforce of great importance. Because, depending on the inclination, the door leaves are accelerated or decelerated by the slope downforce acting on the door leaves when opening or closing.
  • the separately driven door leaves can be acted upon with a different driving force adapted to the inclination and, despite the influence of the downhill driving force, run into their end position at the same time - the open position or closed position. Ultimately, this guarantees an optimization of the door leaf movement and the door movement.
  • an acceleration change occurring during the movement of the door leaf is detected with the acceleration sensor and used to monitor the functionality and the operating state of the door leaf by means of predictive maintenance. It is further preferred here that the acceleration change occurring is stored.
  • the acceleration sensor is arranged in the interior of the door leaf or on an outside of the door leaf, preferably behind a maintenance flap provided in the upper region of the door leaf.
  • the arrangement of the acceleration sensor directly on the door leaf or in the interior of the door leaf enables the detection of obstacles. Impairments to the door leaf movement, for example a blocking of the door leaf due to an obstacle in the way, have a direct effect on the continuously measured acceleration value. In this way, a system assessment can be carried out immediately in line with the situation and a corresponding system sequence can be initiated, for example stopping the movement or initiating a reversal of the direction of the door leaf.
  • An arrangement in the upper area of the door leaf is advantageous since a number of electrical connections are often provided at this point anyway. In this way, existing electrical connections can be used for the electrical supply of the acceleration sensor.
  • the acceleration sensor can be arranged on a cover of the maintenance flap.
  • An arrangement directly on the cover of the maintenance flap can increase the accessibility of the sensor e.g. for maintenance or replacement.
  • the acceleration sensor can be arranged flat on a cover plate or fitting on the door leaf.
  • a flat sensor design can be space-saving and offer advantages insofar as the door leaf does not offer the possibility of arranging the sensor in a door leaf interior.
  • the acceleration sensor can be integrated in an operating element of the door leaf or another component of the door leaf.
  • Such an embodiment also serves to save space and uses existing installation spaces.
  • the control element usually already has an electrical supply line. If the acceleration sensor is arranged in the control element, this can be used or contacted.
  • the acceleration sensor is coupled to the door leaf.
  • the coupling between the sensor and the door leaf is a decisive factor for an exact recording of the acceleration and inclination values.
  • the accelerations acting on the door leaf must also act on the acceleration sensor for correct detection.
  • an effective (mechanical) coupling must be provided.
  • the coupling can be damped by inserting an elastic coupling element. A type of mechanical low-pass filter is thereby inserted, as a result of which unwanted high-frequency vibrations - for example due to cables or sensors located in the vicinity - are decoupled from the sensor.
  • the door leaf can be part of a single or double-leaf sliding door and the door leaf can be Movement in the direction of the opening and closing position are moved along the first axis of movement, for example via slide or roller bearings.
  • the sliding door can be an interior vehicle door or an exterior vehicle door.
  • the bearings or the rails associated with the bearings can be operatively connected to the transmission or the drive unit, for example via a drive belt.
  • the door leaf can be part of a pivoting or pivoting sliding door. Furthermore, the door leaf can be moved along the first movement axis and the second or third movement axis during its movement in the direction of the opening and closing position by means of an at least partially superimposed pivoting and linear movement.
  • the acceleration sensor can be a three-axis acceleration sensor, by virtue of which the acceleration of the door leaf along the first, second and third movement axis is detected.
  • Three-axis acceleration sensors are advantageous because they can be used regardless of the type of door system. They are suitable for use with sliding door systems, swing door systems as well as swing sliding door systems.
  • the system evaluation is carried out by an integrated data processing unit in the control unit or an external data processing unit that is connected to the control unit for signaling purposes.
  • a data processing unit integrated in the control unit can be advantageous since the provision of a data transfer line can be dispensed with.
  • the data processing unit is then directly connected to the control unit for signaling purposes, for example on one and the same board.
  • An external arrangement of the data processing unit can be advantageous in order to better distribute the computing load, as a result of which the acceleration sensors can be operated at a maximized data rate.
  • An external data processing unit can offer advantages, particularly for use in continuous operation.
  • the continuously recorded acceleration data are stored at least temporarily in the form of time-resolved data curves or data tables.
  • the storage can be carried out, for example, in a storage unit integrated in the data processing unit.
  • An external storage unit on an external server or a data cloud can also offer advantages, in particular with regard to a larger storage capacity.
  • the storage in the form of data curves or data tables is particularly suitable for recording time-resolved acceleration values.
  • the reference values in the form of a reference data curve or reference data table in the control unit or data processing unit, the reference values corresponding to an ideal, unobstructed movement of the door leaf.
  • the reference data curve or the reference data table can be time-resolved and / or position-resolved.
  • An obstacle-free ideal movement means a movement of the door leaf without impairments. This can mean, on the one hand, an obstacle-free door leaf run and, on the other hand, a door leaf run without system errors or impairments due to the failure or damage to mechanical components.
  • the reference data are preferably determined by calibrating or in test runs of the door leaf under predefinable conditions.
  • the reference values may also be possible for the reference values to be acceleration values which are determined by means of a calculation based on characteristic values of the drive unit and which correspond to an ideal, unobstructed movement of the door leaf.
  • a computational determination of target acceleration values can supplement the experimental values or those determined by calibration or during test runs and / or can be used to check them.
  • characteristic values of the drive unit for example the motor voltage, the motor current, the motor revolution, can compensate for possible errors in the measurement value determination via the acceleration sensor system.
  • the above-mentioned position resolution of the above reference data curve or the reference data table is particularly useful if, for example, a current setpoint curve for the drive unit is also resolved. Such a position resolution corresponds to the resolution after pulses from an incremental encoder.
  • At least one control signal is passed on from the control unit to the drive unit, the control signal comprising a change in an instantaneous operating parameter of the drive unit, and as a result of the Parameter change the movement of the door leaf is at least temporarily interrupted, braked, amplified or reversed in its direction.
  • a reaction mediated by the drive unit takes place in the movement sequence of the door leaf. If the direction is reversed in response to the detection of an obstacle by means of the system evaluation, the drive motor is first stopped and then driven in the opposite direction. This can automatically clear any obstacles that may have become stuck.
  • the mentioned operating parameters can include the following parameters: the voltage, the current, the speed, the direction of rotation and / or the power of the drive motor.
  • the operating parameters can also be the following parameters: the speed, the acceleration or the braking force of an engine and / or transmission brake.
  • the parameters of speed and acceleration refer to the door leaf.
  • the control unit forwards an optical or acoustic warning signal to a display element provided in the area of the door system or in the cockpit of the rail or motor vehicle.
  • Any other system impairment can be a failure or damage to a mechanical component of the door system.
  • a display in the form of an optical or acoustic warning signal is helpful so that the vehicle driver can become aware of this damage or the failure and possibly replace the component.
  • that optical warning signal can be realized in a flashing of a warning light.
  • the playing of a warning tone can serve as an acoustic warning signal.
  • Figure 1 is a perspective view of a two-leaf sliding door, which, like that in the Figure 2
  • the two-leaf pivoting sliding door shown can be part of the door system or method on which the invention is based.
  • the door system can comprise a pure swing door system and / or be single-leaf.
  • the sliding door 1 has two door leaves 2.
  • the door leaves 2 can also be referred to synonymously as door leaves.
  • the door leaves can be arranged within a corresponding door portal (not shown) of a vehicle.
  • a viewing window 10 can be integrated in the door leaf.
  • the door leaves 2 are displaceably arranged on a guide element 4, for example a guide tube or a guide rail, which runs along a first movement axis X, via a guide carriage 3, which can be designed, for example, as a roller carriage or sliding carriage.
  • the guide carriage 3 is connected to the respective door leaf 2 via a connecting element 5.
  • the connecting element 5 is preferably firmly connected to the door leaf 2, for example via a screw connection.
  • a separate guide carriage 3 is assigned to each of the two door leaves 2.
  • the guide carriage is operatively connected to a drive unit (not shown), for example via a drive belt.
  • a drive unit not shown
  • the door leaves 2 are in their closed position.
  • the door leaves 2 mediated by the respective guide carriages 3 and the drive unit, are moved along the first movement axis X in the opposite direction, that is to say away from one another.
  • the method according to the invention comes into play.
  • the acceleration a and speed v of the door leaf 2 change immediately.
  • an acceleration sensor 6 arranged in the door leaf 2 or on the door leaf 2. This is because the acceleration sensor 6 continuously records the movement data of the door leaf 2 assigned to it. Accordingly, a change in acceleration a is immediately recognized.
  • the obstacle detection by the acceleration sensor 6 is carried out by a control unit or a data processing unit connected to the acceleration sensor 6.
  • the recorded acceleration values are compared with predetermined reference values.
  • a system evaluation is carried out as to whether an obstacle which interferes with the movement of the door leaves 2 or another system impairment, e.g. a defective component of the door system is present.
  • the acceleration sensor 6 can be arranged at any position of the door leaf 2. However, the acceleration sensor 6 is preferably arranged in the upper region of the door leaf 2. Possible positions 7 for the arrangement of the acceleration sensor 6 are shown in FIGS 1 and 2 featured. Like especially that Figure 3 reveals, the acceleration sensor 6 can be arranged in a door leaf 2 formed from a plurality of material layers inside the door leaf 2, preferably on an aluminum frame 8.
  • Exploded two-leaf swivel sliding door system also comprises two door leaves 2.
  • Each of the door leaves 2 is slidably suspended on a guide element designed as a roller carriage or sliding carriage via a guide and drive unit 9 (not further differentiated here) on a guide element running in the direction of the first movement axis X.
  • Frame elements 12 and rotating columns 13 are provided along the longitudinal axis of the door leaves 2 for at least partially pivoting mounting of the door leaves 2.
  • the door wings 2 are prevented from striking a vehicle outer skin by guiding the door wings 2 via rollers which are integrated in the rotating columns 13, but are not shown separately here.
  • a rail 11, which serves as a counter-bearing for the rotating columns 13, is arranged essentially below the door leaf 2.
  • the door leaves 2 move in a superimposed partial rotation and linear movement (in Fig. 2 represented by arrow 14) at least partially in the direction of the movement axis Y, before they are fanned out in opposite directions along the movement axis X.
  • Acceleration sensors 6 can also be arranged at different positions 7 in the door leaves 2 of the pivoting-sliding door system shown. In the event of a two-axis movement of the door leaves 2, the acceleration sensors 6 detect the acceleration components along both axes X, Y. If there is no movement along the Z axis, the acceleration sensor 6 senses the effect of the acceleration of fall in this direction. Taking this key figure into account, the inclination of the door system can be calculated. This can be advantageous for an effective control of the door leaf 2.
  • the drive unit can react adequately to the necessary circumstances (for example, a necessary additional driving force when the vehicle is tilted) and enable operation adapted to the situation by changing the engine parameters.
  • FIG. 3 In an exploded view, an exemplary structure of a door leaf together with a possible installation position of the acceleration sensor 6 is shown.
  • a door leaf 2 is composed of several layers of material or components.
  • the door leaf 2 has external fittings in the form of aluminum sheets 15, 16.
  • the acceleration sensor can be fastened to an aluminum frame 8 in the interior of the door leaf 2.
  • At least one insulating wall 17 for heat and noise insulation can be provided between the outer aluminum sheets 15, 16 and the aluminum frame 8.
  • Further elements can be a finger protection strip 18 and a glass pane forming the viewing window 10.
  • the acceleration of acceleration sensors 6 provided on the door leaves 2 is recorded continuously over time.
  • Figures 4 and 5 are exemplary time profiles of speed profiles (v (t)) and acceleration profiles (a (t)) for the case of a ideal ( Fig. 4 ) Opening or closing process and one that is impaired by an obstacle ( Fig. 5 ) Opening or closing process of a sliding door shown.
  • the movement sequence in this case consists of an acceleration phase 19 which lasts until a desired, constant displacement speed v (constant displacement phase 20) is reached.
  • the constant speed v is maintained until the end position is approached (this can be the open position or the closed position) and is reduced to zero in a braking phase 21.
  • a decisive advantage of the detection of the acceleration values via an acceleration sensor 6 arranged on the door leaf 2 or in the interior of the door leaf 2 lies in the direct detection of the acceleration a at the point of action. This eliminates the need to calculate indirectly and delayed using auxiliary values from drive key figures.
  • the Figure 6 shows an exemplary sequence of the method underlying the invention for controlling a door system.
  • the acceleration a and or inclination of the door system is detected via one or more acceleration sensors 6 provided on a door leaf 2, method step 100.
  • the acceleration a is continuously detected or sensed.
  • the detected acceleration values a and / or inclination values are compared with reference values in a further method step 110. This can be done using one in one the drive unit and the acceleration sensors 6 connected control unit or a data processing unit connected to or integrated in this.
  • the control unit or data processing unit then carries out a system evaluation 120.
  • the comparison with reference values determines whether there are deviations from the reference values beyond a certain tolerance or not.
  • the reference values can be predefined acceleration curves that correspond to an ideal, obstacle-free movement (see e.g. Fig. 4 ).
  • the size of the obstacle can be derived from the magnitude of the acceleration or speed drop or another system impairment (e.g. a failure of components of the drive unit) can be determined.
  • Operating parameters from the drive unit can also be used to carry out the system evaluation.
  • the change in certain operating parameters is initiated in a method step 150. For example, the direction of movement of the door leaf 2 can be changed, as a result of which the door leaf 2 moves back into its open position and releases any jammed obstacle.
  • step 140 If no obstacle or system impairment is determined (step 140), there is no change in operating parameters and the sensation of the acceleration is continued. Sensing the acceleration values is continued continuously when the illustrated method scheme is run through.
  • the driver can e.g. be displayed in the form of a warning signal.
  • the system can be evaluated directly from the acceleration data recorded over time as well as from speed data.
  • the parameters can be converted into one another by differentiating / integrating or deriving / deriving.

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EP19204126.7A 2018-10-23 2019-10-18 Procédé de commande d'un système de porte ainsi que système de porte Withdrawn EP3643865A1 (fr)

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DE102018126347.3A DE102018126347A1 (de) 2018-10-23 2018-10-23 Verfahren zur Steuerung eines Türsystems, sowie Türsystem

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US20220212896A1 (en) * 2021-01-05 2022-07-07 Kone Corporation Door sensor unit and a method for determining a type of a door
CN114809856A (zh) * 2022-04-29 2022-07-29 上海思岚科技有限公司 一种用于确定电控门开关时运动状态的方法与设备
CN115288557A (zh) * 2022-09-14 2022-11-04 深圳市兆威机电股份有限公司 一种防撞控制方法、装置、自动隔断门及可读存储介质
EP4368802A1 (fr) * 2022-11-08 2024-05-15 Nabtesco Corporation Dispositif de diagnostic, procédé de diagnostic et support lisible par ordinateur non transitoire stockant un programme de diagnostic

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EP4636212A1 (fr) * 2024-03-22 2025-10-22 Calistri Giacinto S.A.S. di Calistri Claudio e Sauro & C. Porte automatique pour bateaux
DE102024204661A1 (de) 2024-05-21 2025-11-27 Siemens Mobility GmbH Türgeschwindigkeitsregelung in Abhängigkeit der Hindernisfreiheit

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US20220212896A1 (en) * 2021-01-05 2022-07-07 Kone Corporation Door sensor unit and a method for determining a type of a door
CN114809856A (zh) * 2022-04-29 2022-07-29 上海思岚科技有限公司 一种用于确定电控门开关时运动状态的方法与设备
CN115288557A (zh) * 2022-09-14 2022-11-04 深圳市兆威机电股份有限公司 一种防撞控制方法、装置、自动隔断门及可读存储介质
CN115288557B (zh) * 2022-09-14 2023-12-05 深圳市兆威机电股份有限公司 一种防撞控制方法、装置、自动隔断门及可读存储介质
EP4368802A1 (fr) * 2022-11-08 2024-05-15 Nabtesco Corporation Dispositif de diagnostic, procédé de diagnostic et support lisible par ordinateur non transitoire stockant un programme de diagnostic

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