CONTROLLER FOR DOOR OR WINDOW DRIVE

Abstract

The invention concerns a method for controlling a drive (5) for a leaf (1), in particular for a door leaf or a window leaf, including the following steps: Measuring a measured value (vr) of a kinetic quantity of the leaf (1), comparing the measured value (vr) with a tolerance range (TB) of a reference travel curve (SFK), driving the leaf (1) by the drive (5) according to the reference travel curve (SFK). Upon the measured value (vr) leaving the tolerance range (TB), the leaf (1) is set to a freewheel (FL) in which the drive (5) is suspended.

Claims

1. A method for controlling a drive for a leaf, in particular for a door leaf or a window leaf, comprising the following steps: measuring a measured value of a kinetic quantity of the leaf, comparing the measured value with a tolerance range of a reference travel curve, driving the leaf by the drive according to the reference travel curve, wherein, upon the measured value leaving the tolerance range, the leaf is set into a freewheel in which the drive is suspended.

2. The method according to claim 1, wherein, upon leaving the tolerance range, a force smaller than a minimum force acts on the leaf, in particular where the minimum force is 67 N.

3. The method according to claim 1, wherein, in the case of a measured value within the tolerance range, the leaf is driven by the drive.

4. The method according to claim 1, wherein the tolerance range is limited by a lower tolerance value and an upper tolerance value, wherein the lower tolerance value is smaller than a reference value according to the reference travel curve, and wherein the upper tolerance value is greater than the reference value, in particular wherein the lower and/or the upper tolerance value are variable, in particular wherein leaving the tolerance range means that the measured value falls below the lower tolerance value in the downward direction or exceeds the upper tolerance value in the upward direction.

5. The method according to claim 1, wherein the kinetic quantity is a position or a velocity, in particular an angular position or an angular velocity.

6. The method according to claim 1, wherein, after a time period defined for the freewheel, the driving of the leaf by the drive starts again according to the reference travel curve, in particular wherein the defined time period is between 2 s and 10 s.

7. The method according to claim 1, wherein the reference travel curve comprises the following sections: accelerating the leaf from a rest velocity at a zero position to a first velocity at a first position, moving the leaf at the first velocity to a second position, decelerating the leaf from the first velocity to the rest velocity so that it exhibits the rest velocity when reaching a third position.

8. The method according to claim 7, wherein the reference travel curve (SFK) is indicative of one of the following operations: an opening operation of the leaf, wherein the zero position is a closed position of the leaf, and the third position is an open position of the leaf, or a closing operation of the leaf, wherein the zero position is an open position of the leaf, and the third position is a closed position of the leaf.

9. The method according to claim 1, wherein the freewheel of the leaf is terminated and the leaf is driven by the drive when the measured value is above a maximum value which is dependent, in particular, on a maximum braking force of the drive and the position of the leaf, in particular wherein the drive brakes the leaf after termination of the freewheel with the maximum braking force so that it has the rest velocity when reaching the third position.

10. The method according to claim 1, wherein, upon leaving the tolerance range and before going into freewheel, the leaf is braked or accelerated with a defined acceleration value in the direction of the reference value, and the driving is resumed in accordance with the reference travel curve without the leaf entering the freewheel if the kinetic quantity changes in accordance with the defined acceleration value.

11. The method according to claim 1, wherein the driving of the leaf by the drive according to the reference travel curve is triggered by an opening or closing command comprising one of the following events: an actuation of a switch or button, in particular a pressing of a door handle or a window handle, or a signal from a device in communication with the drive, in particular from a third-party system or from a smartphone, or a signal from a sensor in communication with the drive, or an action of a force on the leaf from outside, exerted in particular by a person or an object.

12. The method according to claim 11 wherein the opening or closing command terminates the freewheel of the leaf.

13. An automatic drive for a leaf, in particular for a door leaf or a window leaf, comprising a sensor configured to measure a kinetic quantity of the leaf, in particular an encoder, a drive, in particular an electric motor or an actuator, and a control unit configured to carry out the method according to any one of the preceding claims.

14. The automatic drive for a leaf according to claim 13, further comprising one or more of the following features: a sensor configured to measure a drive voltage, a braking device configured to brake the leaf.

15. A computer program comprising code means for performing a method according to claim 1 when executed on a processor.

16. The method according to claim 2, wherein the tolerance range is limited by a lower tolerance value and an upper tolerance value, wherein the lower tolerance value is smaller than a reference value according to the reference travel curve, and wherein the upper tolerance value is greater than the reference value, in particular wherein the lower and/or the upper tolerance value are variable, in particular wherein leaving the tolerance range means that the measured value falls below the lower tolerance value in the downward direction or exceeds the upper tolerance value in the upward direction.

17. The method according to claim 3, wherein the tolerance range is limited by a lower tolerance value and an upper tolerance value, wherein the lower tolerance value is smaller than a reference value according to the reference travel curve, and wherein the upper tolerance value is greater than the reference value, in particular wherein the lower and/or the upper tolerance value are variable, in particular wherein leaving the tolerance range means that the measured value falls below the lower tolerance value in the downward direction or exceeds the upper tolerance value in the upward direction.

18. The method according to claim 2, wherein the kinetic quantity is a position or a velocity, in particular an angular position or an angular velocity.

19. The method according to claim 3, wherein the kinetic quantity is a position or a velocity, in particular an angular position or an angular velocity.

20. The method according to claim 4, wherein the kinetic quantity is a position or a velocity, in particular an angular position or an angular velocity.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Further advantageous embodiments of the invention will be apparent from the embodiments illustrated below with reference to the figures. They show:

[0024] FIG. 1 a perspective view of a door including drive, control and various sensors and switches according to an embodiment;

[0025] FIG. 2 a diagram of a reference travel curve with reference values of a kinetic quantity and a tolerance range according to an embodiment;

[0026] FIG. 3 a flow diagram of a method for controlling a drive for a leaf, in particular for a door leaf or window leaf, according to an embodiment;

[0027] FIG. 4 a flow diagram of an alternative method for controlling a drive for a leaf, in particular for a door leaf or window leaf, according to an embodiment.

DETAILED DESCRIPTION

[0028] FIG. 1 shows a perspective view of a door in a room according to an embodiment. The door comprises a door leaf 1, a door frame 2 and a door handle 3 for manually opening and closing the door. The embodiment of FIG. 1 shows a swing door, in which the door leaf 1 is rotatably mounted on the door frame 2 at its left side via door hinges 4. However, the devices and methods described below are not limited to swing doors, but can also be applied to other leaves, e.g. window leaves, and to other types of mounting, e.g. sliding doors or sliding windows.

[0029] According to the invention, the door leaf 1 may be driven by a drive 5. Frequently, the drive 5 is an electric motor or an actuator mounted on the door lintel above the door frame 2 and connected to the door leaf 1 via a linkage. Alternatively, however, the drive 5 may be attached to the door leaf 1. The drive 5 is controlled by a control unit, which may be integrated in a housing of the drive 5 or may be external. The necessary power for the drive 5 and control is provided by a power supply 6.

[0030] The control of the drive 5 can be triggered or switched via various paths, some of which are shown in FIG. 1. For triggering or switching the control unit, a signal via one of the paths is sufficient. On the one hand, the door handle 3 may be connected to the control unit, for example via an electrical connection or via radio connection, so that a manual opening or closing command is communicated to the control unit by actuating the door handle 3. However, various other types of pulse generator are also possible, such as a switch 7 or a pushbutton 8, in particular also a switch which can be actuated with a key or a fingerprint. Furthermore, a closing or opening command can be triggered by a proximity sensor 9 when a user approaches the door.

[0031] Advantageously, there is also a radio switch 10 which is triggered when approached, for example, by a token or a mobile phone 11 carried by the user. The user can thus easily open the door and pass through without having to be hands-free. In particular, triggering the control by a mobile phone 11 is advantageous, since not only an opening or closing command can be forwarded via a radio connection, for example via Bluetooth, from the mobile phone 11 to the radio switch 10 or directly to the control, but further functionalities may be facilitated. For example, various parameters of the control unit can be set via an app, for example a maximum opening angle, an opening or closing velocity or a predefined time period for a freewheel. A calibration of the drive 5 can also be carried out in this way.

[0032] Furthermore, the closing or opening command may also come from a third-party system 12 that is connected to the drive 5 or its control system. An example of such a third-party system 12 is a fire alarm system that triggers the closing of all doors to prevent a fire to extend. In another embodiment, the closing or opening command may be triggered by a signal from a sensor communicating with the drive 5 or its control system.

[0033] FIG. 2 shows a diagram of a reference travel curve SFK, which specifies reference values of a kinetic quantity to which the control system controls the door leaf 1. In the case shown, the controlled kinetic quantity is a velocity v as a function of an angular position α. Such a control system can be used, for example, for the swing door of FIG. 1. At the angular position α0, also called zero position, the door leaf 1 is in closed position, α3 denotes a third angular position for which it is useful to preset the angular position at the stop of the door leaf 1 or any other value between closed position and stop.

[0034] With the reference travel curve SFK shown in FIG. 2, the drive is controlled by the control system as a function of the angular position α, which is known from a measurement, e.g. with an encoder. A typical opening process of the door leaf can thus be divided into the following sections, which can also be applied analogously for a closing process:

[0035] When the control unit receives an opening command, the drive 5 accelerates the door leaf 1 in a first angular range A1 between the zero position α0 and a first angular position α1 from a rest velocity v0, which is zero, to a first velocity v1. In a second angular range A2 between α1 and a second angular position α2, the door leaf 1 is moved at the first velocity v1. In a third angular range A3 between α2 and α3, the door leaf 1 is decelerated by the drive 5 so that it reaches the rest velocity v0 again at the third angular position α3. Accordingly, the door is opened gently, whereby no further external action is required apart from an opening command.

[0036] There is a tolerance range TB around the reference travel curve SFK. Under normal circumstances, in particular in the absence of an external impact, the drive 5 is able to control the velocity v of the door leaf 1 within the tolerance range TB. At the same time, the door leaf 1 is driven by the drive 5 as long as measured velocity values vr are within the tolerance range TB. In the example of FIG. 2, the tolerance range TB in the second angular range A2 is limited downwards by the lower tolerance value v11 and upwards by the upper tolerance value v12, where 0<v11<v1 and v12>v1.

[0037] If an external force is applied to the door leaf 1, for example by a user or a draught, the door leaf 1 may be slowed down or accelerated to such an extent that it leaves the tolerance range TB, so that vr<v11 or vr>v12. In the case of a user intentionally decelerating or accelerating the door, it is reasonable that the drive 5 does not continue to operate against the user. Therefore, when the door leaf 1 leaves the tolerance range TB, it enters a freewheel FL at which the drive 5 stops, and in particular at which the drive 5 is de-energized. In freewheeling FL, advantageously at most a minimum force of, for example, 67 N acts on the door leaf 1. In freewheeling FL, the user has the possibility of moving the door leaf 1 and, in particular, also braking it, as he is accustomed to doing with a drive-free door.

[0038] Various criteria are conceivable in order to return from freewheeling FL to the driven state of door leaf 1 according to the reference travel curve SFK. The criteria can be implemented individually or together. However, in order to return to the driven state, it is advantageously sufficient to satisfy one of the criteria: The drive 5 may control the velocity v of the door leaf again according to the reference travel curve SFK as soon as the measured velocity values vr are again within the tolerance range TB. Two other criteria are also advantageous: On the one hand, a defined time period TFL is specified for the freewheel FL, after which the control by the drive 5 is automatically resumed according to the reference travel curve SFK. On the other hand, a user may trigger a return to the driven state by a renewed opening or closing command. For this purpose, also an external force impact acting on the door leaf 1 is interpreted as an opening or closing command if it causes a certain acceleration of the door leaf 1 from the rest velocity v0. Such functionality is called “push & go”. The procedure for controlling the drive 5 and an interaction of the various criteria are further illustrated in FIG. 3.

[0039] FIG. 3 shows a flow diagram of a method for controlling a drive for a leaf, in particular for a door leaf, e.g. according to FIG. 1, or a window leaf according to an embodiment. The method shown comprises the steps S1 to S9. A control process is initiated by an opening or closing command in step S1. In step S2, a sensor, e.g. an encoder, is used to measure the instantaneous angular position αr and the instantaneous velocity vr. Step S3 represents a safety criterion: The drive 5 may brake the door leaf 1 at most with a maximum braking force FBmax, which is determined for the drive 5 and can be regarded as a fixed parameter for the door leaf 1. If the door leaf 1, according to the measurement, is already very close to the third angular position α3, i.e., for example, the stop, but continues to move at a velocity vr which is equal to or higher than a maximum brakable velocity vBmax, i.e., vr≥vBmax, then the drive 5 brakes the door leaf 1 immediately in step S4 with the maximum braking force FBmax in order to reach, if possible, the resting velocity v0 at α3 and to avoid an uncontrolled closing of the door leaf 1. Besides the parameter FBmax, the maximum brakable velocity vBmax also depends on the angular position αr or the angular distance to the maximum angular position, namely |α3−αr|. Furthermore, step S3 may comprise further safety criteria, e.g. commands from safety sensors or external safety systems such as a fire alarm system.

[0040] If the maximum brakable velocity vBmax is not exceeded, a comparison of the measured velocity vr with the velocities according to the tolerance range TB is carried out in step S5. If vr is within the tolerance range TB, the door leaf 1 is driven in step S6 by the drive 5 according to the reference travel curve SFK. This procedure is continued by measuring αr and vr again in step S2.

[0041] If, however, vr is outside the tolerance range TB, the door leaf 1 enters the freewheel FL in step S7, in which the drive 5 is suspended. The criteria for exiting the freewheel FL again have already been briefly mentioned in connection with FIG. 2: In step S8, a check is made as to whether the time that has elapsed since entry into the freewheel FL is greater than a predefined time period TFL. If yes, a change is made to the driven state according to step S6. If no, i.e. if the predefined time period TFL of e.g. 6 s has not yet elapsed, freewheeling FL is continued.

[0042] Furthermore, freewheeling FL can also be terminated according to step S9 if the control unit receives a renewed opening or closing command. In this case, the drive of door leaf 1 is continued according to the reference travel curve SFK in step S6. If no new opening or closing command is received, the sequence is continued with the measurement of αr and vr in step S2.

[0043] FIG. 4 shows a flow diagram of an alternative method for controlling a drive for a leaf, in particular for a door leaf, e.g. according to FIG. 1, or a window leaf according to an embodiment. As in FIG. 3, the method comprises steps S1 to S9. However, the order of the steps is changed in one essential point. For example, the criterion in S3 that the door leaf 1 is immediately braked with the maximum braking force FBmax when the maximum brakable velocity vBmax according to S4 is exceeded, has been moved to the end of the flow diagram. After measuring the kinetic quantities αr and vr in S2, the process therefore continues directly with S5, i.e. a decision is made as to whether the measured velocity vr lies within the tolerance range TB.

[0044] The maximum force criterion and any further safety criteria according to S3 only come into play in FIG. 4 if no further opening or closing command is detected in step S9. If the measured velocity vr in S3 does not exceed the maximum brakable velocity, the process steps from the measurement of the kinetic quantities αr and vr in S2 are performed again. In contrast to FIG. 3, in FIG. 4 the maximum force criterion is thus only checked when the door leaf 1 is in freewheeling FL.

[0045] FIGS. 3 and 4 thus show examples of embodiments of a method for controlling a drive for a door or window leaf. A different sequence of steps is also conceivable. For example, steps S8 and S9, which represent criteria for leaving the freewheel FL, can also be performed in reverse order.

[0046] Advantageously, the described method for controlling a drive for a door or window leaf is computer-implemented, for example on a microprocessor with corresponding memory, which manages the control of the drive 5.

[0047] While the present disclosure has been illustrated and described with respect to a particular embodiment thereof, it should be appreciated by those of ordinary skill in the art that various modifications to this disclosure may be made without departing from the spirit and scope of the present disclosure.