Automatic door with position-dependent force limiting

• US 8,729,837 B2
• Filed: 09/04/2009
• Issued: 05/20/2014
• Est. Priority Date: 09/04/2009
• Status: Active Grant

• Current Assignee: HAAS Automation Incorporated
• Original Assignee: HAAS Automation Incorporated
• Inventors: Tandrow, William F., Zierhut, Kurt P., Teitel, Michael A., Tsui, Symon Man-Yiu, Fechtner, Michael
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US12/554,828
• Publication Number:
  US 20110060466A1
• Time in Patent Office: 1,719 Days
• Field of Search: 318162-164, 318255-257, 318264-266, 318/272, 318/282, 318/286, 318430-434, 318466-469, 318/268, 318/271, 388/904
• US Class Current: 318/268
• CPC Class Codes: E05F 15/41 Detection by monitoring transmitted force or torque E05F15/48 takes precedence; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
• CPC Class Codes: E05F 15/70 with automatic actuation
• CPC Class Codes: E05Y 2201/722 Racks
• CPC Class Codes: E05Y 2400/35 related to specific positions
• CPC Class Codes: E05Y 2400/51 of position, of back drive
• CPC Class Codes: E05Y 2900/608 for machines
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/41245 Discrimination of direction
• CPC Class Codes: G05B 2219/42168 Measuring of needed force for servo
• CPC Class Codes: G05B 2219/43061 Maximum acceleration deceleration lookup table as function of distance
• CPC Class Codes: G05B 2219/45242 Door, panel, window operation, opening, closing

Abstract

A method of controlling the motion of a moveable door includes determining the direction that the door is moving with respect to its anticipated closed position, and based on the direction, regulating an amount of force that is available to the door for its motion. The method may further include monitoring the position of the door as it is moving, and adjusting the motion of the door and regulating the amount of force available to the door for its motion, based on the calculated difference between the door'"'"'s position as detected during monitoring and its expected position.

Claims

1. A method of controlling the motion of a moveable door, comprising:

detecting a current position of a door;

determining a direction that the door is moving with respect to a closed position of the door;

determining a distance between the detected current position of the door and the closed position of the door if the direction that the door is moving is determined to be toward the closed position;

decreasing a maximum amount of force that is available to the door for its motion if the distance between the detected current position and the closed position is less than a threshold value;

determining whether the detected current position of the door is ahead of or behind an expected position of the door; and

decreasing the maximum amount of force that is available to zero if the detected current position of the door is determined to be behind the expected position of the door and the distance between the detected current position and the closed position is less than the threshold value.

2. The method of claim 1, wherein if the direction is determined to be toward the closed position of the door, the method further comprises:

based on the detected current position, setting an acceleration for the motion of the door; and

based on the detected current position, regulating the amount of force that is available to the door for its motion at the set acceleration.

3. The method of claim 2, wherein setting the acceleration and regulating the amount of force comprises:

setting the acceleration according to the determined distance between the detected current position of the door and the closed position of the door and the determination of whether the detected current position is ahead of or behind the expected current position of the door; and

regulating the amount of available force according to the determination of whether the detected current position is ahead of or behind the expected current position of the door.

4. The method of claim 3, wherein if the detected current position is determined to be ahead of the expected current position, the method further comprises setting the acceleration to be a negative value and increasing the amount of available force.

5. The method of claim 3, wherein if the detected current position is determined to be behind the expected current position, the method further comprises setting the acceleration to be zero and eliminating the available force.

6. The method of claim 1, wherein if the direction is determined to be away from the expected closed position of the door, the amount of force available to the door is not limited.

7. The method of claim 1, wherein regulating the amount of force comprises adjusting the amount of force generated by a force generating element that drives the door'"'"'s movement.

8. The method of claim 7, wherein when the difference between the detected current position and the closed position is determined to be less than the threshold value, adjusting the amount of force comprises sending a command to the force generating element to limit the amount of force generated by the force generating element.

9. The method of claim 7, wherein when the difference between the detected current position and the closed position is detected to be greater than the threshold value, adjusting the amount of force comprises sending a command to the force generating element to increase the amount of force generated by the force generating element.

10. An automatic door with position-dependent torque limiting, comprising:

a door configured to have a fully opened position and a closed position;

a force generating element connected to the door such that force generated by the force generating element is applied to the door to move the door toward its fully opened position or closed position;

a position sensing device configured to detect a current position of the door, and further configured to generate an output based on the detected current position of the door; and

a control system operatively connected to the force generating element and configured to set acceleration of the door based upon the output from the position sensing device, and further configured to regulate the amount of force generated by the force generating element based upon the generated output from the position sensing device,

wherein the control system is further configured to;

determine a distance between the detected current position of the door and the closed position of the door;

determine whether the detected current position is ahead of or behind the expected current position of the door;

set the acceleration according to the determined distance and the determination of whether the detected current position is ahead of or behind the expected current position of the door; and

regulate a maximum amount of force that is available to move the door according to the determination of whether the detected current position is ahead of or behind the expected current position of the door.

11. The automatic door of claim 10, wherein the control system is further configured to set the acceleration to a negative acceleration and increase the amount of available force if the detected position is determined to be ahead of the expected current position.

12. The automatic door of claim 10, wherein the control system is further configured to set the acceleration to zero and eliminate the amount of available force if the detected current position is determined to be behind the expected current position.

13. The automatic door of claim 10, wherein the force generating element comprises a servo motor.

14. A control system for controlling the motion of a moveable door, comprising:

a direction detector configured to detect a direction of a door;

a position detector configured to detect a current position of the door; and

a control unit configured to operate a force generating element based on signals from the direction and position detectors, wherein the control unit is further configured to;

receive a signal from the direction detector indicating which direction the door is moving with respect to a closed position of the door; and

determine a distance between the detected current position of the door and the closed position of the door if the direction that the door is moving is detected to be toward the closed position;

decrease a maximum amount of force that is available to the door for its motion if the distance between the detected current position and the closed position is determined to be less than a threshold value;

determine whether the detected current position of the door is ahead of or behind an expected position of the door; and

decrease the maximum amount of force that is available to zero if the detected current position of the door is determined to be behind the expected position of the door.

15. The control system of claim 14, wherein if the direction is detected to be toward the closed position of the door, the control unit is further configured to:

receive a signal from the direction detector indicating the detected current position of the door;

based on the detected current position, set an acceleration for the door; and

based on the detected current position, regulate the amount of force that is available to the door for its motion at the set acceleration.

16. The control system of claim 14, wherein the control unit is further configured to:

if the distance between the detected current position of the door and the closed position is less than the threshold value, set the acceleration and regulate the amount of force.

17. The control system of claim 16, wherein the control unit is further configured to:

set the acceleration according to the distance and the determination of whether the detected current position is ahead of or behind the expected current position of the door; and

regulate the amount of available force according to the determination of whether the detected current position is ahead of or behind the expected current position of the door.

18. The control system of claim 17, wherein if the detected current position is determined to be ahead of the expected current position, the control unit is further configured to set the acceleration to be a negative value and increase the amount of available force.

19. The control system of claim 17, wherein if the detected current position is determined to be behind the expected current position, the control unit is further configured to set the acceleration to be zero and eliminate the available force.

20. The control system of claim 14, wherein, to regulate the amount of force, the control unit is configured to adjust the amount of force generated by a force generating element that drives the door'"'"'s movement.

21. The control system of claim 20, wherein when a difference between the detected current position and the closed position is less than a threshold value, the control unit is configured to adjust the amount of force by sending a command to the force generating element to limit the amount of force generated by the force generating element.

22. The control system of claim 20, wherein when a difference between the detected current position and the closed position is greater than a threshold value, the control unit is further configured to adjust the amount of force by sending a command to the force generating element to increase the amount of force generated by the force generating element.

23. A computer-readable medium containing computer-executable instructions for performing a method of controlling the motion of a moveable door, the method comprising:

detecting a current position of the door;

determining a direction that the door is moving with respect to a closed position of the door;

determining a distance between the detected current position of the door if the direction that the door is moving is determined to be toward the closed position;

decreasing a maximum amount of force that is available to the door for its motion if a the distance between the detected current position and the closed position is determined to be less than the threshold value;

determining whether the detected current position of the door is ahead of or behind and expected position of the door; and

decreasing the maximum amount of force that is available to zero if the detected current position of the door is determined to be behind the expected position of the door.

24. The computer-readable medium of claim 23, wherein if the direction is determined to be toward the closed position of the door, the method further comprises:

based on the detected current position, setting an acceleration for the motion of the door; and

based on the detected current position, regulating the amount of force that is available to the door for its motion at the set acceleration.

25. The computer-readable medium of claim 24, wherein setting the acceleration and regulating the amount of force based on the detected position comprises:

if the determined distance is less than the threshold value, setting the acceleration and regulating the amount of force.

26. The computer-readable medium of claim 25, wherein setting the acceleration and regulating the amount of force comprises:

setting the acceleration according to the calculated distance and the determination of whether the detected current position is ahead of or behind the expected current position of the door; and

regulating the amount of available force according to the determination of whether the detected current position is ahead of or behind the expected current position of the door.

27. The computer-readable medium of claim 26, wherein if the detected current position is determined to be ahead of the expected current position, the method further comprises setting the acceleration to be a negative value and increasing the amount of available force.

28. The computer-readable medium of claim 26, wherein if the detected current position is determined to be behind the expected current position, the method further comprises setting the acceleration to be zero and eliminating the available force.

29. The computer-readable medium of claim 23, wherein if the direction is determined to be away from the expected closed position of the door, the amount of force available to the door is not limited.

30. The computer-readable medium of claim 23, wherein regulating the amount of force comprises adjusting the amount of force generated by a force generating element that drives the door'"'"'s movement.

31. The computer-readable medium of claim 30, wherein when a difference between the detected current position and the closed position is determined to be less than a threshold value, adjusting the amount of force comprises sending a command to the force generating element to limit the amount of force generated by the force generating element.

32. The computer-readable medium of claim 30, wherein when a difference between the detected current position and the closed position is detected to be greater than a threshold value, adjusting the amount of force comprises sending a command to the force generating element to increase the amount of force generated by the force generating element.