DE102006008513A1 - Sensor-monitoring device for motor driven wing of automatic door, has evaluation circuit provided for control and/or evaluation of detection signal, and sensors with overlapping area with reference to monitoring area - Google Patents

Abstract

The device has two sensors (11a, 11b) operated on the basis of a different technical operational principle, where each sensor is attached to a release spring (111a). A detection signal is delivered when an object (X) is moved through a movement path by the spring within a preadjustable or variable time frame by the sensors. An evaluation circuit is provided for control and/or evaluation of the detection signal delivered by the sensors. The sensors are arranged such that the sensors have an overlapping area with reference to a monitoring area.

Description

The Invention relates to a sensor monitoring device, in particular for the monitoring of automatic doors, according to the preamble of claim 1.

A method and a device for controlling and / or monitoring a motor-driven wing, in particular an automatic door control system, for example, from EP 0 935 042 B1 known.

According to this prepublication it is known, detection and monitoring means as generally referred to by the term "sensors" or, for example, as a "motion detector" in particular become. Further, they are usually Evaluation and control devices provided, the separated or can be built together, over here For example, to control an automatic sliding door drive.

The Using sensors may be different in terms of their technicalities Functions and / or applications differ.

To the Capture and recognition of objects, for example for protection an automatic door, can Different types of sensors are distinguished.

To the most common Sensor types include while so-called motion detectors, usually radar motion detectors.

A group of detection and monitoring means usually made of so-called sensors, which are used to detect non-moving, serve static objects. These sensors usually control the handling of the door. that is, the door remains open if an object is within or just before Door is located (This serves, for example, to secure a door closing edge), or the door opens not if an object is near the rear edge of the door (This serves, for example, to secure the secondary closing edge). To protect the door closing edge are often photocells used. Of greater importance However, they are sensors, for example in the form of active infrared sensors.

The Requirements for the sensor systems with regard to their safety and security Above all, reliability is constantly increasing. It should be the failure a sensor system or, for example, the partial deterioration a sensor system for safety reasons quickly and timely detected become.

• 1. Verwendet wurden zum Teil redundante Sensorsysteme, vor allem bei Fluchtwegen. Verwendet wurden also beispielsweise redundante Radarbewegungsmelder. Dies erfordert in der Regel allerdings einen großen Aufwand verbunden mit hohen Kosten.
• 2. Im Falle von Lichtschranken wurde die Verwendung von selbstüberwachten Lichtschranken vorgeschlagen. Das bedeutet, dass vor jeder Türbewegung die Lichtschranken auf ihre Funktion hin überprüft werden müssten. Die Prüfung wird periodisch vom Sensor selbst durchgeführt. Das Resultat der Sensorsicherheit kann an eine Türsteuerung übermittelt werden oder die Türsteuerung selbst bewirkt eine Überprüfung der Sicherheit des Sensors, wobei die Elektronik oder Steuerungseinrichtung innerhalb einer gewissen zeitlichen Frist eine entsprechende Rückmeldung des Sensors erwartet.
• 3. Schließlich sind auch selbst überwachte Aktiv-Infrarot-Sensoren vorgeschlagen worden, die beispielsweise einen Bereich von mindestens 20 cm vor einer Türe überwachen. Die Prüfung kann auch hier periodisch vom Sensor selbst durchgeführt und das Resultat der Sensorsicherheit über eine sichere Übertragung an die Türsteuerung übermittelt werden. Auch hier kann die Türsteuerung selbst eine Überprüfung der Sensorsicherheit durchführen, indem die Überprüfungseinrichtung beispielsweise innerhalb einer gewissen zeitlichen Frist eine entsprechende Rückmeldung des Sensors erwartet.

In order to be able to meet the increasing safety requirements for sensor technology in various fields of application and, above all, also in the area of sensor technology for automatic doors and door controls, various measures have hitherto been proposed:

• 1. Partially redundant sensor systems were used, especially for escape routes. For example, redundant radar motion detectors were used. However, this usually requires a lot of effort associated with high costs.
• 2. In the case of photoelectric sensors, the use of self-monitored photoelectric sensors has been proposed. This means that before each door movement, the light barriers must be checked for their function. The test is carried out periodically by the sensor itself. The result of the sensor security can be transmitted to a door control or the door control itself causes a review of the safety of the sensor, the electronics or control device expected within a certain period of time a corresponding feedback from the sensor.
• 3. Finally, self-monitored active infrared sensors have also been proposed which monitor, for example, an area of at least 20 cm in front of a door. The test can also be carried out periodically by the sensor itself and the result of the sensor safety via a secure transmission to the door control. Again, the door control itself can perform a review of the sensor safety by the review expects, for example, within a certain time period, a corresponding feedback of the sensor.

In contrast, is It is the object of the present invention to provide an improved sensor monitoring device to create at least two sensors, which in technical Regards different sensor systems or devices exist or else formed from the same sensor devices could be.

The Task is according to the invention accordingly solved in claim 1 and the features specified in claim 8. advantageous Embodiments of the invention are specified in the subclaims.

The solution according to the invention is that no redundancy is provided for the monitoring with respect to the respective individual sensors, but that a better, simplified and more cost-effective monitoring of the sensors is created by arranging the sensors in such a way (which they are common at home) that she have at least one overlap area with respect to their monitoring area, so the so-called triggering fields, and that this overlap area is used to realize a mutual monitoring of the sensors here.

The Evaluation of the sensor data takes place in a sensor safety monitoring device, in which the presence of detection signals of the individual Sensors in the overlap area is evaluated. Is or moves into the overlap area If a sensor inserts an object into it, it must be in this overlap area be given by each of the sensor systems, a corresponding detection signal. Is missing such a detection signal or will be within a selectable or changeable Time unit is not given a second detection signal, so can dependent on of which an error or abnormal signal is output from the sensor monitoring device become.

By The combination sensor principle can therefore not only the failure of one Sensor system are detected as such, but for example also deteriorations of a sensor system, which so far ever were not detectable. For example, subject to the active infrared sensor the optics of increasing pollution, which then suddenly fails more leads to the delivery of a detection signal (although an object in the overlap area or in which overlapping or overlapping trigger field the sensor device is located), it can also again a fault, a Failure or a so-called abnormal signal are output.

The The same is true even if, for example, a photocell a sensor system is used, and here the optics due Increasing pollution undergoes such deterioration that suddenly here over no more detection signal is issued, although the other Sensor device in the overlap region Detected object and has given a corresponding signal.

there is inventively from the statistical experience, that in comparatively short Time already detected a malfunction of a sensor device Although not the entire trigger area, so not the entire trigger field of a Sensors monitored becomes. Because experience has shown that an object statistically considered after failure of a sensor unit in no time also in an overlapping one or over-cutting trip area move two sensors in or fasten, so that then immediately the malfunction can be detected.

The inventive principle can be but do not use only if, for example, at least two on different sensor-based sensor systems are used, So for example, a radar as the first sensor system or an active infrared sensor as a second sensor system. The same even when using a Radars as the first and a laser barrier as the second sensor system or for example when using a laser barrier and a Active infrared sensor.

The Invention leaves apply even if at least two of the same technical Principle or similar technical principles working sensor systems are used, For example, the adjacent monitoring areas or triggering fields cover. It only needs to be ensured that the both surveillance areas or trigger fields the overlap at least two sensor systems in the manner described overlap or next to each other, so that in this overlap angle or overlap area then again the mutual verification of the invention Sensor devices can be done. Furthermore, so at least a sensor system may be provided, the two radar triggering fields are assigned or what about two radar trigger fields can be generated or defined. As a rule, therefore, a first, for example, larger radar triggering field is provided for this, and a second radar triggering field, the usually smaller or equal to the first one, and which one In addition, at least electrically or electronically generated or convertible is. In such a constellation, the inventive method carried out since there is a detection signal in the small one Trigger field too a detection signal in the larger trip field of the another sensor must be present.

The The invention will be explained in more detail with reference to embodiments. there show in detail

1 a schematic front view of a two sliding door comprehensive automatic sliding door drive in the open state;

2 a schematic horizontal sectional view through a wall with a passage area and two sliding door panels located in front of an automatic sliding door system with an associated sensor monitoring device according to the invention; and

3 : one too 2 Deviating embodiment of a monitored area with non-overlapping, adjacent to each other arranged monitoring and triggering areas.

In 1 is a schematic horizontal cross-sectional view of a wall 1 shown with a wall opening, whereby, for example, a door passage area 3 is formed.

Usually above the door opening on the wall 1 are corresponding sensor systems 5 for monitoring the area immediately before and / or provided in the door passage area, in response to an automatically operating control and monitoring device 7 In the exemplary embodiment shown, for example, an automatic sliding door system, which in the embodiment shown two door leaves 9 includes, to control.

In the embodiment shown are - as in the schematic front view according to 1 is reproduced - above the immediate door passage area 3 the mentioned combination sensor system 5 for example, with two sensor devices or sensor systems 11 provided that work differently in technical terms in the embodiment shown, ie based on a different sensor principle in technical terms.

The one sensor system 11a should, for example, a motion sensor 11a consist, which is usually formed of a radar sensor. This can be used to determine whether in a monitoring or tripping field 111 ( 2 ) there is an object approaching or walking away from the door. Depending on this, the control and monitoring device 7 the two doors 9 move away from each other in their open position or - if the moving object, the monitoring or triggering field 111 leaves - again lead back to its closed position.

In the illustrated embodiment according to 2 is a schematic plan view of a horizontal or bottom surface 17 the monitoring or triggering field 111 for this motion sensor 11a schematically indicated in a possible embodiment.

There is another sensor next to it 11b provided on a different technical principle than the motion sensor 11a is working. For example, here comes a so-called active infrared sensor 11b considering another monitoring or triggering field 111b immediately adjacent to the door leaf 7 supervised. In the embodiment shown, this monitoring or tripping field 111b significantly smaller and is completely or almost entirely within the large surveillance or triggering field 111 of the motion sensor 11a , But it is basically sufficient if both trigger fields 111 and 111b overlap, the arrangement of both fields should be such that a person passing through the open door area 3 must pass through both fields in any case. Therefore, in the exemplary embodiment shown, it would in any case be sufficient if the infrared triggering field is parallel to the monitoring door passage area, at least in its longitudinal direction 3 within the normal radar trip field 111 so that the active infrared trigger field 111b at least partially outside the normal radar tripping field 111 at least with a component transverse or perpendicular to the door opening 3 can lie.

In the embodiment shown is now for the motion sensor 11a a second monitoring or triggering field 111a ' defined, which is significantly smaller than the first monitoring or triggering field in the embodiment shown 111 of the motion sensor 11a , The smaller monitoring or triggering field 111a ' is also immediately adjacent or in the field of ver movable door 7 and lies within the active infrared triggering field 111b or is the same size as this or overlaps with the monitoring or triggering field 111b of the active infrared sensor 11b , Also in this case should, if both fields 111b and 111a ' overlap, the smaller or the doorway 3 nearer radar tripping field 111a ' at least in its longitudinal extent parallel to the door opening 3 within the larger active infrared triggering field 111b lie and can thereby towards door passage 3 also from the trigger field 111b protrude. The arrangement is again such that a person, for example, in a graphic representation according to 2 moved from position A1 to position A2, so through the door opening 3 moved through, always all three fields 111 . 111b and 111a ' must pass through. In the embodiment shown, the smaller monitoring or tripping field 111a ' completely in the monitoring or triggering field 111b of the active infrared sensor.

The so-called smaller radar tripping field 111a ' , which partly - because it is the doorway 3 closer - "near radar trigger field 111a ' "is called solely by electrical / electronic evaluation of the radar sensor 11a generated. Because the radar sensor can detect the distance or the distance from the object to the sensor, so that by electronic evaluation, a smaller or closer area to the sensor corresponding to the triggering field 111a ' towards a larger surveillance area 111 virtual "and can be evaluated accordingly.

Furthermore, it is now in 2 a moving object (usually a person) X indicated, which is already at a distance in front of the door wings 9 in the large sized monitoring or tripping field 111 located (before the other tripping sebereichen 111b and 111a ' ) and in the direction of the arrow 19 now first in the monitoring or triggering field 111b of the active infrared sensor 111b and then in the other, smaller sized monitoring or tripping field 111a ' of the motion sensor 11a moved into it.

The normal and larger surveillance or triggering field 111 of the motion sensor 11 can be used as usual to detect moving objects and to open the door. The second in the embodiment shown smaller or equal monitoring or triggering field 111b The active infrared sensor is only used for radar function monitoring and evaluation.

• 1. Wenn sich ein Objekt X zur Tür hin bewegt und der Bewegungssensor (Radar) 11a das Objekt X zuerst im normalen Radar-Auslösefeld 111a und danach im nahen oder kleineren Radar-Auslösefeld 111a' detektiert, muss irgendwann dazwischen der zweite Sensor 11b (im Ausführungsbeispiel der Aktiv-Infrarot-Sensor 11b) angesprochen haben, ansonsten wäre er defekt. Mit anderen Worten muss als ein erstes vom Bewegungssensor 11a und ein zweites vom Aktiv-Infrarot-Sensor 11b ermitteltes Detektionssignal bezüglich des gleichen Objektes X vorliegen. Ist eine weitere Überprüfungs- und/oder Auswerteeinrichtung vorgesehen, die feststellt, welches Detektionssignal fehlt, so kann daraus geschlossen werden, welcher von den beiden Sensoren nicht funktionstüchtig ist. Wenn ein Objekt X im nahen Radar-Auslösefeld 111a' detektiert worden ist, muss also gleichzeitig oder bereits vorher in dem im gezeigten Ausführungsbeispiel größer bemessenen Auslösefeld 111b des zweiten Sensors 11b ein Detektionssignal vorliegen, also dieser Sensor angesprochen haben, ansonsten wäre er defekt.
• 2. Wenn aber schließlich ein Detektionssignal vom zweiten Sensor 11b (Aktiv-Infrarot-Sensor) vorliegt, und kein Signal des ersten Bewegungssensors 11a, weder im großen noch im kleinen Auslösefeld 111a bzw. 111a', muss dieser Sensor defekt sein.

With the help of these two radar tripping fields 111 and 111a ' for the motion transmitter and the second trigger field 111b For example, for active infrared sensor, it is now possible to make a statement about the function of the individual sensors and the preferred combined in a common device combined sensor consisting of the motion and the active infrared sensor, namely:

• 1. When an object X moves towards the door and the motion sensor (radar) 11a the object X first in the normal radar triggering field 111 and then in the near or smaller radar trip field 111a ' detected, must someday in between the second sensor 11b (In the embodiment of the active infrared sensor 11b ), otherwise it would be defective. In other words, as a first thing from the motion sensor 11a and a second from the active infrared sensor 11b detected detection signal with respect to the same object X are present. If a further checking and / or evaluation device is provided which determines which detection signal is missing, then it can be deduced which of the two sensors is not functional. If an object X in the near radar trigger field 111a ' has been detected, so at the same time or already before in the embodiment shown in the larger sized tripping field 111b of the second sensor 11b present a detection signal, so this sensor have addressed, otherwise it would be defective.
• 2. But if finally a detection signal from the second sensor 11b (Active infrared sensor) is present, and no signal from the first motion sensor 11a , neither in the large nor in the small trigger field 111 respectively. 111a ' , this sensor must be defective.

In general, it can thus be stated that in an overlapping area, in which two monitoring or triggering fields of two sensors 11a . 11b overlap, always two detection signals S1 and S2 must be present when in this overlap region, an object X is or, for example, an object X moves into this area. If only one detection signal S1 or S2 can be determined by one of the two sensors within an optionally definable or adjustable time window, it can be concluded by means of an evaluation circuit that, in particular, which sensor is defective or not functional.

The following will be on 3 Reference is made, in the schematic plan view of a bottom surface, for example, again a doorway 3 is to be monitored schematically by, for example, three non-overlapping tripping area 111 . 111b or 111a ' be used. The sensor types and the principle of the evaluation is equal to the previous embodiments. In this case, the triggering areas in the examples according to 3 comparatively elongated and relatively narrow and close together. In other words, the longitudinal extension of these trigger areas 111 . 111b and 111a ' for example, by a factor of 2, 5, 10 or more in the longitudinal direction greater than in the transverse direction, wherein the individual triggering areas can be arranged in lateral offset to each other. The extent is at least as long in the longitudinal direction, as large as the door passage area to be monitored is (or about as large). This ensures that a person (generally an object) traveling along a straight or curved trajectory Y through the door will see all three surveillance zones 111 . 111b and 111a ' cuts, so the person moves through all three monitoring areas. In this case, a monitoring area, for example the one for the second sensor device 111b for example, consist of a light barrier. In other words, the monitoring area would be extremely narrow here and would correspond to the length of the light barrier.

Also in this embodiment, it is thus the case that a person coming from position A1 approaches, for example, the arrow 35 following to position A2 through the door 3 moved through, first in the large triggering area 111 a detection signal, then in the trip area 111b for the second sensor (for example, the active infrared sensor) and then from the smaller or near the trigger field 111a ' of the radar sensor a detection signal must be present. The evaluation is then comparable to the above-mentioned embodiment, wherein the signals need not be present simultaneously but within an adjustable time window consecutively.

So, for example, is a detection signal from the middle trigger field 111b before, so at least in a time window before or after a trigger signal from the tripping area 111 and or 111a ' exist, otherwise the radar sensor would be 11a malfunction.

Conversely, if a trigger signal from both the trip field 111 as well as the trigger field 111a ' before (because the radar sensor is intact), but there is no detection signal from the trip field in-between in a time window 111b determined, then the second sensor would be 11b (Active infrared sensor) defective.

Would a person according to the arrow 37 only in the first trigger field 111 in and then move out again, so would neither the smaller trigger field 111a ' still the second sensor trip field 111b Detection signals can generate, which does not run counter to the above-described evaluation. Because in this case, the evaluation shows that the person is again out of the surveillance area according to the curve 37 must have moved out. This follows because of the small surveillance zone closer to the door 111a ' no detection signal is generated, although a detection signal from the other monitoring zone 111 is present, so the first sensor 11a in itself works properly.

Conversely, in the third example, a person would follow the arrow 39 following eg from the opposite side of the door opening 3 through the smaller (near) trigger field 111a ' into the middle triggering field 111b move in and then turn around again, there would be two detection signals indicating that both sensors are intact. Another detection signal from the first sensor 11a regarding the large surveillance area 111 does not have to be present.

The explained Example should show that the trigger areas do not necessarily have to overlap, but can be arranged next to each other, when monitoring a sequence of movements should be, which is essentially transverse to the direction of extent (with Extension direction is here the larger extension direction of tripping fields meant) should take place.

Claims (14)

Sensor monitoring device with at least two sensors ( 11a . 11b ), which preferably operate on the basis of a different technical operating principle, each sensor ( 11a . 11b ) a monitoring or triggering field ( 111 . 11b ), wherein the at least two monitoring or triggering fields ( 111 . 111b ) either overlap where the two monitoring or tripping fields ( 111 . 111b ) overlap or completely overlap in a subarea or a monitoring or triggering field ( 111 . 111b ) within the other monitoring or triggering field ( 111 . 111b ), or the two monitoring and triggering fields ( 111 . 111b ) are preferably adjacent to one another or only at a small distance from each other and are cut by a trajectory (Y) to be monitored, wherein an evaluation circuit ( 7 ) for the control and / or evaluation of the sensors ( 11a . 11b ) and / or emitted detection signals is provided, characterized by the following further features: - there is provided a sensor safety monitoring device, - the sensor safety monitoring device comprises an evaluation circuit which is an error, failure or Abnormsignal a) if, in the case of overlapping 15 ) object (X) only from one of the at least two sensor devices ( 11a . 11b ) a detection signal (DS1 or DS2) is emitted, and / or b) if, during the movement path (Y) through the trigger fields ( 111 . 111b ) moving object (X) within a presettable or variable in its duration time window only from one of the at least two sensor devices ( 11a . 11b ) a detection signal (DS1, DS2) is delivered. Sensor monitoring device according to claim 1, characterized in that at least one sensor device ( 11a ) at least one second monitoring or triggering field ( 111a ' ) is assignable and / or can be generated and / or defined, this second monitoring or triggering field ( 14 ) completely or substantially coincide with the monitoring or tripping field ( 111b ) or at least arranged substantially within this or laterally offset thereto, so that in the case of a detection signal (DS2) of the second sensor device (FIG. 11b ) also a detection signal (DS1) of the first sensor device ( 11a ) in the first or large monitoring or triggering field ( 111 ) must be present at least within a time window, or in the case of a detection signal (DS1 ') in the small monitoring or triggering field ( 111a ' ) of the first sensor device ( 11a ) a detection signal (DS2) of the second sensor device must be present at the same time or also within a time window to the first detection signal (DS1) offset in time, otherwise an error, failure or Abnormsignal is issued. Sensor monitoring device according to claim 1 or 2, characterized in that in the case of absence of an expected second detection signal (DS1 or DS2) not only a Error signal output and triggered an error signal display, but also an indication is issued, which sensor is defective or faulty. Sensor monitoring device according to one of claims 1 to 3, characterized in that the second monitoring and triggering field ( 111a ' ) is smaller than the first monitoring and triggering field ( 111 ) of the same sensor device ( 1a ) and completely in the larger surveillance and triggering field ( 111 ) lies. Sensor monitoring device according to one of claims 1 to 4, characterized in that the second monitoring and tripping field ( 111b ) completely or substantially entirely within the large surveillance and triggering field ( 111 ) of the first sensor device ( 11a ) lies. Sensor monitoring device according to one of claims 1 to 5, characterized in that the second monitoring and triggering field ( 111a ' ) of the first sensor device ( 11a ) completely or substantially entirely within the monitoring and triggering field ( 111b ) of the second sensor device ( 11b ) is located. Sensor monitoring device according to one of claims 1 or 6, characterized in that the first and / or the second monitoring and triggering field ( 111 . 111b ) has a longitudinal extent which has a multiple, preferably more than two, five or ten times its maximum transverse extent. Sensor monitoring device according to one of claims 1 or 7, characterized in that the second monitoring and triggering field ( 111a ' ) of the first sensor device ( 11a ) has a longitudinal extent in relation to a transverse extent which is more than two, five, ten or twenty times the maximum transverse extent. Sensor monitoring device according to one of claims 1 or 8, characterized in that the first and second sensor device ( 11a . 11b ) from a combination sensor ( 11 ), the at least two sensor devices ( 11a . 11b ). Sensor monitoring device according to claim 9, characterized in that the two sensor devices ( 11a . 11b ) from technically different sensor devices ( 11a . 11b ) consist. Sensor monitoring device according to claim 10, characterized in that a sensor ( 11a ) consists of a motion sensor, preferably a radar sensor. Sensor monitoring device according to claim 10 or 11, characterized in that the second sensor device ( 11b ) consists of an active infrared sensor. Sensor monitoring device according to one of claims 1 to 12, characterized in that a sensor device ( 11a or 11b ) consists of a light barrier. Sensor monitoring device according to one of claims 1 to 9, characterized in that at least two sensor devices ( 11a . 11b ) consist of sensors that work based on the same principle of operation.