DE19804631C2 - Method and device for controlling and / or monitoring a motor-driven wing - Google Patents

Description

The invention relates to a method and a Vorrich device for controlling and / or monitoring a motor driven wing according to the preamble of the claims 1 or 5. For this purpose, the following are usually also as Detection and monitoring means designated facilities conditions, as also described under the terms "Senso ren "in general or for example" motion detector "in are particularly known. Furthermore, is usually one Evaluation and control device provided, the ge separates or can be built together. About that ultimately controlled the drive of a wing.

Those generally referred to below as sensors Monitoring and detection means, as is usually the case are used to control and monitor doors, differ in terms of their technical functionality on and / or application.  

Motion detectors usually work after the dop pel principle, d. H. that a signal in the monitoring and Trigger area of the door to be monitored (regardless of whether it is a hinged door, a sliding door, revolving door or the like) is emitted and the reflected beam tion is received and evaluated. The radiation falls on a moving person, it results in dependence the relative movement of the moving person on the spotlight a frequency shift to or from this. Reason In addition, such motion detectors can be based of ultrasound, infrared radiation or after the radar working principle.

In addition, so-called status detectors are also known, which, also on different technical principles, often work in the infrared range. Here are in the Rule condition detectors known, the so-called passive Evaluate infrared radiation. By measuring the radiation and release area emitted by the Sensors and detectors can depend on the ver changing intensity of the radiation a corresponding off evaluation and control of the opening and closing the door.

There are also so-called present detectors, in particular known for securing crushed and sheared edges. The simplest detector of this type is the so-called Light barrier, for example in the case of sliding door arrangements hedging is used. Furthermore, one Series of devices, buttons and push button sensors known that  often based on active infrared technology. As well are also devices with ultrasound, laser in this area technology and image recognition (CCD).

Since the presence detectors mentioned above are more expensive than Motion detectors are and also only a very limited one t field of detection, d. H. a very limited surveillance and trigger field are already combined Control and monitoring devices and devices been beaten, the one motion detector and one Active infrared button included.

All previous monitoring and control devices for moving sashes, especially doors, but always point the disadvantage that either the monitoring and Tripping range is not ideally selected, namely when in especially so-called in the area to be monitored Dead zones exist, or the risk of one The door triggers itself.

From the generic DE 195 22 760 A1 is an auto Matic door with at least one motor driven door leaf or an electronic control and / or control unit in connection with a data ver known unit of work, in addition to a tax monitor electronics also a corresponding sensor system in the form includes a video camera. This is supposed to control and Monitoring of the safety-relevant functions of the door with maximum security for those who use the door can be achieved. Using the video camera  the received data of an environment to be monitored digitized according to the number of pixels and according to the grayscale between 0 and 255 in be stored within a memory. Because of the Method and the data processing unit is said to such door will be able to do the opposite to learn the field when switching on for the first time, that all security areas are clearly identified are cash. This learned pattern should be within one Stored and in an evaluation unit with the Pattern that is received when a person passes the Si security area that is monitored enters become. Such video cameras have, however usual sensor devices in practice not set. Compared to the others in use Sensor devices are comparatively similar to video cameras expensive, which is also disadvantageous and expensive Evaluation of the data determined by the video camera has. Because these must be by means of an appropriate External electronics and software evaluated accordingly and implemented, which is still according to today's standard is comparatively expensive.

The control device known from DE 36 18 692 C2 for automatic doors essentially deals with the Actuation of the door for those cases in which one person has passed through the door and is already leaving, and another person enters the surveillance area.  

According to DE 196 53 026 A1, it has already been proposed the moving door area with a sensor direction, but by means of an image capture device in Form, for example, a CCD camera or a video Monitor camera and depending on the determined Data then monitor and control the door increase. For one thing, it is already Processes or methods such as those known for much longer usually also in production control and robots technology can be applied. It has been there for decades knows how to use cameras and, for example, CCD cameras, to capture real images, usually digitalized and with corresponding software solutions on the Image captured individual objects with different data compare (e.g. stored data via these items). Depending on that, then Objects recognized accordingly and certain work steps are triggered. Such methods are for one very expensive and the other problematic Problem is not the use of such a camera such is (which is obvious in itself), son the software-based preparation of the data in order to desired subsequent steps depending on the recognized Trigger image data.

It is therefore an object of the present invention improved method and an associated device to control and / or monitor a driven Wing, especially a door or the like. To create.  

The object is achieved according to the method corresponding to that in claim 1 and with respect to the device tion according to the features specified in claim 5 solved. Advantageous embodiments of the invention are shown in specified in the subclaims.

The main problem with sensors and motion detectors after the state of the art are faults caused by self solution are caused. In the case of a poorly set one The closing door sensor can trigger an opening pulse trigger, which opens the door again before it is completely closed is closed. Such a door never comes back Rest as they constantly before reaching the final Move the closed position back to the open position becomes.

It is often attempted to do this, for example a poor antenna characteristic and / or by before existing reflections provoked self-release of the door through adjustment and / or different orientation of the sensor or motion detector, at for example, by adjusting its antenna and / or its side lobes by optimal assembly of the Surface devices are shielded. But this has forced commonly also the consequence of monitoring and triggering area is reduced so that in dangerous edge areas unwanted dead zones can arise in which no more personal security is guaranteed.

In contrast, the present invention proposes that  a sensor device and an evaluation and control electronics and / or a sensor device such is used and used that between the Sensor signals generated by the closing door and are triggered, and real trigger signals that caused by one or more People (or moving objects) the surveillance and Approach trigger area, differentiated and differentiated can be. The process according to the invention can be done here for motion detectors as well as for static ones Apply sensors.

The invention is based on the fact that the sensor direction regarding the recorded and monitored, succession also referred to as the monitoring and triggering zone Always a trigger signal emp in the time unit catches that in the absence of moving or position ver changing objects (usually people) depending on the sensor type of the position and / or speed of the closing door is dependent. These signals or signal Patterns can be created in a teach-in process during the entire door closing process and measured in one Memory.

In operation, the door can then be closed a comparison of the stored signal patterns and - curves, which are sometimes also referred to as Sig data are referred to, with the currently measured and correspondingly evaluated signal data in the Evaluation electronics are decided whether there is a match  or at least broad agreement between this data is available, or whether with regard to a quantitative and / or qualitative deviation between the Signal data the conclusion is drawn that now in the Monitoring and trigger zone is now a new, in generally moving (but possibly also there for one certain time phase of parked or standing object) located. As a result, the door closes stopped and preferred again immediately in the open position switched.

As long as the door is closed or open, without no malfunction is triggered. During the opening process would have a control and evaluation-related changed motion signal anyway only the consequence that in Opening position is reversed so that this status "Opening the door or wing" is unproblematic anyway.

In this way, an extremely large area can be presented monitor and record a door to be monitored, so that no dangerous dead zones arise or exist that could endanger the safety of people.

Especially when the sensor device or the Sensors are also able to detect standing objects NEN, can for example also on the otherwise in the Rule used (and for example prescribed by TÜV ) in the area in front of (or behind) one Sliding door arrangement can be dispensed with.  

Are, for example, standing objects (plant bowls etc.) near a door to be monitored but still in the monitoring and triggering zone positioned, this could be the case if appropriate, also stati objects of detecting sensors compared to the original previously stored signal patterns (signal data) deviating signal patterns (signal data) come. Either manually or automatically (for example after a certain time) could then be in a preferred off an automatic self-teach-in procedure (in the absence of moving people and objects) be led to this the changed permanent Corresponding new signal patterns to "spatial conditions" determine and save and as the basis for one future data comparison.

In contrast, the present invention is based on a extremely simple and therefore also extremely cost-effective realizing monitoring device, since it on the Use of conventional sensors and sensor elements ba based and builds up.

An embodiment of the invention is as follows explained in more detail with reference to the drawings. It show in one individual:

Fig. 1 is a schematic front view of a two-leaf sliding door assembly with sensor means;

Fig. 2: shows a schematic horizontal section through the exemplary embodiment according to FIG. 1 with different monitoring and triggering areas;

FIG. 3 shows a schematic circuit arrangement un ter inclusion of a sensor device and a drive device; and

Fig. 4: a representation corresponding to Fig. 2 for the case of a single-leaf swing door in the closed state.

In Fig. 1, a two-wing sliding door 1 with two door leaves 1 a and 1 b is shown in the closed state in a schematic representation. The door is provided in a wall 5 .

The door leaves are kept movable in a known manner via a running horizontally above the door opening and in Fig. 1 with the reference numeral 7 and for example via a ge not shown electric motor with the interposition of a rotating toothed belt between opening and closing position.

In the exemplary embodiment shown, a sensor device 9 is provided above the door opening, ie in the area of the suspension and Laufanord voltage of the movable door leaves 1 a and 1 b, preferably in the center above the door opening. Sensor arrangement or sensor device 9 is understood to mean all suitable monitoring and / or recording devices with which, in technical terms, moving objects (in particular people) and / or immovable objects can be detected or detected. Deviating from this sensor arrangement 9 , a plurality of individual sensors 9 'can also be provided over a larger part of the width of the door or across the entire door or beyond, or a continuous sensor bar can be provided. In addition and alternatively, the sensors can also be centered on the door wings themselves at the top and / or bottom and / or rather on the closing edges 13 and / or on the respectively opposite outer edges 15 and / or on the wall 5 itself (for example also extending over a vertical path , e.g. as a vertical bar) may be provided or arranged.

The single sensor or multiple sensors 9 ', for example in the form of infrared sensors or radar sensors, etc., comprehensive sensor arrangement 9 makes it possible, for example, for monitoring and located in front of the door and on the floor 17 ( FIG. 2) shown in broken lines Monitor the trigger area.

Approaches a person of the door and comes into the field of monitoring and release zone 19, then over the sensor array (with a radar sensor in the form of emp captured, from the object reflected beams, in the case of an infrared sensor by the infrared radiation) received a corresponding signal which is evaluated in accordance with the schematic circuit arrangement of FIG. 3 in an evaluation stage 23 and converted in a subsequent control stage 25 to a voltage Antriebsanord 27 to drive for opening the sliding door 1. Deviate accordingly to Fig. 3, the evaluation and control stage 23, 25 to be combined into a single stage 24. It can either be hard-wired, but preferably consists of a microprocessor-controlled electronics.

The trigger zone 19 is shown flat in the figures. However, the trigger zone is to be understood spatially. It extends in the room above the area shown. In different parallel planes to the floor, it can also have different dimensions.

As can be seen from the illustration according to FIGS. 1 and 2, the monitoring and triggering zone 19 is selected so large that it monitors the entire door area over the door leaves 1 a and 1 b in the closed state, so that none or no relevant dead zones 20 arise and even people moving very strongly sideways towards the door can be recognized early. In Fig. 2, the dead zones 20 are shown for example in the case of a smaller-sized monitoring and triggering zone 19 '.

On the basis of the schematic horizontal cross-sectional representation, with the radar triggering area lying higher, for example in the floor area or in a plane parallel to it, it can be seen that this can also be chosen so large that it (with the wings 1 a, 1 b open) primarily on the access side, but at the same time also through the door opening to the rear side of the door.

Before the operation of the double-leaf sliding door shown in FIGS . 1 and 2, the sensor signals are measured in a teach-in process, which occur during the closing movement of the door leaves and are caught. These sensor data, which are sometimes also referred to below as data patterns or data curves, are stored and stored in a suitable storage device, preferably permanent storage device 26 ( FIG. 3).

During operation of the door, on the one hand, the currently measured and received sensor signals are always processed in the evaluation and control stage 43 , 25 , with a constant comparison of the currently measured and received sensor signal data with the stored signal data, in order to be quantitative and dependent on the detected data / or to be able to qualitatively distinguish the signal to a sufficient extent then to be able to interpret the data in the electronics in such a way that there is a moving person in the monitored trigger zone 19 or a standing object that is not located there compared to the original data or the original state to stop the closing process immediately and preferably switch back to the opening position immediately.

At least by using a second sensor device 9 'provided on the other door side, a correspondingly large-sized monitoring and triggering area can also be monitored on the opposite door side, with corresponding comparison data also initially being determined and stored for this further sensor device.

It is only schematically explained with reference to FIG. 4 that the invention can equally be applied to a pivoting wing, for example a pivoting door.

Claims (8)

1. A method for controlling and / or monitoring a driven wing ( 1 a, 1 b, 1 c), in particular a door ( 1 ), a window or the like, with a sensor device ( 9 , 9 ') for monitoring and detecting a At least one wing ( 1 a, 1 b, 1 c) assigned monitoring and triggering area (19, 19 ', the data obtained by the sensor device ( 9 , 9 ') during normal operation with a data in a teach-in process in the absence of moving objects to be detected in normal operation and stored basic data are compared and, depending on this, the door control is acted on, characterized in that the movement path of the at least one wing ( 1 , 1 a, 1 b, 1 c) at least partly in the monitoring and triggering zone ( 19 , 19 ') is that the stored basic data includes several pieces of data, namely depending on the closed position and / or the closing movement of the at least e a wing ( 1 , 1 a, 1 b, 1 c) obtained position and / or speed-dependent sensor signals, and that in the automatic opening and closing operation of at least one wing ( 1 a, 1 b, 1 c) at least during the closing process of the wing ( 1 a, 1 b, 1 c) the currently measured position and / or speed-dependent sensor data, data patterns and / or signal curves with the respective closed position and / or closing movement of the at least one wing ( 1 a, 1 b , 1 c) corresponding basic data are compared, depending on the detected qualitative and / or quantitative deviations of the currently measured signal data from the respective closed position and / or closing movement of the at least one leaf ( 1 , 1 a, 1 b, 1 c) corresponding stored basic data, the closing movement of the at least one leaf ( 1 a, 1 b, 1 c) is stopped and preferably reversed in the opening direction. 2. The method according to claim 1, characterized in that motion sensors are used as the sensor device ( 9 ). 3. The method according to claim 1 or 2, characterized in that the sensor device ( 9 ) also comprises sensors detecting static objects. 4. The method according to any one of claims 1 to 3, characterized ge indicates that after recognizing the opposite laid basic data deviating measured sensor signal data that remains unchanged for a minimum duration a new teach-in procedure for the determination  new reason available as comparison data data is carried out. 5. Device for controlling and / or monitoring a driven wing ( 1 a, 1 b, 1 c), in particular a door ( 1 ), a window or the like, with a sensor device ( 9 , 9 ') for monitoring and detecting a At least one wing ( 1 a, 1 b, 1 c) assigned monitoring and triggering area ( 19 , 19 '), and with a storage device in which the sensor device ( 9 , 9 ') in a teach-in process in the absence of moving data to be detected in normal operation to be detected and with an electronic evaluation and control stage ( 23 , 25 ; 24 ) in which the basic data stored in the memory is compared with the data currently measured in normal operation and in As a function of this, the door control is acted upon, for carrying out the method according to one of claims 1 to 4, characterized in that the movement path of the at least one wing ( 1 , 1 a, 1 b, 1 c) is at least partially in the monitoring trigger zone ( 19 , 19 '), and that the basic data stored in the memory include several pieces of data, namely as a function of the closed position and / or the closing movement of the at least one leaf ( 1 , 1 a, 1 b, 1 c) obtained position and / or speed-dependent sensor signals, and that in the automatic opening and closing operation of the at least one leaf ( 1 , 1 a, 1 b, 1 c) in the evaluation and / or control stage ( 23 , 25 ; 24 ) the position and / or speed-dependent sensor data, data patterns and / or signal curves of the at least one wing ( 1 , 1 a, 1 b, 1 c), which are currently measured by the sensor device ( 9 , 9 '), with the stored ones position- and / or speed-dependent basic data are compared, and that, depending on the detected qualitative and / or quantitative deviations of the currently measured signal data from the previously stored basic data, the closing movement of the door can be interrupted and preferably a reversal in the opening direction can be carried out. 6. The device according to claim 5, characterized in that the sensor device ( 9 ) comprises or consists of motion sensors. 7. The device according to claim 5 or 6, characterized in that the sensor device ( 9 ) comprises static objects detecting sensors or consists of these. 8. Device according to one of claims 5 to 7, characterized marked that a new automatic teach-in Procedure for determining new basic data can be carried out is when after recognizing from the filed Basic data deviating measured sensor signal data this for a specifiable or presettable minimum duration un changed to be detected in the teach-in process determine and save new basic data.