DE102008044990B4 - Method and device for controlling and / or monitoring a motor-driven wing during the opening phase - Google Patents

Abstract

Method for controlling and / or monitoring a drivable wing (9; 9a, 9b, 9c) in particular in the form of a rotating wing (9a), a sliding door wing (9b), a wing (9c) of a folding door, a window or the like, during the opening movement of the wing (9; 9a, 9b, 9c), with the following features: - it becomes a sensor device (17) for monitoring and detecting a monitoring and triggering area assigned to the at least one wing (9; 9a, 9b, 9c) (23) is used - a sensor device (17) is seated on the wing (9; 9a, 9b, 9c) and moved with it, producing a monitoring device located in front of the opening wing (9; 9a, 9b, 9c) and triggering area (23) and / or a sensor device (17) located on a fixed spatial element (15), producing a monitoring and triggering area (23) located in front of the spatial object (15), at the latest during the opening process ges of the wing (9; 9a, 9b, 9c) is to avoid collision detection of a given space element (15) coming into the monitoring and triggering area (23) and / or of the one getting into the monitoring and triggering area (23) opening wing (9; 9a, 9b, 9c) a switchover is carried out in the evaluation and / or control device and / or in the sensor device, - the switchover to avoid a collision sequential switch is carried out in such a way that from a large or initial monitoring and triggering area to a position that has changed in comparison and / or spatially reduced monitoring and triggering area (23) is switched over and, additionally or alternatively, the corresponding triggering and monitoring area (23) is switched off or faded out or is disregarded if the leaf (9; 9a, 9b, 9c ) and the space element (15) remaining distance is smaller or smaller than the effective length and / or size of the monitoring and triggering area (23) of the associated sensor device (17) in this direction, and - as sensors (20; 20a –20e) distance measurement sensors are used.

Description

The invention relates to a method and a device for controlling and / or monitoring a motor-driven wing during the opening phase according to the preamble of claim 1 or 10.

Such methods and associated devices for monitoring the closing movement of a wing, in particular a sliding door leaf but also a rotary wing, a window or the like are well known. As is customary with such door operators, sensors are used as monitoring and detection means to monitor the passage area of a door and preferably to automatically adjust the door to the open or closed position.

In principle, motion detectors which can operate, for example, according to the Doppler principle, come into consideration as sensors. These motion detectors often work on the basis of infrared radiators, although ultrasonic sensors would be possible.

Furthermore, sensors in the manner of "status detectors" are known, which can evaluate, for example, a passive infrared radiation. By measuring the radiation emitted in the monitoring and triggering region by the sensors and detectors, depending on the changing intensity of the radiation, a corresponding evaluation and control of the doors to be opened and closed can be made.

Finally, however, so-called. Presence detectors, in particular for securing pinch and shear edges are known. The simplest type of such detectors is for example a light barrier.

In addition, however, laser sensors or image recognition sensors (CCD cameras), etc. are also finally to be found.

With such known methods and devices can be a particular automatically driven door system, d. H. Above all, a sliding door system, but also a rotary wing system or a folding door system monitor and control so that it is detected via the sensors of a person who approaches the door to pivot the door device in the open position. If it is detected by the sensors that the moving person leaves the door area again, the relevant door can be reversed again in its Verschließlage. Thereby, a safe opening and closing should be accomplished without the door colliding with a person walking the door area.

In addition, but also methods and devices have become known in which, for example, in a sliding door leaf not leading in the closing direction of the main edge of the wing, but in the opening direction leading secondary closing edge to be checked. This is intended to avoid a collision with a person who is located in the area of the leading edge when the blade is opening. For this purpose, it is also possible, for example, to provide sensors or sensor devices mounted fixedly on a wall region. In question but also comes on the door itself mounted follower sensor device.

So is already out of the DE 196 53 026 A1 to derive a method for operating an automatic sliding door system with at least one sliding leaf as known, which is drivable by means of a driven by an electronic control device drive means. According to this prior publication, a monitoring area is provided, which is passed when opening the sliding sash (ie not when closing) of a vertical side closing edge of the sash. This area is now to be monitored by a separately provided for this purpose sensor device. If, in the case of an opening sliding door leaf, a person is located in an area which is run over by the secondary closing edge, a sensor device provided here would deliver a corresponding obstacle signal to the control device in order to carry out a corresponding modified sequence control (for example, to decelerate a further opening movement of the sliding door leaf) to stop and / or even reverse at least for a certain distance in the closing direction).

According to a further embodiment, the swept by a rotary semi-circular area to be monitored to avoid a collision with a person here. In order to make a corresponding unambiguous evaluation, an image acquisition device is used according to this prior publication.

A sensor device for an automatic revolving door system is inter alia also from DE 102 28 930 A1 known. The revolving door system to be monitored has at least one rotary vane and a drive device including a control device. Further, a sensor is provided which serves to detect persons or objects in the range of motion of the rotary wing. This includes for this purpose a transmitting device for emitting light beams, a detector device for detecting light beams and a signal transmission device for transmitting the sensor signals to the control device. The sensor is arranged at least with a transmitting element and at least one detector element in the region of the vertical secondary closing edge of the rotary vane, wherein a light beam of the transmitting element is close to or at least almost parallel to the vertical side closing edge of the rotary vane.

Further, on the wall side of the rotary wing, a sensor strip is arranged at the upper edge of the rotary vane, which may additionally comprise a number of other sensor devices, from top to bottom parallel to the door direction produce imitating light beams, which are fan-shaped to monitor the entire width of a rotary wing, Although the sensor device, for example, are arranged side by side only in the region of the main closing edge. In addition to the light-emitting sensor devices, detector devices are also accommodated in the common sensor-detector device.

The structure is such that the provided on the band side as on the tape opposite side at the upper edge of the rotary wing sensor strip comprises a plurality of additionally provided active-infrared sensors, which are used as Infrarotlichtimitierende radiator, for. B. infrared LED are formed. This cone-shaped infrared rays are generated, which are directed towards the ground. The light emitted by the infrared sensors is thereby reflected on the ground, so that the detector elements can generate a dependent on the intensity of the received infrared light sensor signal. When an object enters the surveillance area, part of the reflected infrared light is received by the detectors. Since, in this case, more infrared light is applied to the detector elements than the reflection from the ground, this change in the intensity of the infrared light at the detector elements is interpreted as an obstacle located in the range of movement of the rotary blade when a specific threshold value of intensity is exceeded. The then transmitted from the sensor bar to the control device signal causes a stop and optionally reversing behavior of the drive device.

Only in the event that, for example, when the rotary vane approaches it approaches a wall, the light reflected from the wall can also be detected by a detector element, however, in an envisaged memory device, the opening angle of the dependent varying light intensity curve at the individual detector elements as a reference value curve for the obstacle-free operation of the revolving door system is stored. By means of a likewise provided comparator, this determined value can be compared with a stored value. This opens up the possibility that in normal operation the transmitting elements which detect the wall during the opening movement of the rotary vane, successively "hidden" so that a stop of the opening movement of the rotary wing does not take place, although an object located in the detection range of the transmitting elements (namely in this Case the wall was detected).

The object of the present invention, in contrast, is to provide an improved method and an improved device for controlling and / or monitoring a motor-driven wing.

The object is achieved with respect to the method according to the claim 1 and with respect to the device according to the features specified in claim 10. Advantageous embodiments of the invention are specified in the subclaims.

The present invention further improves the handling and safety area of a driven wing, regardless of whether it is a sliding door wing movable along an adjustment path or a pivotable rotary wing of a rotary wing installation or a folding door system or the like.

In the context of the solution according to the invention, it is now possible, even the area which is remote from a monitoring door area, ie. H. the area lying in the opening direction of a wing to monitor more accurately and accurately and better avoid faulty circuits.

Because, as already mentioned, when opening a grand piano, this room elements predetermined in the vicinity can reach, for example in the vicinity of a sidewall delimiting the space laterally (ie next to the door), in the vicinity of a column next to the door in the room, one there If, for example, a wing is moved into the open position or a rotary wing is pivoted into the open position, it is possible for the side of the door wing, which is in the direction of opening, to be in the vicinity of a building-side object, for example a wall, a column, etc. passes and the sensor device - especially when it is arranged mitverfahrend on the door - now this object "detected". Here there is the danger that the object "detected in this way" will be interpreted as a person approaching the door, with the result that the further door opening process is changed, for example slowed down or stopped, the door may possibly be reversed again, at least to a certain extent, into the closed position will etc.

In contrast to the prior art, the present invention actually for the first time unambiguously and reliably detects an object located in the monitoring area and also clearly recognizes whether the monitoring area is possibly predetermined room elements, walls, etc. or persons moving into the surveillance area, In the context of the invention, therefore, the monitoring area in the opening direction of the wing is adapted and / or changed and / or the evaluation is changed such that a room element which is actually located in the monitoring area is not erroneously interpreted as a "person to be protected", with the consequence that the opening movement of the wing stopped too early, braked or the opening wing is erroneously reversed even at least to some extent in the closed position.

However, this advantage according to the invention can only be realized if distance-measuring sensors are used for the plurality of sensor devices, for example in the form of laser sensors, laser scanners or in the form of triangulation sensors. Because the sensors proposed in the last-mentioned generic state of the art are based on so-called infrared sensors, which merely serve to detect the intensity of the light beams reflected in the monitoring area, which are reflected either by the ground or by an object moving into the area. Only by determining the intensity of the reflected light and with the further requirement that this intensity exceeds a certain threshold, a trigger signal can be used in this prior art to ensure a safe stop of the door leaf.

In contrast, it has been found within the scope of the invention that the advantages according to the invention can only be achieved with certainty if no intensity measurements are carried out, but true distance measurements are provided. Only by a distance measurement can be determined with certainty whether the area to be monitored or the space to be monitored is free of possibly colliding objects, if permanently fixed in this area, from the ground objects are permanently arranged, for example, if the rotary wing of a approaching adjacent wall, and when a moving "living" object is detected in this opening area, which is to be protected.

The solution according to the invention can be realized both with fixed sensor devices and with sensor devices which are mounted driving on a wing.

If, for example, a sensor device with the rotary vane can be pivotally mounted on the side lying in the opening direction on the rotary vane, it can be ensured within the scope of the invention that a fixed spatial object (for example, a ridge) entering the sensor area, ie in the monitoring and tripping area Side wall of the room) does not cause a collision avoidance signal is generated and / or a corresponding collision avoidance reversal is made, for example, to slow down the door slower to drive, stop, reverse, etc. The same is true if, for example, the corresponding sensor device is fixed to a wall, e.g. B. a transverse to the door transverse wall or in the other room object is mounted. Even in this case, the wings approaching the spatial objects and thus reaching the sensor or monitoring and triggering areas of the sensor device could be erroneously interpreted as a person to be protected in order to change the wing again according to a predefinable collision avoidance circuit to buy or to redirect. The invention thus ensures that a wing of a sensor device fixedly mounted on a room object (for example a wall) in the sensor and thus in the monitoring and triggering area does not trigger the collision protection avoidance circuit sequence serving merely moving persons.

The invention proves to be particularly favorable in a rotary vane drive, especially when the rotary vane drive is not only opened from its closed position to the open position to a maximum of 180 ° (namely, if the wall continues in extension of the door passage straight), but if, for example, next to Door extends an angularly extending transverse wall, so that the door can be opened only in approximately parallel position to the adjacent transverse wall. If in this case stationary sensor devices and / or sensor devices traveling along the transverse wall are provided, a false triggering or misinterpretation would always occur, namely when the stationary wall now moves into the "detection area" of the sensor device when sensors are moved along on the door leaf and / or in the case of fixed sensors, the opening door now enters the detection area of this, for example, wall-mounted sensor device.

• – der Erfassungsbereich bevorzugt von der Öffnungslage der Tür abhängig lageverändert und/oder verkleinert wird, dass die erwähnte Fehldetektion unterbleibt, und/oder
• – bevorzugt von der Öffnungsstellung des Flügels abhängig die ortsabhängig vorgegebenen Raumelemente insbesondere in einem Teach-In-Verfahren erfasst und diese Signale abgespeichert werden. Gelangen somit Raumelemente oder die sich öffnende Tür in den Erfassungsbereich der Sensoreinrichtung, so sind diese Daten als ”zulässig” charakterisiert und führen somit nicht zu einer Fehlinterpretation bezüglich des weiteren an sich gewünschten Öffnungsvorganges des Flügels. Befinden sich tatsächlich nicht Raumelemente, sondern Personen (gegebenenfalls nur temporär) in diesem überwachten Bereich, kann eine folgerichtige Auswertung vorgenommen und der weitere Öffnungsvorgang zum Schutz dieser Person unterbunden oder die sich öffnende Flügeltür mehr oder weniger schnell oder langsam abgebremst oder teilweise sogar zumindest über ein gewisses Wegstück in Schließstellung umgesteuert werden.

According to the invention it is now provided that

• - The detection range is preferably dependent on the position of the door opening and / or reduced that the mentioned misdetection is omitted, and / or
• - Preferably from the opening position of the wing depending on the location-dependent predetermined spatial elements detected in particular in a teach-in process and these signals are stored. Thus, if space elements or the opening door in the detection range of the sensor device, so these data are characterized as "permissible" and thus do not lead to a misinterpretation with respect to the other desired opening operation of the wing itself. If there are not room elements, but persons (possibly only temporarily) in this monitored area, a logical evaluation can be carried out and the further opening process can be prevented to protect this person or the opening hinged door slowed down more or less quickly or slowly or even at least over one certain way piece to be reversed in the closed position.

The invention proves to be particularly advantageous if, for example, the sensor device comprises a plurality of juxtaposed sensors, wherein it is then provided according to the invention that, in particular as a function of the opening path and / or the opening position of the opening region of a wing to be monitored, the individual sensors successively with respect to their individual monitoring area can be reduced and / or turned off, in such a way that thereby an occurring detection of a provided in the area to be monitored in itself space object is omitted.

The invention can be used particularly advantageously in sensors which are connected, for example, via a CAN bus. As a result, each sensor can be queried separately, ie individually. In addition, each sensor can be controlled individually so that its sensor field discreetly or continuously reduced and turned off completely at the end or switched off directly if necessary without prior reduction of the sensor field, since the corresponding sensor is thus hidden.

In a teach-in procedure, the door drive can be informed of information from each sensor when the door responds when it opens and warm the corresponding sensor or the sensor field is switched off or hidden, reduced, etc. When opening, not only the sensors can be switched off individually or hidden, but it can also ensure that the last sensor can remain active almost until the door is fully opened. This allows complete protection throughout the opening of the sash.

The system not only works with triangulation sensors, but with a variety of other well-known in the prior art sensors, for example, with distance measurement sensors or a laser sensor or scanner.

In particular, when using a laser sensor, a light beam can be generated, which is permanently deflected for example via prism or mirror devices so that the laser beam scans the area to be monitored.

Here it is now possible to change or reduce the monitoring area as a function of the opening movement and opening position of the wing or at least to change the evaluation so that the opening movement of a wing is not stopped too early because of a lying in the sensor area space element. Because in such cases, the door should be able to be easily opened up to its maximum open position. A room element located in the sensor area should not be able to be detected and interpreted as a "person to be protected".

Although according to the DE 198 04 631 C2 It has already been proposed to monitor the area swept over by a closing wing and to store the basic data that can be determined in this context. This opens up the possibility of comparing the respectively currently measured position-dependent and / or speed-dependent sensor data, data patterns and / or signal curves with those of the respectively closed position and / or closing movement of the at least one blade corresponding to previously stored basic data, in order then to depend on the known qualitative and / or quantitative deviation of the respectively currently measured signal data from the (the respective closed position and / or the closing movement of the at least one wing corresponding stored) stored basic data to make a corresponding deviating sequential circuit, for example, a change in the opening direction of the wing. Thus, in contrast to the invention, this prior art teaching deals only with the monitoring of a wing during the closing phase.

Also the DE 198 04 573 C2 deals only with the monitoring of a wing during the closing movement (thus again not with the monitoring of the opening movement of a wing, to which the present invention makes reference). So that beats DE 198 04 573 C2 before, before beginning, at the beginning or during the closing of a wing (ie, as mentioned, not during the opening process of the wing) in a designated Sensor device and / or the evaluation and / or control stage to make a switch so switched from a large or initial monitoring and triggering area and / or a higher sensitivity to a smaller and / or location changed monitoring and triggering area or a lower sensitivity such is that during the closing of the wing self-release and switching the wing is prevented in the open position.

In contrast, the present invention is concerned with a possibility for increasing the safety not during the closing of a wing, but during the opening phase of a wing, to which the aforementioned prior publications have given no suggestions. While in the prior art the previously provided sensors were important for monitoring and controlling the closing movement of the door, these sensors were largely useless for the most dangerous part of the door opening. This is changed in the context of the present invention.

The invention will be explained in more detail with reference to embodiments. In detail:

1 a schematic horizontal plan view of a room with two mutually perpendicular walls and located during the opening process rotary vane;

2 : a corresponding representation to 1 in which, however, the rotary wing is already opened further;

3 : one too 1 and 2 deviating embodiment, with a swing door system, in which a sensor device is used with a plurality of sensors that differ from the 1 and 2 not on the wing itself, but on a fixed adjacent space element (wall) are mounted;

4 a corresponding plan view of a horizontal sectional view using a sliding door system, the sliding door wing moves into a sensor device with a plurality of stationary sensors;

5 : one too 4 Deviating embodiment in which the sensor device moves in the region of the closing edge with the sliding door leaf; and

6 : one too 1 and 2 Deviating representation with respect to a folding door.

In 1 is a space schematically 1 in plan view of its bottom surface 3 reproduced, with a first wall 5 which has a doorway area 7 having. In this doorway area 7 is a wing in the embodiment shown 9 pivotally provided between a closed and an open position, namely in the illustrated embodiment, a rotary wing 9a ,

This rotary wing 9a is according to the graphic representation after 1 about a vertical pivot axis 11 , which in the following partly also as rotation axis 11 is designated, between the mentioned opening and closing position pivotable.

In the illustrated embodiment according to 1 is near the vertical axis of rotation 11 one to the first, the doorway area 7 receiving wall 5 a perpendicular to this second wall 15 intended. As a result, the wing 9 can not be pivoted by its closed position by a maximum of 180 ° in the open position, but approximately only up to about 90 ° or slightly above.

In the illustrated embodiment is on the veschwenkbaren wing 9 With this mitverschwenkbar a sensor device 17 with five individual sensors 17a - 17e preferably arranged in a horizontal plane next to each other, for example, the average height of the wing or rather in the top or bottom of the wing area 9 ,

In the exemplary embodiment shown, this results in an entire sensor area 20 , so einamter recognition, monitoring and / or triggering area 20 monitored by the overall view of the five individual monitoring areas 20a - 20e is formed. Because every single sensor 17a - 17d monitors a subarea 20a - 20e ,

For the sensors 17 All suitable sensors can be considered. Particularly suitable are so-called triangulation sensors. In addition, however, other distance measurement sensors come into consideration, such as a laser sensor or a laser scanner. This offers the particular advantage that its monitoring area during the opening movement of a door by appropriate control of the deflection and deflection (about which the laser beam is deflected) can be particularly easily adapted to the circumstances, ie reduced in particular during the opening movement of the door and / or changed position and if necessary, especially at the end of the opening process can be switched off completely.

In the embodiments are partially simplifying the individual sensors 17a - 17e associated sensor areas (ie the detection, monitoring and / or triggering areas) shown as if they would not overlap. This can actually be realized in this way, in particular if the distance between the individual sensor regions is significantly smaller than the cross-sectional size of a person P to be detected in the sensor region, as in FIG 1 is shown. Usually, however, the individual sensor areas 20a to 20e overlap. That is, in the embodiment of FIG 1 and 2 each two adjacent sensor areas have an overlapping common monitoring area, where the individual sensor areas are not completely separated from each other. Due to the seemingly separate representation of the individual sensor areas, however, there is greater clarity and clarity in the drawings, which is why this variant is preferred in the accompanying figures.

Will now be the rotary wing 9a according to the arrow 22 pivoted from its Verschließstellung out in the open position, so would in the schematic representation in plan view according to 1 one in the opening area 23 into or P is moving through the sensor device 17 be detected, ie at least by one or more of the individual sensors 17a - 17e ,

In the embodiment shown would be the sensors 17d and 17e consistently generate a corresponding detection signal and transmit a collision signal to an evaluation and control unit. There could now be initiated on the basis of this collision signal, a sequential circuit, the further opening operation of the wing 9 . 9a stops or slows down or the wing 9 . 9a even pivots back by a certain way in the closed position, so that a collision with the detected person P is omitted.

Every object that is in the of the wings 9 . 9a during the opening process swept opening area 23 would be detected as an object to be protected, with the above triggering triggering a collision prevention circuit.

Would such a person P not be in the opening area 23 an automatic door control system could be the illustrated rotary wing 9a open unhindered when, for example, a person P approaches the door and through a usually above the opening and closing door on the wall 5 attached sensor device is detected. The same applies if, for example, a person approaches the door from the other door side and a sensor device provided on the wall there, usually above the door passage, detects this approaching person P.

Will the door 9 . 9a , as shown in the illustration 2 in the absence of a person in the opening area 23 is shown, further open, so gets in the embodiment shown already at an opening angle of about 40 ° to 45 °, the second wall 15 in the detection area of the innermost lying sensor field 20a , Typically, this would trigger the detection of a "person to be protected" or an object "to be protected in general, with the result that the above-explained collision avoidance circuit is initiated. Depending on how the collision avoidance circuit is constructed, the wing can be braked, stopped and / or at least swiveled back by a certain distance. Other sequential circuits are conceivable.

According to the invention, however, it is now provided that preferably as a function of the respective position and / or position and / or as a function of the opening angle or path of the wing 9 . 9a in the electronic evaluation and / or control device a different circuit sequence are triggered, in which a collision avoidance circuit to stop the opening movement of the door leaf, braking the door and / or at least partially Rückverschwenkung the door leaf, etc.

Alternatively or additionally, it would also be possible to use the innermost sensor field 20a and / or the innermost sensor 17c disable, so that here a collision signal can not be delivered at all.

According to the invention, it is thus provided that an in the detection range of a sensor 17 moving space object 15 such as a sidewall, does not cause this spatial object 15 as a person to be protected P can be interpreted, with the result that despite detection of the spatial object 15 the opening process of the wing 9 . 9a can be continued unhindered.

As the further opening degree increases, each further sensor field, ie each further detection, monitoring and / or triggering field, then successively arrives 20b until finally 20e in an area in which the sensor in question detects the fixed wall, ie the fixed space element 15 ,

• – nacheinander jedes weitere Sensorfeld 20b, 20c, 20d und 20e zunächst in seiner wirksamen Größe so verringert wird, dass bis zur Endstellung, d. h. der maximalen Öffnungsstellung des Türflügels die betreffende angrenzende zweite Wand 15, also das entsprechende Raumelement 15, nicht detektiert wird, und/oder
• – alternativ oder ergänzend zur Verkleinerung des betreffenden Sensorfeldes sukzessive eine Abschaltung der betreffenden Sensoren 17a, 17b, 17c, 17d und 17e erfolgt, um eine Kollision mit einem Raumelement 15 zu vermeiden, und/oder
• – die entsprechenden Kollisionssignale der einzelnen Sensoren 17a–17e zwar erzeugt werden, wenn das betreffende feststehende Raumelement (hier also die zweite Wand 15) in den jeweiligen Detektionsbereich eines betreffenden Sensors gelangt, dann allerdings das betreffende Kollisionssignal in der elektronischen Auswert- und Steuerungseinrichtung so unterdrückt und/oder ausgeblendet wird, dass jedenfalls keine ansonsten übliche Kollisions-Folgeschaltung ausgelöst wird.

Therefore, according to the invention in the evaluation and / or control electronics provided that preferably depends on the position, ie depending on the open position and / or the Opening angle of the wing when adjusting in the opening direction either

• - each successive sensor field 20b . 20c . 20d and 20e is initially reduced in its effective size so that up to the end position, ie the maximum opening position of the door, the relevant adjacent second wall 15 , that is the corresponding room element 15 , is not detected, and / or
• - Alternatively or in addition to the reduction of the relevant sensor field successively a shutdown of the respective sensors 17a . 17b . 17c . 17d and 17e takes place to collide with a room element 15 to avoid and / or
• - The corresponding collision signals of the individual sensors 17a - 17e Although generated, if the relevant fixed space element (here, the second wall 15 ) in the respective detection range of a respective sensor, but then the relevant collision signal in the electronic evaluation and control device is suppressed and / or hidden so that in any case no otherwise usual collision sequence circuit is triggered.

The reduction of the individual sensor fields and any subsequent shutdown or the sole shutdown of the individual sensor fields (without prior reduction of their size or orientation, etc.) can be made by an associated electronic evaluation and / or control device.

For this purpose, for example, the degree of opening of the door is always determined and controlled depending on the degree of opening (which ultimately corresponds to a degree) the corresponding switching or the corresponding reduction of the individual sensor fields and / or the shutdown of the individual sensor fields. Ultimately, the position-dependent action on the sensor fields (reduction of the size of the sensor fields and / or shutdown of the sensor fields, etc.) can also be realized by a time control or by other technical measures. In general, an associated evaluation and control device ultimately also includes a position control device and / or a position detection device for the wing, in response to the thereby determined opening position and / or opening position of the wing, the corresponding reversal with respect to the sensors or the evaluation and control device make. For the further opening movement, corresponding collision signals can then be avoided or collision signals still generated can be interpreted in such a way that this is the self-detection of the room element and / or the opening door leaf, thus avoiding a collision avoidance sequential circuit serving to protect persons. is suppressed, etc. The corresponding data can preferably be read in a teach-in process, which can be accurately recognized when the reversal take place and / or, for example, the aforementioned individual sensors are to be hidden.

The only relevant decision is that from a certain opening position or opening position of the relevant wing 9 . 9a a corresponding modified circuit should be effective. In this case, as stated, instead of reducing the sensor fields and / or switching off the sensor fields, a modified collision signal sequential circuit can also be activated, with the aim that, for example, in the position according to FIG 2 from the innermost sensor 17a triggered collision signal in the sensor monitoring area 20a should not be interpreted as a collision protection signal, with the result that the opening process of the door braked, stopped and optionally reversed to a certain extent. Because at this opening position is a possible collision signal of the innermost sensor 17a be interpreted in the evaluation and control device so that this is only one through the room object 15 self-triggered collision signal should be and can (in this area so no person to be protected can be).

Thus, a different opening degree of the wing can optionally also be detected by another optionally stationary sensor device or by other triggering detectors, etc., in order to carry out the different evaluation and interpretation of occurring collision signals and / or to reduce and / or switch off the corresponding sensor fields Etc.

In contrast to the embodiment of the 1 and 2 in which the sensor devices 17a - 17e with the door 9 . 9a are pivotally attached thereto, is in the embodiment according to 3 provided that the sensor devices 17a - 17e fixed, for example, on the second wall 15 are arranged.

This offers advantages especially if the sensor field 20 usually so large that it covers the entire or at least one relevant opening area 23 , which is run over by the wing, is covered by the sensor device. This basically to be monitored opening area 23 is in 3 located.

In this embodiment, that would be the vertical axis of rotation 11 nearest sensor 17a with its associated sensor field 20a the increasingly more powerful door 9 . 9a detect first, then the second sensor 17b etc. The evaluation and sequential circuit would be analogous, as in the embodiment of the 1 and 2 ,

The same principle applies even if, for example, the door can be opened by a larger angle than 90 °, for example even up to about 180 °, if not a transverse wall 15 is provided.

In the embodiment according to 3 is therefore with respect to the open position of the door shown 9 . 9a (It is opened at an angle of 30 °) shown that the surveillance area 20a of the pivot axis 11 closest surveillance area 20a already significantly reduced and already the second sensor 17b and even the third sensor 17c are set to slightly smaller surveillance area. If this reduction were not made, but the sensor fields always remain the same size, would be possible alternatively, the innermost, ie the pivot axis 11 nearest sensors 17a , subsequently 17b and shortly before reaching the door opening position according to 3 already the third sensor 17c off. This is irrelevant to the safety of the door movement, since a person coming from above, so according to the arrow 40 the entire sensor monitoring area 20 approaching, would already be detected by the uppermost sensor. The reduction (ie shortening) of the sensor monitoring fields 20 This can be done continuously or in at least one or more discrete steps. Mixed systems are also possible at any time.

In 4 a corresponding example of a sliding door drive is shown. In this case could be on the wall 5 adjacent to the doorway area 7 fixed side by side, for example, again five sensors 17a - 17e be mounted. These sensors 17 monitor the opening area of the sliding door leaf 9 . 9b , so at its minor closing edge 9 ' , Depending on the dependence of the opening position of the sliding door leaf 9b could in this case also a sensor after another 17a - 17e be switched off or at least the presence of a collision signal suppressed so or bypassed, so that the door is stopped, reversed or decelerated without generating a collision circuit, etc.

Would a person at a door position before or during the opening movement 20 move in one of the corresponding sensor fields, in an area in which, depending on the position of the opening door leaf 9b the secondary closing edge lying in the opening direction 9 ' can not yet be located, it can be decided by the electronic evaluation and control device clearly that this must be an object to be protected. In this case, therefore, a corresponding collision avoidance circuit would not be initiated, in which, as mentioned, the opening movement is stopped, decelerated and / or reversed in a closing movement.

Based on 5 is shown schematically that, for example, again a sensor at the minor closing edge 9 ' rides arranged. For example, this sensor runs on a transverse wall 15 In this case too, the sensor area must be correspondingly reduced and, if appropriate, shortly before reaching the end point or at the end point of the maximum opening movement of the sliding door leaf 9b be switched off completely. The operation is therefore basically similar to the embodiment according to 2 ,

The principles explained according to the invention are equally applicable to a folding door. Because even with a folding door is a wing 9 . 9c similar to a rotary wing in the embodiment according to 1 and 2 pivoted outwards about a vertical axis. Also in this embodiment, with respect to a foldable wing (regardless of whether one or more sensor devices or on an adjacent wall one or more sensor devices are provided on the pivotable folding wing) come to a self-triggering collision detection when the moving along with the door sensor means a fixed Detected wall or other room element or vice versa detects a fixed to a side wall sensor device detects the outwardly pivoted portion of the folding door.

In 6 the opening movement of a folding door is shown, the one with the pivot axis 11 connected first wing 9c which has a further connection axis 119 with a second folding door wing 9'c articulated is connected. The free end 119 ' of the second wing 9 ' is usually held and guided in a rail extending above the doorway. It is referred in this respect to known constructions. Also in this embodiment, at least in the first with the pivot axis 11 connected wings 9c and / or on the adjacent wall 5 or on the wall perpendicular to it 15 be provided with monitoring fields corresponding sensor devices, as with reference to the other embodiments, especially with reference to the embodiments according to the 1 to 3 was explained.

It proves to be particularly favorable, the sensors mentioned 17a - 17e via a CAN bus with an evaluation and / or control device (usually a microprocessor-controlled evaluation and / or control device) to connect, control over, interrogate, etc. This makes it possible, every single sensor 17a - 17e independently of the other sensors to target. As a result, the size and / or orientation of the individual sensor fields 20a - 20e variable in position, reducible, continuous or discreet. Equally possible, however, is the targeted shutdown of a sensor 17a - 17e and / or the suppression of a corresponding sensor field 20a - 20e , Otherwise, the corresponding influencing of the evaluation and control device is accordingly possible, according to which an individual sensor emits a detection signal when the door leaf or a room element enters the sensor monitoring area, but this collision signal is not used for a collision avoidance sequential circuit, as it Protection is common in persons detected in the surveillance area.

Preferably, the corresponding data are read in a teach-in process and made available to the evaluation and control device. This shows the door drive of each individual sensor 17a - 17e when the door 9 . 9a . 9b respectively. 9c responds, so when the door in a fixed sensor field (if this example, on a room element 15 attached) or vice versa a fixed space element in the mitbewegte with the door sensor field 20 arrives. When opening the door then the individual sensors 17a - 17e are individually hidden, ie switched off or the otherwise provided explained sequential circuits are made so that the last sensor can remain active almost until the door is fully opened. This provides a virtually complete protection during the entire opening movement of a door 9 ,

In the context of the invention has been explained that the present invention provided by the circuit, the presence of a spatial element and / or the opening movement of a wing due to the sensor device used or the plurality of sensors used can not lead to a further opening movement of the wing braked, stopped or a Wing is pivoted back even by a certain distance in the closing direction, only because a space element or the opening wing itself is detected by the sensor device, so in this area no person to be protected is present. Should a detected person otherwise actually move into the area to be monitored, corresponding collision avoidance signals should, of course, always be generated and a corresponding collision avoidance circuit sequence always be triggered accordingly. This collision avoidance circuit can, for. B. means that the opening door actually braked, if possible braked and stopped very quickly or at least slowed down to a very slow opening speed and still open to a certain extent, possibly with lower torques and opening forces, etc. Which collisions It is at the discretion of the person skilled in the art to provide and trigger a folloW circuit in the event of detection of a person to be protected in the monitoring area.

If, within the scope of the invention, a room element or the opening wing enters the respective sensor area, the associated collision sequential circuit should not be triggered to protect persons. However, this does not mean that the opening movement of the wing must be continued unchanged. As an additional safety device can certainly be provided that nevertheless a wing with a slightly reduced speed, with reduced torques or forces, etc. is opened further. This changed control for the further opening movement of the wing does not mean that a collision avoidance circuit sequence has been triggered here, which is otherwise only to be effective or implemented in the case of persons actually to be protected in the monitoring area.

Claims (18)

Method for controlling and / or monitoring a drivable wing ( 9 ; 9a . 9b . 9c ), in particular in the form of a rotary wing ( 9a ), a sliding door leaf ( 9b ), a grand piano ( 9c ) a folding door, a window or the like, during the opening movement of the wing ( 9 ; 9a . 9b . 9c ), having the following features: - a sensor device ( 17 ) for monitoring and detecting an at least one wing ( 9 ; 9a . 9b . 9c ) associated monitoring and triggering area ( 23 ), - it becomes one on the wing ( 9 ; 9a . 9b . 9c ) sitting and with this mitbewegte sensor device ( 17 ), creating one in front of the opening wing ( 9 ; 9a . 9b . 9c ) monitoring and triggering area ( 23 ) and / or one on a stationary room element ( 15 ) located sensor device ( 17 ) generating one in front of the spatial object ( 15 ) monitoring and triggering area ( 23 ), - at the latest during the opening process of the wing ( 9 ; 9a . 9b . 9c ) is used to avoid collision detection in the Monitoring and triggering area ( 23 ) predetermined spatial element ( 15 ) and / or the surveillance and triggering area ( 23 ) entering opening wing ( 9 ; 9a . 9b . 9c In the evaluation and / or control device and / or in the sensor device, a changeover is performed, the changeover to avoid a collision sequential circuit takes place in such a way that from a large or initial monitoring and triggering area to a positionally changed and / or spatially reduced one Monitoring and triggering area ( 23 ) and additionally or alternatively the corresponding triggering and monitoring area ( 23 ) is switched off or hidden, or ignored, if the between the opening ( 9 ; 9a . 9b . 9c ) and the room element ( 15 ) remaining distance is smaller or smaller than the effective in this direction per se length and / or size of the monitoring and triggering area ( 23 ) of the associated sensor device ( 17 ), and - as sensors ( 20 ; 20a - 20e Distance measurement sensors are used. Method according to claim 1, characterized in that as distance measuring sensors ( 20 ; 20a - 20e ) Triangulation sensors, laser sensors or laser scanners can be used. Method according to claim 1 or 2, characterized in that a plurality of sensors ( 17a - 17e ) are used, which are arranged side by side, wherein to avoid a collision detection with a given spatial element ( 15 ) and / or a wing moving into the monitoring and triggering area ( 9 ; 9a . 9b . 9c ) a) the associated sensor devices ( 17a - 17e ) shut down or faded out sequentially, or b) the individual sensors ( 17a - 17e ) associated with individual monitoring and triggering areas ( 20a - 20e ) and / or changed position, or c) the individual sensors ( 17a - 17e ) associated with individual monitoring and triggering areas ( 20a - 20e ) initially reduced in size and then switched off, or d) the corresponding collision detection signals in the evaluation and / or control device are not used to trigger a collision sequential circuit. Method according to one of claims 1 to 3, characterized in that a sensor device ( 17 ) with several on the wing ( 9 ; 9a . 9b . 9c ) transversely to the pivot axis ( 11 ) staggered sensors ( 17a - 17e ) is used. Method according to one of claims 1 to 3, characterized in that a sensor device ( 17 ) with several on a fixed space element ( 15 ) offset sensors ( 17a - 17e ) be used. Method according to one of claims 1 to 5, characterized in that the reduction and / or change in position of the at least one sensor field ( 20 ; 20a - 20e ) and / or the shutdown of the at least one sensor ( 17 ; 17a - 17e ) and / or the suppression and / or non-utilization of a collision sequential circuit as a function of the position and / or swivel position of a wing ( 9 ; 9a . 9b . 9c ) he follows. A method according to claim 6, characterized in that a position control device and / or position-detecting device is used, in dependence of the reversal with respect to the sensors ( 17 ; 17a - 17e ), the sensor fields ( 20 ; 20a - 20e ) and / or the suppression of a collision sequential circuit is performed. Method according to one of claims 1 to 7, characterized in that for a wing ( 9 ; 9a . 9b . 9c ) a teach-in procedure is performed to determine when an opening wing ( 9 ; 9a . 9b . 9c ) and / or a fixed spatial element ( 15 ) into the monitoring and triggering area ( 23 ) of the one and preferably a plurality of sensors ( 20 ; 20a - 20e ) in order to activate switching from these data determined in the teach-in procedure to avoid a collision sequential circuit. Method according to one of claims 1 to 8, characterized in that the at least one and preferably a plurality of sensors ( 17 . 17a - 17e ) are connected via a CAN bus and individually queried and / or controlled and in particular individually hidden. Device for controlling and / or monitoring a drivable wing ( 9 ; 9a . 9b . 9c ), in particular in the form of a rotary wing ( 9a ), a sliding door leaf ( 9b ), a grand piano ( 9c ) a folding door, a window or the like, during the opening movement of the wing ( 9 ; 9a . 9b . 9c ), with the following features: it is a sensor device ( 17 ) for monitoring and detecting an at least one wing ( 9 ; 9a . 9b . 9c ) associated monitoring and triggering area ( 23 ), - it is one on the wing ( 9 ; 9a . 9b . 9c ) sitting and with this mitbewegte sensor device ( 17 ), creating one in front of the opening wing ( 9 ; 9a . 9b . 9c ) monitoring and triggering area ( 23 ) and / or one on a stationary room element ( 15 ) located sensor device ( 17 ) generating one in front of the spatial object ( 15 ) monitoring and triggering area ( 23 ), it is an evaluation and / or control device provided by means of the latest during the opening process of the wing ( 9 ; 9a . 9b . 9c ) to avoid a collision detection of one in the monitoring and tripping area ( 23 ) predetermined spatial element ( 15 ) and / or the surveillance and triggering area ( 23 ) entering opening wing ( 9 ; 9a . 9b . 9c ) in the evaluation and / or control device and / or in the sensor device a switch is feasible, - the switching to avoid a collision sequential circuit is such that from a large or initial monitoring and triggering area in a positionally changed and / or spatially reduced monitoring and triggering range ( 23 ) and additionally or alternatively the corresponding triggering and monitoring area ( 23 ) is switched off or hidden, or ignored, if the between the opening ( 9 ; 9a . 9b . 9c ) and the room element ( 15 ) remaining distance is smaller or smaller than the effective in this direction per se length and / or size of the monitoring and triggering area ( 23 ) of the associated sensor device ( 17 ), and - that the sensors ( 20 ; 20a - 20e ) consist of or comprise distance measuring sensors. Apparatus according to claim 10, characterized in that the distance measurement sensors ( 20 ; 20a - 20e ) Comprise or consist of triangulation sensors or laser sensors or laser scanners. Apparatus according to claim 10 or 11, characterized in that a plurality of sensors ( 17a - 17e ) are provided, which are arranged side by side, wherein to avoid a collision detection with a given spatial element ( 15 ) and / or a wing moving into the monitoring and triggering area ( 9 ; 9a . 9b . 9c ) a) the associated sensor devices ( 17a - 17e ) can be switched off or faded out one after the other, or b) the individual sensors ( 17a - 17e ) associated with individual monitoring and triggering areas ( 20a - 20e ) are reducible and / or positionally variable, or c) the individual sensors ( 17a - 17e ) associated with individual monitoring and triggering areas ( 20a - 20e ) can first be reduced in size and then switched off, or d) the corresponding collision detection signals in the evaluation and / or control device can not be suppressed or faded out to trigger a collision sequential circuit. Device according to one of claims 10 to 12, characterized in that a sensor device ( 17 ) with several on the wing ( 9 ; 9a . 9b . 9c ) transversely to the pivot axis ( 11 ) staggered sensors ( 17a - 17e ) is provided. Device according to one of claims 10 to 12, characterized in that a sensor device ( 17 ) with several on a fixed space element ( 15 ) offset sensors ( 17a - 17e ) is provided. Device according to one of claims 10 to 14, characterized in that the reduction and / or change in position of the at least one sensor field ( 20 ; 20a - 20e ) and / or the shutdown of the at least one sensor ( 17 ; 17a - 17e ) and / or the suppression and / or non-utilization of a collision sequential circuit as a function of the position and / or swivel position of a wing ( 9 ; 9a . 9b . 9c ) he follows. Apparatus according to claim 15, characterized in that a position-control device and / or position-recognition device is provided, in dependence of which the reversal with respect to the sensors ( 17 ; 17a - 17e ), the sensor fields ( 20 ; 20a - 20e ) and / or the suppression of a collision sequential circuit is feasible. Device according to one of claims 10 to 16, characterized in that for a wing ( 9 ; 9a . 9b . 9c ) a teach-in procedure is feasible to determine when an opening wing ( 9 ; 9a . 9b . 9c ) and / or a fixed spatial element ( 15 ) into the monitoring and triggering area ( 23 ) of the one and preferably a plurality of sensors ( 20 ; 20a - 20e ) in order to activate switching from these data determined in the teach-in procedure to avoid a collision sequential circuit. Device according to one of claims 10 to 17, characterized in that the at least one and preferably a plurality of sensors ( 17 . 17a - 17e ) are connected via a CAN bus and individually queried and / or controlled and in particular individually fade out.

Images